EP2929519A2 - Method and device for the combined simulation and control of remote-controlled vehicles using a user-friendly projection system - Google Patents
Method and device for the combined simulation and control of remote-controlled vehicles using a user-friendly projection systemInfo
- Publication number
- EP2929519A2 EP2929519A2 EP13852371.7A EP13852371A EP2929519A2 EP 2929519 A2 EP2929519 A2 EP 2929519A2 EP 13852371 A EP13852371 A EP 13852371A EP 2929519 A2 EP2929519 A2 EP 2929519A2
- Authority
- EP
- European Patent Office
- Prior art keywords
- vehicle
- user
- simulator
- controlled
- real
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Ceased
Links
- 238000000034 method Methods 0.000 title claims abstract description 28
- 238000004088 simulation Methods 0.000 title claims abstract description 13
- 230000033001 locomotion Effects 0.000 claims abstract description 23
- 210000003128 head Anatomy 0.000 claims abstract description 15
- 238000013178 mathematical model Methods 0.000 claims description 7
- 238000012800 visualization Methods 0.000 claims description 7
- 230000005540 biological transmission Effects 0.000 claims description 6
- 239000000796 flavoring agent Substances 0.000 claims description 5
- 235000019634 flavors Nutrition 0.000 claims description 5
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 5
- 229920001621 AMOLED Polymers 0.000 claims description 4
- 238000006243 chemical reaction Methods 0.000 claims description 4
- 238000004590 computer program Methods 0.000 claims description 4
- 230000002457 bidirectional effect Effects 0.000 claims description 3
- 230000003287 optical effect Effects 0.000 claims description 3
- 210000000056 organ Anatomy 0.000 claims description 3
- 238000012937 correction Methods 0.000 description 2
- 238000001514 detection method Methods 0.000 description 2
- 230000005484 gravity Effects 0.000 description 2
- 238000013459 approach Methods 0.000 description 1
- 239000011159 matrix material Substances 0.000 description 1
- 239000002245 particle Substances 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 210000001747 pupil Anatomy 0.000 description 1
- 239000000779 smoke Substances 0.000 description 1
- 238000012549 training Methods 0.000 description 1
Classifications
-
- G—PHYSICS
- G09—EDUCATION; CRYPTOGRAPHY; DISPLAY; ADVERTISING; SEALS
- G09B—EDUCATIONAL OR DEMONSTRATION APPLIANCES; APPLIANCES FOR TEACHING, OR COMMUNICATING WITH, THE BLIND, DEAF OR MUTE; MODELS; PLANETARIA; GLOBES; MAPS; DIAGRAMS
- G09B9/00—Simulators for teaching or training purposes
- G09B9/02—Simulators for teaching or training purposes for teaching control of vehicles or other craft
- G09B9/08—Simulators for teaching or training purposes for teaching control of vehicles or other craft for teaching control of aircraft, e.g. Link trainer
- G09B9/30—Simulation of view from aircraft
- G09B9/301—Simulation of view from aircraft by computer-processed or -generated image
- G09B9/302—Simulation of view from aircraft by computer-processed or -generated image the image being transformed by computer processing, e.g. updating the image to correspond to the changing point of view
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/10—Simultaneous control of position or course in three dimensions
- G05D1/107—Simultaneous control of position or course in three dimensions specially adapted for missiles
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F17/00—Digital computing or data processing equipment or methods, specially adapted for specific functions
- G06F17/10—Complex mathematical operations
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F30/00—Computer-aided design [CAD]
- G06F30/20—Design optimisation, verification or simulation
-
- G—PHYSICS
- G09—EDUCATION; CRYPTOGRAPHY; DISPLAY; ADVERTISING; SEALS
- G09B—EDUCATIONAL OR DEMONSTRATION APPLIANCES; APPLIANCES FOR TEACHING, OR COMMUNICATING WITH, THE BLIND, DEAF OR MUTE; MODELS; PLANETARIA; GLOBES; MAPS; DIAGRAMS
- G09B5/00—Electrically-operated educational appliances
- G09B5/06—Electrically-operated educational appliances with both visual and audible presentation of the material to be studied
-
- G—PHYSICS
- G09—EDUCATION; CRYPTOGRAPHY; DISPLAY; ADVERTISING; SEALS
- G09B—EDUCATIONAL OR DEMONSTRATION APPLIANCES; APPLIANCES FOR TEACHING, OR COMMUNICATING WITH, THE BLIND, DEAF OR MUTE; MODELS; PLANETARIA; GLOBES; MAPS; DIAGRAMS
- G09B9/00—Simulators for teaching or training purposes
- G09B9/02—Simulators for teaching or training purposes for teaching control of vehicles or other craft
-
- G—PHYSICS
- G09—EDUCATION; CRYPTOGRAPHY; DISPLAY; ADVERTISING; SEALS
- G09B—EDUCATIONAL OR DEMONSTRATION APPLIANCES; APPLIANCES FOR TEACHING, OR COMMUNICATING WITH, THE BLIND, DEAF OR MUTE; MODELS; PLANETARIA; GLOBES; MAPS; DIAGRAMS
- G09B9/00—Simulators for teaching or training purposes
- G09B9/02—Simulators for teaching or training purposes for teaching control of vehicles or other craft
- G09B9/08—Simulators for teaching or training purposes for teaching control of vehicles or other craft for teaching control of aircraft, e.g. Link trainer
- G09B9/12—Motion systems for aircraft simulators
-
- G—PHYSICS
- G09—EDUCATION; CRYPTOGRAPHY; DISPLAY; ADVERTISING; SEALS
- G09B—EDUCATIONAL OR DEMONSTRATION APPLIANCES; APPLIANCES FOR TEACHING, OR COMMUNICATING WITH, THE BLIND, DEAF OR MUTE; MODELS; PLANETARIA; GLOBES; MAPS; DIAGRAMS
- G09B9/00—Simulators for teaching or training purposes
- G09B9/02—Simulators for teaching or training purposes for teaching control of vehicles or other craft
- G09B9/08—Simulators for teaching or training purposes for teaching control of vehicles or other craft for teaching control of aircraft, e.g. Link trainer
- G09B9/30—Simulation of view from aircraft
-
- G—PHYSICS
- G09—EDUCATION; CRYPTOGRAPHY; DISPLAY; ADVERTISING; SEALS
- G09B—EDUCATIONAL OR DEMONSTRATION APPLIANCES; APPLIANCES FOR TEACHING, OR COMMUNICATING WITH, THE BLIND, DEAF OR MUTE; MODELS; PLANETARIA; GLOBES; MAPS; DIAGRAMS
- G09B9/00—Simulators for teaching or training purposes
- G09B9/02—Simulators for teaching or training purposes for teaching control of vehicles or other craft
- G09B9/08—Simulators for teaching or training purposes for teaching control of vehicles or other craft for teaching control of aircraft, e.g. Link trainer
- G09B9/48—Simulators for teaching or training purposes for teaching control of vehicles or other craft for teaching control of aircraft, e.g. Link trainer a model being viewed and manoeuvred from a remote point
Definitions
- the invention relates to a method and a device for combined
- Flight simulators or vehicle simulators increase safety and reduce the cost of training for a real flight.
- the safety aspects are improved when inexperienced students learn to fly or when less experienced pilots are instructed in operations related to new vehicles or new techniques.
- the device described there, or the corresponding method is based on the object of presenting a device and a method with which the operation of a simulator with a special realism impression for mastering the control of a vehicle moving in three-dimensional reality, in particular of an aircraft, can be achieved.
- teachers should also be able to objectively supervise the learning progress and the level of stress of the student accompanying the learning process.
- a device for operating a simulator with a special realism - appearance to learn the mastery of a moving in the three-dimensional reality vehicle claimed, wherein the simulated aircraft to be simulated
- a support device which may be designed as a chassis connected to the ground, and wherein for the transmission of a simulated exterior view of the contours of the vehicle cabin replicated display is used.
- This device is characterized by having the following features: a) the vehicle cabin (4) is in addition to the connection with the 6 - axis industrial robot (1) via a device (6) for translational transverse movement, which is mounted on a device (5) for translational longitudinal movement movable at right angles, with connected to the ground, allowing combined accelerated movements of the two devices (6,5), regardless of the movements of the
- An autonomous safety system for the use of vehicle simulators or flight simulators in the form of a simulation pulpit (3) actuated by means of a 6 - axis robot comprising the following features: a) one, open only to authorized persons, multiple at all
- a rescue unit (13) movable on a running track (14) to any location in the operating area of the vehicle simulator, comprising a rescue platform (25), a railing (24) and a safety platform
- the operating data transmitted to the vehicle cabin for the respective simulation operation are different from the operating data even in the case of a very realistic appearance, as occurs in the case of a real operation of a vehicle.
- a real pilot with his human senses consciously or unconsciously detects far more than is normally simulated in a vehicle cabin. This becomes particularly clear in cases in which autonomous missiles, known as drones, are controlled by pilots who actually cause real maneuvers.
- the present invention is therefore based on the object to present a device and a method for simulating vehicle movements, with which, especially in actually occurring vehicle movements, for the respective pilot, the degree of reality - appearance by a
- remotely controlled vehicles in a simulator with one to controlled vehicle with real controls with a 6 - axis industrial robot over a
- Carrying device is connected to the ground, and wherein the
- a sensor (8) is installed in the head area of the user for detecting the head position, the data of which influence the viewing direction and / or the image perspective displayed on the display.
- Chassis is designed. Claim 4:
- simulation or control is used for vehicles on land, on the water or in the air.
- an AMOLED system adapted to a cockpit or a large screen is used as the visualization element.
- a receiving unit for receiving olfactory and / or flavor-specific data or a corresponding method according to claim 7
- a support device which may be designed as a chassis, is connected to the ground, and wherein for transmitting a simulated
- the user of the simulator is provided with current, sensor-determined data from the fields of optics, kinematics of motion and acoustics from the vehicle to be controlled, b) the user of the simulator thus receives almost the same
- a sensor is used to adjust the pair of eyes of the user with respect to the longitudinal axis of the vehicle pulpit when projected in the starting position of the vehicle, taking into account its loading
- a device imperceptibly tracks the real position of the vehicle in the calculated position by means of a GPS system in the case of a real controlled vehicle.
- a sensor (8) is installed in the head area of the user for detecting the head position, the data of which influence the viewing direction and / or the image perspective displayed on the display.
- the simulation or control is used for vehicles on land, water and in the air, and that the transmission of olfactory and / or flavor-specific data from the vehicle is provided.
- Machine-readable medium with the program code of a computer program for carrying out the method according to one of Claims 8 to 10 when the program is executed in a computer.
- the invention is based on the idea to enable the user of the simulator by transmitting important data from a real moving vehicle in a position to feel as if he were actually the pilot of the respective vehicle.
- Simulator arranged transmitting station quasi bidirectional way to the missile to be sent.
- Such movement-relevant data are generated by means of mechanical signals which the user of the simulator generates by means of conventionally actuated pedals or sidesticks, and which are sent to the control organs of the respective vehicle by means of suitable mathematical models or operations, prepared.
- the timely and correct generation of these signals reflects the
- the data sent by the vehicle to be controlled which have optical, acoustic or situational character, require a bidirectional expression only insofar as in this way this type of data is requested at certain intervals or constantly.
- FIG. 1 shows an overview of a missile representation.
- the process of simulating a control operation of a moving vehicle is the same as the operation of controlling a vehicle actually moving in the known 3D world.
- the control of a real moving vehicle is sketched in Fig. 1 as in accordance with the invention ensures that the position of the vehicle, here a missile, on the screen of the simulator with the position of a missile in reality in accordance is brought.
- 1 denotes the real or real position of a missile and 2 denotes an assumed position on the screen of the simulator.
- GPS system global positioning system
- the projection surface of the simulator is marked in FIG. 1, while the stylistic representations 5 and 6 show a calculated positioning 5 of the missile shown and 6 a positioning corrected by the action of the GPS system. 7 indicates a connection with a simulator 's 6 - axis robot.
- FIG. 2 shows an image of a projection situation, which represents another user-friendly feature of the system according to the invention.
- 7 denotes the connection to a known 6-axis robot and 5 represents the positioning calculated in the simulator or the simulator itself.
- a head sensor 8 is shown, which detects the current position of the head and thus not only indicates the viewing direction of the user, but also the distance of the head from the projection system, or the screen registered.
- These data acquired by the head sensor 8 not only allow the spatial area shown on the screen to be adapted to the viewing direction of the user, but also additionally increase or decrease the size of the image section shown when the user's head is approaching or retreating from the screen.
- Another, unspecified, sensor is used to adjust the pair of eyes with respect to the longitudinal axis of the vehicle's pulpit for projection at a standstill.
- standstill here the starting position of a remote-controlled vehicle is called. This starting position differs depending on the position of the center of gravity of a vehicle, with the center of gravity shifting in the main with the loading of a vehicle.
- a so-called simulation model 80/20 is used. This means that the impression of reality or the feeling of the genuineness of the overall impression, about 80% by the visualization and about 20% by the representation of the movement is achieved. In the representation of fast and large-scale movements, this ratio shifts accordingly in favor of the movement.
- Conceivable are mathematical models for water, land and air.
- the movements and the visualization are clocked at 60 Hz and can be replaced at any time by real-time data.
- Superimposed images may also be generated by a method called a synthetic vision.
- real-time images from the database can be overlaid with synthetic images.
- Their resolution can be between 10cm / pixel and
- the visualization in the simulator can be done via so - called AMOLED systems (activ - matrix organic light - emission diode), which is adapted to the size of the visible surface of a missile, or with a large screen which has an image area of up to 155 m 2 can.
- AMOLED systems activate - matrix organic light - emission diode
- the images from the vehicle are displayed in real time on the operator station
- the system is controllable both from the vehicle pulpit and from an operator station.
- a receiving unit for receiving olfactory and / or flavor-specific data is provided which simulate, for example, burning smell and / or the tasting of air particles.
Landscapes
- Engineering & Computer Science (AREA)
- Theoretical Computer Science (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Aviation & Aerospace Engineering (AREA)
- Business, Economics & Management (AREA)
- Educational Administration (AREA)
- Educational Technology (AREA)
- Computer Hardware Design (AREA)
- General Engineering & Computer Science (AREA)
- Mathematical Physics (AREA)
- Data Mining & Analysis (AREA)
- Remote Sensing (AREA)
- Automation & Control Theory (AREA)
- Radar, Positioning & Navigation (AREA)
- Pure & Applied Mathematics (AREA)
- Software Systems (AREA)
- Databases & Information Systems (AREA)
- Mathematical Optimization (AREA)
- Mathematical Analysis (AREA)
- Computational Mathematics (AREA)
- Algebra (AREA)
- Evolutionary Computation (AREA)
- Geometry (AREA)
- Processing Or Creating Images (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Toys (AREA)
Abstract
Description
Claims
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE102012023925.4A DE102012023925A1 (en) | 2012-12-06 | 2012-12-06 | Method and apparatus for combined simulation and control of remotely controlled vehicles with a user-friendly projection system |
PCT/IB2013/003244 WO2014102620A2 (en) | 2012-12-06 | 2013-11-19 | Method and device for the combined simulation and control of remote-controlled vehicles using a user-friendly projection system |
Publications (1)
Publication Number | Publication Date |
---|---|
EP2929519A2 true EP2929519A2 (en) | 2015-10-14 |
Family
ID=50680072
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
EP13852371.7A Ceased EP2929519A2 (en) | 2012-12-06 | 2013-11-19 | Method and device for the combined simulation and control of remote-controlled vehicles using a user-friendly projection system |
Country Status (9)
Country | Link |
---|---|
US (1) | US20150302756A1 (en) |
EP (1) | EP2929519A2 (en) |
JP (1) | JP2016507762A (en) |
AU (1) | AU2013368987B2 (en) |
CA (1) | CA2891377C (en) |
DE (1) | DE102012023925A1 (en) |
EA (1) | EA201591071A1 (en) |
IL (1) | IL238905A0 (en) |
WO (1) | WO2014102620A2 (en) |
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US10051298B2 (en) | 1999-04-23 | 2018-08-14 | Monkeymedia, Inc. | Wireless seamless expansion and video advertising player |
US20140002582A1 (en) * | 2012-06-29 | 2014-01-02 | Monkeymedia, Inc. | Portable proprioceptive peripatetic polylinear video player |
US11266919B2 (en) | 2012-06-29 | 2022-03-08 | Monkeymedia, Inc. | Head-mounted display for navigating virtual and augmented reality |
US9791897B2 (en) | 2012-06-29 | 2017-10-17 | Monkeymedia, Inc. | Handheld display device for navigating a virtual environment |
WO2016050099A1 (en) | 2014-09-30 | 2016-04-07 | SZ DJI Technology Co., Ltd. | System and method for supporting simulated movement |
JP6212788B2 (en) | 2014-09-30 | 2017-10-18 | エスゼット ディージェイアイ テクノロジー カンパニー リミテッドSz Dji Technology Co.,Ltd | Method for operating unmanned aerial vehicle and unmanned aerial vehicle |
WO2016065519A1 (en) | 2014-10-27 | 2016-05-06 | SZ DJI Technology Co., Ltd. | Uav flight display |
JP7069456B2 (en) | 2017-03-17 | 2022-05-18 | ザ・リージェンツ・オブ・ザ・ユニバーシティ・オブ・ミシガン | Methods and equipment for building useful results to guide multi-policy decision making |
US10741084B2 (en) | 2017-11-02 | 2020-08-11 | Honeywell International Inc. | System and method for enhancing the interactive transmission and visualization of flight data in real-time |
CN108133633A (en) * | 2017-12-11 | 2018-06-08 | 西安航天动力测控技术研究所 | A kind of air-to-ground guided missile emission process simulator |
CN108121871B (en) * | 2017-12-21 | 2021-05-25 | 中国科学院遥感与数字地球研究所 | Method and device for generating reachable range of indoor space |
CN108228995A (en) * | 2017-12-28 | 2018-06-29 | 中国电子科技集团公司第十四研究所 | Radar mechanical electrical and hydraulic system associative simulation research/development platform |
CN108629133A (en) * | 2018-05-10 | 2018-10-09 | 华南理工大学 | A kind of robot working space for 6R robot emulation systems determines method |
JP7199545B2 (en) | 2018-07-20 | 2023-01-05 | メイ モビリティー,インコーポレイテッド | A Multi-view System and Method for Action Policy Selection by Autonomous Agents |
US10969470B2 (en) | 2019-02-15 | 2021-04-06 | May Mobility, Inc. | Systems and methods for intelligently calibrating infrastructure devices using onboard sensors of an autonomous agent |
CN111230862B (en) * | 2020-01-10 | 2021-05-04 | 上海发那科机器人有限公司 | Handheld workpiece deburring method and system based on visual recognition function |
WO2022006418A1 (en) | 2020-07-01 | 2022-01-06 | May Mobility, Inc. | Method and system for dynamically curating autonomous vehicle policies |
WO2022132774A1 (en) | 2020-12-14 | 2022-06-23 | May Mobility, Inc. | Autonomous vehicle safety platform system and method |
EP4264181A1 (en) | 2020-12-17 | 2023-10-25 | May Mobility, Inc. | Method and system for dynamically updating an environmental representation of an autonomous agent |
JP2024512980A (en) | 2021-04-02 | 2024-03-21 | メイ モビリティー,インコーポレイテッド | Method and system for operating autonomous agents with incomplete environmental information |
JP2024526037A (en) | 2021-06-02 | 2024-07-17 | メイ モビリティー,インコーポレイテッド | Method and system for remote assistance of autonomous agents - Patents.com |
WO2023102098A1 (en) | 2021-12-01 | 2023-06-08 | May Mobility, Inc. | Method and system for impact-based operation of an autonomous agent |
WO2023154568A1 (en) | 2022-02-14 | 2023-08-17 | May Mobility, Inc. | Method and system for conditional operation of an autonomous agent |
CN114596755A (en) * | 2022-03-11 | 2022-06-07 | 昆明理工大学 | Simulated flight simulated driving equipment controlled by driving simulator |
GB2623383A (en) * | 2022-10-11 | 2024-04-17 | D&D Skunkworks Inc | Systems of flight simulation and methods of operating same |
WO2024129832A1 (en) | 2022-12-13 | 2024-06-20 | May Mobility, Inc. | Method and system for assessing and mitigating risks encounterable by an autonomous vehicle |
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US5490784A (en) * | 1993-10-29 | 1996-02-13 | Carmein; David E. E. | Virtual reality system with enhanced sensory apparatus |
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JP4721283B2 (en) * | 2006-07-07 | 2011-07-13 | 国立大学法人 東京大学 | Projection device and aircraft and aircraft simulator using the same |
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EP2572344B1 (en) * | 2010-05-21 | 2015-08-05 | Max-Planck-Gesellschaft zur Förderung der Wissenschaften e.V. | Motion simulator and corresponding method |
DE102010035814B3 (en) | 2010-08-30 | 2011-12-29 | Grenzebach Maschinenbau Gmbh | Device and method for operating a flight simulator with a special appearance of reality |
DE102010053686B3 (en) | 2010-12-08 | 2012-01-26 | Grenzebach Maschinenbau Gmbh | Autonomous safety system for the users of vehicle simulators or flight simulators, methods for the safe use of such simulators, a computer program for carrying out the method and a machine-readable carrier with the program code. |
-
2012
- 2012-12-06 DE DE102012023925.4A patent/DE102012023925A1/en not_active Ceased
-
2013
- 2013-11-19 AU AU2013368987A patent/AU2013368987B2/en not_active Ceased
- 2013-11-19 WO PCT/IB2013/003244 patent/WO2014102620A2/en active Application Filing
- 2013-11-19 EP EP13852371.7A patent/EP2929519A2/en not_active Ceased
- 2013-11-19 JP JP2015546106A patent/JP2016507762A/en active Pending
- 2013-11-19 CA CA2891377A patent/CA2891377C/en active Active
- 2013-11-19 EA EA201591071A patent/EA201591071A1/en unknown
- 2013-11-19 US US14/646,578 patent/US20150302756A1/en not_active Abandoned
-
2015
- 2015-05-19 IL IL238905A patent/IL238905A0/en unknown
Non-Patent Citations (2)
Title |
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None * |
See also references of WO2014102620A2 * |
Also Published As
Publication number | Publication date |
---|---|
IL238905A0 (en) | 2015-07-30 |
AU2013368987B2 (en) | 2016-05-12 |
CA2891377C (en) | 2017-08-01 |
CA2891377A1 (en) | 2014-07-03 |
JP2016507762A (en) | 2016-03-10 |
AU2013368987A1 (en) | 2015-07-02 |
US20150302756A1 (en) | 2015-10-22 |
DE102012023925A1 (en) | 2014-06-12 |
EA201591071A1 (en) | 2015-09-30 |
WO2014102620A3 (en) | 2014-10-30 |
WO2014102620A2 (en) | 2014-07-03 |
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