1267806 九、發明說明： 【發明所屬之技術領域】 本發明是有關於一種訓練系統，且特別是有關於一 種用於訓練操控人員駕駛運動體運動之操控能力之運動 體麵控训練糸統及其操作方法。 【先前技術】 為提升車輛、船舶、潛鑑、飛機、無人飛機、太空 火箭、載人太空梭以至各種衛星投送器等運動體之研發 時程與人力成本效益，透過反覆周詳的模擬驗證，以發 覺並矯正運動實體操控系統設計的缺陷及操控人員的 缺失，進而得以掌握運動實體系統之操控性能，有效提 焉運動體貫體操控糸統的妥善率。一般運用數學、邏 輯、控制程序以建立運動體操控模擬環境，表達運動體 之操控性能現象。透過系激 地模擬運動體之操控效果。 。透過系統化有條理的操控訓練，有效1267806 IX. Description of the Invention: [Technical Field] The present invention relates to a training system, and more particularly to a sports body face training system for training a manipulator to control the movement of a moving body and Its method of operation. [Prior Art] In order to improve the development time and labor cost efficiency of sports bodies such as vehicles, ships, submarines, aircraft, unmanned aircraft, space rockets, manned space shuttles and various satellite transmitters, through repeated and detailed simulation verification, In order to detect and correct the defects of the motion entity control system design and the lack of the control personnel, the control performance of the motion entity system can be grasped, and the proper rate of the motion body control system can be effectively improved. Generally, mathematics, logic, and control programs are used to establish a moving body to manipulate the simulation environment and express the manipulation performance phenomenon of the moving body. Simulate the control effect of the moving body through the system. . Effective through systematic and structured control training
系統之操控技能， 則是運崎操控訓練 有效解決之課題。 【發明内容】 思且通具勤感之 人員駕駛運動體 系統設計者亟待 種運動體操控訓練系 本發明的目的就是在提供_ 1267806 統，其係在提供運動體操控訓練系統與方法，建立接近 真實臨場感之模擬操控訓練環境，迅速而完整的學習運 動體系統之操控技能，藉以熟稔運動體實體系統之操控 運作性能。 本發明的再一目的就是在提供一種運動體操控訓練 系統之操作方法，其係提供實體運動體操控駕駛員之模 擬訓練環境，藉以培訓實體運動體駕駛操控人員之駕駛 操控技能，有效提昇操控人員駕駛運動體之操控技巧。 本發明提出一種運動體操控訓練系統，其係包括運 動體操控系統、運動體六自由度模擬系統、六自由度動 態平台、六自由度動態平台液壓控制系統、運動體駕駛 操控能力評估系統與運動體資料庫，其中運動體操控系 統置於動態平台之上，並提供具有聲、光、電以及虛擬 實境視覺效果之動感模擬環境，讓運動體駕駛操控人員 感受逼真之臨場動態感。在實施運動體操控訓練過程， 依不同任務需求，輸入查詢索引鍵值自運動體操控紀錄 資料庫選擇運動體之種類型式、操控方式、訓練科目、 操控評估設定資料等，再由運動體操控紀錄資料庫下載 到運動體操控系統，以及運動體六自由度模擬系統，由 1267806 運動體駕駛操控能力評估系統啟動運動體模擬操控訓練 環境，蒐集運動體模擬訓練過程各種資料，最後進行評 估操控人員操控運動體之能力。 本發明因採用運用「人在迴路模擬」（Human in the Loop Simulation)技術，將操控人員加入運動體模擬操控 系統以遂行車輛、船舶、飛機、無人飛機、衛星、太空 梭等運動體之駕驶操控訓練。因此，利用本發明建立之 運動體六自由度模擬系統與六自由度動態平台以建立逼 真之模擬動感環境系統，可進行完整之運動體操控性能 驗證。而且，利用動態平台裝置、虛擬實境模擬器及飛 行轉台以模擬聲、光、電、視覺、移動或旋轉等物理現 象邊λ體運動體駕欲操控人員感受視覺效果及動感效 應等，以增進運動體駕駛操控人員接近真實環境之臨場 感文’熟悉駕駛運動體之技能。 為讓本發明之上述和其他目的、特徵和優點錐更明 貝易麼’下文特舉較佳實施例，並配合所關式，作詳 細說明如下。 【實施方式】 本發明提供運動體操控訓練系統與方法，建负接近 9 1267806 真實臨場感之操控訓練動感環境，迅速而完整的模擬運 動體操控系統之性能反應，藉以訓練操控人員學習駕駛 運動體之操控技術，有效提升操控人員對運動體實體操 控駕駿之能力。 本發明的工作原理如圖1所示，其係為描述所建構 的運動體操控訓練系統之功能方塊圖。主要包括運動體 操控系統10、運動體六自由度模擬系統20、動態平台80、 動態平台液壓控制模組70、運動體操控性能評估系統40 以及運動體資料庫30。其中運動體操控系統10置放于動 態平台80之上，並提供具有聲、光、電以及虛擬實境視 覺效果之模擬環境，讓運動體駕駛操控人員感受逼真之 臨場感。運動體操控訓練系統開始執行時，由運動體駕 駛操控能力評估系統40依需求選擇查詢索引鍵值，自運 動體資料庫30取出運動體種類型號、操控方式、模擬訓 練方式等資訊以及相關軟體與參數，藉由輸出入介面下 載到運動體操控系統10與運動體六自由度模擬系統20。 運動體操控系統10内設置一運動體駕駛操控台18,讓運 動體駕駛人實施運動體移動或轉動之操控，並將整個駕 駛操控過程完整記錄資料存入運動體操控紀錄資料庫， 10 1267806 用以實施駕駛操控人員對運動體操控能力之評估。 慣性感測儀12自運動體六自由度模擬系統20獲得 轴向、橫向與垂下向等三個轴向之線型加速度，以及俯 仰、侧滑與滾轉三個轴向之角速率資料，開始進行運動 體之慣性導航運算，並自全球定位系統接收器50獲得運 動體之時間與空間（含經、緯度及高度）資訊，再執行 整合式導航運算13，然後自目標感測儀與目標訊號處理 模組15獲得目標貧訊’導引模組14根據運動體導航資 料與目標資料執行導引運算，控制模組16根據導引運算 之導引命令，執行控制翼之轉動控制量運算，並將運算 結果輸出以推動致動器模組17遂行運動體之操控動作。 致動器模組17之迴授訊號再輸入運動體六自由度模 擬系統，執行三個軸向之線型加速度，與三個軸向之角 速率資料運算，並將相關資料輸入動態平台液壓控制模 組70，用以驅動六自由度動態平台液壓致動器及迴授系 統81，使位於六自由度動態平台上之運動體駕駛操控人 員充分感受動態之移動或旋轉動感環境，並配合聲、光、 電、地理資訊系統等模擬環境，產生虛擬實境的視覺效 果。 11 1267806 運動體操控訓練系統之作業流程如圖2所示，其模 擬訓練執行步驟為首先自運動體駕駛操控能力評估系統 40輸入查詢條件向運動體資料庫查詢取出運動體種類型 號、序號、操控方式、模擬方式以及相關軟體與參數（步 驟 101)。 然後自模擬訓練操作站將運動體六自由度模擬模式 軟體與參數下載至運動體六自由度模擬系統20，將運動 體導航、虛擬實境、導引、控制與目標訊號處理軟體下 載至運動體操控系統之導航、虛擬實境、導引、控制與 目標訊號處理模組（步驟102)。 運動體駕駛操控人員在檢查運動體操控系統與運動 體六自由度模擬系統所有軟硬體與介面裝置均正常連接 後，即可供給外電給運動體操控系統與運動體六自由度 模擬系統（步驟103)，並檢查供電後之運動體與運動體 六自由度模擬系統功能測試是否正常（步驟104)。如果 正常，則由模擬訓練操作站之控制介面啟動運動體與運 動體六自由度模擬系統（步驟105)。如果不正常，則回 報失效碼給運動體操控人員評估系統（步驟109)，重新 修訂解決問題後重新開始。 12 1267806 ?(步驟 之内部電 接著’判斷運動體查核啟動狀態是否正火 1⑹如果正常，則由控制介面切換使用運動二 源’並切換資料傳輪系統由之内部電 ” 1，、电（步驟1〇 斷運動體檢查内部供電是否正常(步驟_)，），再判 則由控制界面關閉外電供應（步驟ΐι〇)。如果正常 則回報失效碼給運動體操控人員評估_ 果不正常’ 重新修訂解決問題後重新開始。 ’ ） 然後自模擬訓練操作站下達啟動運 歧六自由产握 擬處理模組與運動體導控系統之指令（步 没衩 少輝ill) 體六自由度模擬處理模組根據初始狀熊 一 〜、始執行運算各 種資料’並將結果輸出給運動體導控系絲 ’、μ之慣性感測 儀，以及動態平台液壓控制模組70，以驅 ^ 勒六自由度動 態平台液壓致動器及迴授线，讓運動體_操控人員 感受六自由度移動或轉動之臨場感（步驟112)。 十貝性感測儀12根據加速儀12；[所量測之線性力、亲 度、速率陀螺儀122所量測之角速率資料執行運動體慣 性導航運算，並由GPS接收器50獲得運動體之時間、空 間座標資料以及運動體導航資料，其中GPS接收器之訊 號來源可自GPS接收天線502或GPS訊號模擬器501取 13 1267806 得，然後執行整合式導航運算，並啟動地理資訊系統、 虛擬實境處理模組與地貌影像資料檔，讓運動體駕駛操 控人員感受仿真視覺效果之臨場感（步驟Π3)。 然後自目標資料感測器獲得目標訊號，其中目標資 料感測器之訊號可由目標訊號天線或由目標訊號模擬器 90取得，經目標訊號處理模組獲得目標運動資料，導引 模組根據目標與運動體之間的相對運動資料（如相對速 度、相對位置等資訊）得出操控運動體所需要之導引命 令資料，再經由控制模組運算推動致動伺服器所需之控 制訊號（步驟114)，並將控制訊號迴授給運動體六自由 度模擬系統繼續執行（步驟Π1)，直到符合停航條件為 止（步驟115)，然後自運動體操控紀錄資料庫讀取運動 體操控紀錄資料，執行操控人員操控運動體能力之評估 (步驟116)。 運動體操控紀錄資料檔格式60如圖3所示，包含： 檔頭識別碼61，運動體操控人員識別碼62、時間碼63、 感測資料值64如電壓、壓力、溫度等量測資料，導航資 料65、目標資料66、導控資料67、資料檢查碼68、檔 尾識別碼69等資料。其中運動體操控人員識別碼62包 14 1267806 含··運動體種類型號621、運動體序號622、操控人員辨 識碼623、操控訓練科目識別碼624、操控評估設定資料 625以及操控評分資料626等欄位。 運動體操控紀錄資料庫30之功能圖如圖4所示，其 係包括資料物件輸入處理器31係為處理並回應軟體或各 種資料儲存需求。查詢處理器32係為處理並回應操作人 員之標的系統軟體與各種資料查詢需求。輸出處理器33 係為處理並回應操作人員之軟體或各種資料更新需求。 索引資料庫34係為儲存資料標籤與索引鍵值。軟體與各 種資料檔案儲存系統35係為儲存軟體與各種資料檔案， 將輸入索引轉成資料物件。運動體操控紀錄資料庫30亦 可自光碟、軟硬磁碟等儲存媒體中讀取軟體與各種資料 轉成資料物件。 運動體操控紀錄資料庫中的資料物件輸入處理器31 解出資料物件之存檔路徑及檔名寫入索引資料庫34中。 軟體物件存入運動體操控紀錄資料庫中的軟體與各種資 料檔案儲存系統35。經授權之使用者將查詢條件包成查 詢軟體物件傳給運動體操控紀錄資料庫30。 查詢處理器32將收到的查詢物件轉成結構化查詢語 15 1267806 言（Structured QueiyLanguage,SQL)查詢語法並向素引資 料庫查Θ，獲仔查詢後之軟體查詢物件，傳給輸出處理 將叙體物件的鍵值及再轉成結構化查詢語言SQL等 -U向索引貝料庫34查詢。此查詢會回應與此查詢 鍵值相同所有軟體物件的存檔路徑與檔名。輸出處理器 33依據存播路捏及播名找到軟體或各種資料檔儲存系統 中k二I人體或各種貧料槽。輸出處理器將取得的軟體 或各種資料鄕給運動體操作性能評估系統40，供使用 者進仃^的運動體各種㈣之更新與檢核作業。 模擬操控職軟體或運動私师料物件存入運動 體操控紀錄#料庫之作業流程如圖5所示。將輪入索引 轉成軟體或各種資料物件（步驟31〇)之後，再將來自各 U二所&之健或各师料轉成數錄體或各種資料 物件（步驟3U)。亦可自儲存媒騎讀取之軟體各 資料轉為軟體或資料物件（步驟312)。 ^各種 運動體操控紀錄資料庫中之軟體或各種資料輪入卢 理器解出敕體與參數物件之存财徑及槽名寫入争引= ㈣之中（步驟313)。軟體或各種資料物件存入運動^ 操控紀崎刪之數位峨各種細_存系統 16 1267806 (步驟314)。 運動體操控紀錄資料庫查詢取出之作業流程如圖6 所示，將此索引鍵值傳至查詢器（步驟320)。運動體資 料庫之查詢處理器（32)將傳入之索引鍵值轉成結構化查 詢語言SQL資料庫查詢語法向資料庫進行查詢（步驟 321)。此查詢會回應與此鍵值相同所有軟體與資料物件 的存檔路徑以及檔名（步驟322)。輸出處理器依據存檔 路徑以及檔名找到軟體或各種資料檔案儲存系統的軟體 或各種資料檔（步驟323 )，輸出處理器（33)將取得之 軟體檔傳給操控人員能力評估系統40處理。 圖7所示為運動體駕駛人員操控能力評估流程圖， 其執行步驟為：首先選擇查詢鍵值，自運動體操控紀錄 資料庫取出操控人員操控能力記錄資料（步驟401)。然 後自運動體操控人員記錄資料擷取出操控能力評估設定 運動體預期到達目標資料（Target, T)(含預設執跡資料） (步驟402)。 接著，再自運動體操控能力記錄資料擷取出運動體 操控能力評估記錄資料（Record, R)，計算運動體執跡 位置與預設軌跡值之誤差、均方根值、標準；等資料（步 17 1267806 驟403);根據誤差量評定運動體操控人員操控能力分 數，再將評估結果存入運動體操控紀錄資料庫（步驟 404) 〇 綜上所述，在本發明之運動體操控訓練系統及其方 法中，其因運用「人在迴路模擬」（Human记^叩 ^ SmmlatKHi)技術，將操控人員加入運動體模擬操控系統 以遂行車輛、船舶、飛機、無人飛機、衛星、太空梭等 運動體之驗操控爾。因此，利用本發明建立之運動 體/、自由度权擬模擬系統與六自由度動態平台以建立逼 真之模擬動感環境祕，可進行完整之運賴操控性能 驗證。而且，利用動態平台裝置、虛擬實境模擬器及飛 行轉台以模擬聲、光、電、視覺、移動或旋轉等物理現 • i讓實體運動體駕驶操控人員感受視覺效果及動感效 應等Μ ; a麵動體駕駛餘人貞接近真實環境之臨場 感文，熟悉駕敬運動體之技能。 雖然本發明已以較佳實施例揭露如上，僅為本發明其 中的較佳實施例而已，並非絲限定本發明的實施範圍；即 凡依本發明申請專利範圍所作的均等變化與修飾，皆為本發The control skill of the system is an effective solution to the problem of Yunsaki control training. SUMMARY OF THE INVENTION The purpose of the present invention is to provide a sports body control training system and method, and to provide close proximity to the body. The real-life sense simulation control training environment, quickly and completely learn the control skills of the sports body system, so as to be familiar with the operational performance of the physical system. A further object of the present invention is to provide a method for operating a sports body control training system, which provides a simulated exercise environment in which a physical moving body controls a driver, thereby training a driving skill of a driving body of a physical moving body to effectively improve a manipulator. Driving skills in driving sports. The invention provides a sports body manipulation training system, which comprises a moving body control system, a six-degree-of-freedom simulation system for a moving body, a six-degree-of-freedom dynamic platform, a six-degree-of-freedom dynamic platform hydraulic control system, a sports body driving control capability evaluation system and a movement. The body database, in which the moving body control system is placed on the dynamic platform, and provides a dynamic simulation environment with sound, light, electricity and virtual reality visual effects, so that the moving body driving control personnel feel the realistic presence dynamic. In the implementation of the sports body control training process, according to different task requirements, input the query index key value from the moving body control record database to select the type of movement body, the control mode, the training subject, the manipulation evaluation setting data, etc., and then the movement body manipulates the record The database is downloaded to the sports body control system, and the six-degree-of-freedom simulation system of the moving body. The 1267806 sports body driving control ability evaluation system starts the sports body simulation control training environment, collects various materials of the sports body simulation training process, and finally evaluates the manipulation personnel. The ability to exercise. The invention adopts the "Human in the Loop Simulation" technology to introduce the control personnel into the motion simulation control system to drive the driving of the vehicle, the ship, the aircraft, the unmanned aircraft, the satellite, the space shuttle and the like. training. Therefore, the six-degree-of-freedom simulation system and the six-degree-of-freedom dynamic platform established by the invention can be used to establish a realistic simulated dynamic environment system, and the complete motion body manipulation performance verification can be performed. Moreover, the dynamic platform device, the virtual reality simulator and the flight turntable are used to simulate physical phenomena such as sound, light, electricity, vision, movement or rotation, and the body of the body is driven to sense the visual effect and the dynamic effect. The sports body driving control personnel are close to the real environment and feel the familiar skills of driving the sports body. The above and other objects, features and advantages of the present invention will become more apparent. [Embodiment] The present invention provides a sports body control training system and method, and constructs a dynamic environment of a control and training environment close to the true sense of presence of 9 1267806, and quickly and completely simulates the performance response of the motion body control system, thereby training the control personnel to learn the driving motion body. The control technology effectively enhances the ability of the operator to control the movement of the physical body. The working principle of the present invention is shown in Figure 1, which is a functional block diagram depicting the constructed motion body manipulation training system. It mainly includes a moving body control system 10, a moving body six-degree-of-freedom simulation system 20, a dynamic platform 80, a dynamic platform hydraulic control module 70, a moving body handling performance evaluation system 40, and a moving body database 30. The moving body control system 10 is placed on the dynamic platform 80 and provides a simulation environment with sound, light, electricity and virtual reality visual effects, so that the moving body driving control personnel feel the realistic presence. When the sports body manipulation training system starts to be executed, the sports body driving ability evaluation system 40 selects the index key value according to the demand, and extracts the movement type type, the control mode, the simulation training mode and the like from the sports body database 30, and related software and The parameters are downloaded to the moving body manipulation system 10 and the moving body six degree of freedom simulation system 20 by the input/output interface. A sports body driving console 18 is disposed in the sports body control system 10, so that the moving body driver performs the movement or rotation control of the moving body, and stores the entire record of the entire driving control process into the sports body manipulation record database, 10 1267806 To implement the evaluation of the steering ability of the driving manipulator. The inertial sensor 12 obtains three axial linear accelerations, such as axial, lateral, and downward directions, from the six-degree-of-freedom simulation system 20 of the moving body, and the angular velocity data of the three axial directions of pitch, side slip, and roll starts. The inertial navigation operation of the moving body, and obtaining the time and space (including latitude, longitude and altitude) information of the moving body from the global positioning system receiver 50, and then performing the integrated navigation operation 13, and then processing from the target sensor and the target signal The module 15 obtains the target poorness of the guidance module 14 to perform the guiding operation according to the moving body navigation data and the target data, and the control module 16 performs the rotation control amount calculation of the control wing according to the guiding command of the guiding operation, and The result of the operation is output to push the actuator module 17 to perform the manipulation of the moving body. The feedback signal of the actuator module 17 is input into the six-degree-of-freedom simulation system of the moving body, and the three axial linear accelerations are performed, and the three axial angular velocity data are calculated, and the related data is input into the dynamic platform hydraulic control mode. The group 70 is used to drive the six-degree-of-freedom dynamic platform hydraulic actuator and the feedback system 81, so that the moving body driving and controlling personnel on the six-degree-of-freedom dynamic platform fully feel the dynamic moving or rotating dynamic environment, and cooperate with the sound and light. Simulation environments such as electricity, geographic information systems, etc., produce visual effects of virtual reality. 11 1267806 The working process of the sports body control training system is shown in Figure 2. The simulation training execution step is to first input the query condition from the sports body driving ability evaluation system 40, and query the moving body database to retrieve the type, serial number and control of the moving body. Mode, simulation mode and related software and parameters (step 101). Then, the six-degree-of-freedom simulation mode software and parameters of the moving body are downloaded from the simulation training operation station to the six-degree-of-freedom simulation system 20 of the moving body, and the moving body navigation, virtual reality, guidance, control, and target signal processing software are downloaded to the moving body. The navigation, virtual reality, guidance, control, and target signal processing modules of the control system (step 102). The sports body driving controller can supply the external power to the moving body control system and the moving body six-degree-of-freedom simulation system after checking that the moving body control system and all the soft body and interface devices of the moving body six-degree-of-freedom simulation system are normally connected. 103), and check whether the functional test of the six-degree-of-freedom simulation system of the moving body and the moving body after power supply is normal (step 104). If normal, the motion and motion six-degree-of-freedom simulation system is initiated by the control interface of the simulated training operator station (step 105). If it is not normal, the revoke code is returned to the sports body operator evaluation system (step 109), and the problem is re-edited to restart the problem. 12 1267806 ? (The internal power of the step then 'determines whether the motion check state is normal or not 1 (6). If it is normal, the control interface switches to use the motion source 2 and switches the data transmission system to internal power. 1. Electricity (step 1 Cut off the moving body to check whether the internal power supply is normal (step _),), and then judge the external power supply to be closed by the control interface (step ΐι〇). If it is normal, report the revoke code to the mobile body operator to evaluate _ Revise and solve the problem and start again. ' ) Then, from the simulation training station, the instruction to start the operation of the six free production grip module and the moving body guidance system (step 衩 衩 辉 辉 ill) body six degrees of freedom simulation processing module is issued. The group performs the calculation of various data 'and outputs the result to the moving body guiding wire', the μ inertial sensor, and the dynamic platform hydraulic control module 70 according to the initial shape of the bear one to drive the six degrees of freedom. The dynamic platform hydraulic actuator and the feedback line allow the moving body _ control personnel to feel the sense of movement of six degrees of freedom to move or rotate (step 112). According to the accelerometer 12; [the measured linear velocity, affinity, rate gyro 122 measured angular rate data to perform the motion body inertial navigation operation, and the GPS receiver 50 obtains the time and space coordinates of the moving body and The motion body navigation data, wherein the signal source of the GPS receiver can be obtained from the GPS receiving antenna 502 or the GPS signal simulator 501, and then performs the integrated navigation operation, and starts the geographic information system, the virtual reality processing module and the landscape. The image data file allows the sports body driving controller to feel the sense of presence of the simulated visual effect (step Π 3). Then the target signal is obtained from the target data sensor, wherein the signal of the target data sensor can be simulated by the target signal antenna or by the target signal. The device 90 obtains the target motion data obtained by the target signal processing module, and the guidance module obtains the guidance required to control the motion body according to the relative motion data (such as relative speed and relative position) between the target and the moving body. Command data, and then through the control module operation to push the control signal required to actuate the server (step 114), and control The signal is sent back to the sports body six-degree-of-freedom simulation system to continue execution (step )1) until the suspension condition is met (step 115), and then the moving body manipulation record data is read from the moving body manipulation record database, and the control personnel control movement is performed. The physical ability evaluation (step 116). The sports body manipulation record data file format 60 is shown in FIG. 3, and includes: a head identification code 61, a moving body operator identification code 62, a time code 63, and a sensing data value 64 such as a voltage. , pressure, temperature and other measurement data, navigation data 65, target data 66, guidance and control data 67, data inspection code 68, tail identification code 69 and other data. Among them, the movement body operator identification code 62 package 14 1267806 containing · sports The field type model 621, the moving body number 622, the operator identification code 623, the manipulation training subject identification code 624, the manipulation evaluation setting data 625, and the manipulation rating data 626 are used. The functional diagram of the sports body manipulation record database 30 is shown in Figure 4, which includes the data object input processor 31 for processing and responding to software or various data storage requirements. The query processor 32 is configured to process and respond to the operator's target system software and various data query requirements. The output processor 33 is configured to process and respond to the operator's software or various data update requirements. The index database 34 is for storing data tags and index key values. The software and various data file storage systems 35 are storage software and various data files, and convert the input index into data objects. The sports body manipulation record database 30 can also read software and various data into information objects from storage media such as optical disks and hard disk. The data object input processor 31 in the moving body manipulation record database decodes the archive path and file name of the data object into the index database 34. The soft object is stored in the software of the moving body manipulation record database and various material file storage systems 35. The authorized user passes the query condition into the query software object and transmits it to the sports body manipulation record database 30. The query processor 32 converts the received query object into a structured query language (1,267,806) (Structured QueiyLanguage, SQL) query syntax and queries the data source, and obtains the software query object after the query, and passes it to the output processing. The key value of the narrative object and then converted into a structured query language SQL, etc. - U query to the index shell library 34. This query will respond to the archive path and file name of all software objects that have the same key value as this query. The output processor 33 finds the k 2 I human body or various lean troughs in the software or various data file storage systems according to the storage path pinch and the broadcast name. The output processor sends the obtained software or various data to the moving body operation performance evaluation system 40 for the user to update and check the various moving bodies of the moving body. The simulation operation software or sports private material items are stored in the sports body control record. The operation flow of the material library is shown in Figure 5. After the round index is converted into a software or various data objects (step 31〇), the health or the teachers from each U2&&> are converted into digital recordings or various data objects (step 3U). The software data read from the storage medium can also be converted into a software or data item (step 312). ^ The software or various data in the various sports body manipulation record database is rounded up to solve the problem of the storage path and the slot name of the carcass and the parameter object in the competition = (4) (step 313). The software or various data objects are stored in the motion ^ control the number of the data, the various systems, 16 1267806 (step 314). The workflow of the motion body manipulation record database query retrieval is shown in Figure 6, and the index key value is passed to the querier (step 320). The query processor (32) of the sports repository converts the incoming index key into a structured query language SQL database query syntax to query the database (step 321). This query will respond to the archive path and file name of all software and data objects with this key value (step 322). The output processor finds the software or various data files of the software or various data archive storage systems according to the archive path and the file name (step 323), and the output processor (33) transmits the obtained software files to the controller capability evaluation system 40 for processing. Fig. 7 is a flow chart of the evaluation of the handling ability of the driver of the sports body. The execution steps are as follows: first, the query key value is selected, and the maneuvering ability record data is taken out from the moving body control record database (step 401). Then, the self-moving body controller records the data and extracts the maneuverability evaluation setting. The moving body is expected to reach the target data (Target, T) (including the preset obstruction data) (step 402). Then, the self-moving body manipulation capability record data, the moving body manipulation capability evaluation record data (Record, R), the error of the moving body's execution position and the preset trajectory value, the root mean square value, the standard, and the like are calculated. 17 1267806 Step 403); assessing the manipulation ability score of the moving body operator according to the error amount, and then storing the evaluation result in the moving body manipulation record database (Step 404). In summary, in the moving body manipulation training system of the present invention, In the method, the operator is added to the sports body simulation control system by using the "human in-circuit simulation" (Human record ^ 叩 ^ SmmlatKHi) technology to carry out moving bodies such as vehicles, ships, airplanes, unmanned aircraft, satellites, space shuttles, etc. The test is controlled. Therefore, the motion body/freedom weight simulation system and the six-degree-of-freedom dynamic platform established by the invention can be used to establish a realistic simulation dynamic environment secret, and the complete operation control performance verification can be performed. Moreover, using dynamic platform devices, virtual reality simulators, and flight turrets to simulate physical, acoustic, optical, electrical, visual, mobile, or rotational physical effects, i let the physical moving body drive operators feel the visual effects and dynamic effects; Face-to-face driving the rest of the man is close to the real environment, and is familiar with the skills of driving the body. The present invention has been described above by way of a preferred embodiment, and is merely a preferred embodiment of the present invention, and is not intended to limit the scope of the present invention; This hair
明專利範圍所涵蓋。 X 18 1267806 【圖式簡單說明】 圖1為繪示依照本發明一較佳實施例的一種運動體 操控訓練系統之功能方塊圖。 圖2為繪示依照本發明一較佳實施例的一種運動體 操控訓練作業流程圖。 圖3為繪示依照本發明一較佳實施例的一種運動體 操控記錄資料檔案格式圖。 圖4為繪示依照本發明一較佳實施例的一種運動體 操控紀錄資料庫功能方塊圖。 圖5為繪示依照本發明一較佳實施例的一種各種資 料存入運動體操控紀錄資料庫流程圖。 圖6為繪示依照本發明一較佳實施例的一種自運動 體操控紀錄資料庫擷取相關資料之流程圖。 圖7為繪示依照本發明一較佳實施例的一種人員操 控運動體之能力評估流程圖。 【主要元件符號說明】 10 :運動體操控系統 11 :各種資料蒐集與聲、光、電、虛擬實境視覺顯 示模組或頭盔顯示器 19 1267806 12慣性感測儀（包含加速儀與速率陀螺儀） 121加速儀 122速率陀螺儀 13導航模組 14導引模組 15目標訊號處理模組 • 16控制模組 17致動器模組 18運動體駕駛操控台 19虛擬實境處理模組 20運動體六自由度模擬系統 30運動體操控紀錄資料庫 φ 31資料物件輸入處理器 32查詢處理器 33輸出處理器 34索引資料庫 35軟體或運動資料檔案儲存系統 40運動體駕駛操控能力評估系統 50GPS接收器 20 1267806 60運動體操控紀錄資料檔格式 61檔頭識別碼 62運動體操控人員識別資訊 63時間碼 64感測資料 65導航資料 • 66目標資料 67導控資料 68資料檢查碼 69檔尾識別碼 70六自由度動態平台液壓控制模組 80六自由度動態平台 φ 81動態平台液壓致動器及迴授系統 90目標訊號模擬器 101〜111運動體操控訓練流程步驟 191地理貧訊糸統與地貌影像貧料庫 310〜314運動資料庫儲存軟體作業流程步驟 320〜323自運動資料庫查詢取出相關資料作業流程 步驟 21 1267806 4 01〜404運動體操控人員操控能力評估流程步驟 501 GPS訊號模擬器 502 GPS天線 621運動體種類型號 622運動體序號 623操控人員識別碼 624操控訓練科目識別碼 625操控能力評估設定資料 626操控能力評分記錄資料Covered by the scope of the patent. X 18 1267806 BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is a functional block diagram of a sports body manipulation training system in accordance with a preferred embodiment of the present invention. 2 is a flow chart showing a training operation of a moving body according to a preferred embodiment of the present invention. FIG. 3 is a diagram showing the format of a moving body manipulation record data file according to a preferred embodiment of the present invention. FIG. 4 is a block diagram showing the function of a moving object manipulation record database according to a preferred embodiment of the present invention. FIG. 5 is a flow chart showing the storage of various materials into a moving body manipulation record database according to a preferred embodiment of the present invention. FIG. 6 is a flow chart showing a self-moving body manipulation record database for extracting relevant data according to a preferred embodiment of the present invention. FIG. 7 is a flow chart showing the capability evaluation of a person operating a moving body according to a preferred embodiment of the present invention. [Main component symbol description] 10: Sports body control system 11: Various data collection and sound, light, electricity, virtual reality visual display module or helmet display 19 1267806 12 inertial sensor (including accelerometer and rate gyroscope) 121 Accelerator 122 Rate Gyroscope 13 Navigation Module 14 Guide Module 15 Target Signal Processing Module • 16 Control Module 17 Actuator Module 18 Moving Body Driving Console 19 Virtual Reality Processing Module 20 Moving Body Six Degree of freedom simulation system 30 moving body manipulation record database φ 31 data object input processor 32 query processor 33 output processor 34 index database 35 software or sports data file storage system 40 sports body driving control ability evaluation system 50 GPS receiver 20 1267806 60 sports body control record data file format 61 head recognition code 62 sports body control personnel identification information 63 time code 64 sensing data 65 navigation data • 66 target data 67 guidance data 68 data check code 69 file tail identification code 70 six Freedom Dynamic Platform Hydraulic Control Module 80 Six Degrees of Freedom Dynamic Platform φ 81 Dynamic Platform Hydraulic Actuator and Feedback System 90 Target News No. Simulator 101~111 Moving Body Control Training Process Step 191 Geographical Lean System and Geomorphology Image Poor Library 310~314 Sports Database Storage Software Operation Process Steps 320~323 Self-motion Database Querying and Retrieving Related Data Operation Process Step 21 1267806 4 01~404 Sports body control personnel control ability evaluation process Step 501 GPS signal simulator 502 GPS antenna 621 body type 622 body number 623 operator identification code 624 control training account identification code 625 control ability evaluation setting data 626 control Ability score record
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