TWI584240B - Reality operating emulation system - Google Patents

Description

Real-world control simulation system

The present invention relates to an analog control system; and more particularly to a realistic control simulation system that can simulate the dynamics of a remote object.

With the advancement of science and technology, the way of leisure and entertainment continues to evolve, and all kinds of novel outdoor activities have sprung up, such as high-powered vehicles such as racing cars, speedboats or light aircraft, which can give users different stimuli. Fresh feeling. However, when the user actually operates the vehicle in the land, sea and airspace, it is not as safe as usual, and may be accidentally accompanied by factors such as sudden changes in climate, improper operation or mechanical failure. Therefore, the user usually has to perform a certain amount of simulation training before actually operating the above vehicle.

Taking flight simulation training as an example, the conventional flight control simulation system allows the user to issue various control commands to a control computer through a control medium for various flight simulation situations. The control computer can calculate the control surface and throttle of the aircraft according to a flight control law. The angle is used to simulate the attitude change of the aircraft and display the visual effect. One embodiment can refer to the Patent Case No. I226999 “Unmanned Vehicle Flight Control Simulation and Test System Architecture”.

However, the above simulation method generates a simulation rule (such as a flight control law, etc.) based on the data collected in advance, and the simulation results (such as attitude change and visual effect, etc.) are not generated by instantaneously detecting the flight condition of the aircraft, and it is inevitable that there will be In the case of errors or distortions, the user cannot experience the actual operation.

In view of this, it is necessary to improve the shortcomings of the prior art described above to meet practical needs and improve its practicability.

The present invention provides a real-world control simulation system that can drive an analog stage according to the operation of a remote control vehicle, so that the analog stage can reproduce the dynamics experienced by the remote control vehicle.

The present invention discloses a real-world control simulation system, which can include: a remote control vehicle, a sensing component, an integrated module, and a first transmission module, the integrated module electrically connecting the sensing component and the first a transmission module, the integration module generates a plurality of data according to the output signal of the sensing component, the data includes a horizontal inrush value, a horizontal swing value, a height fluctuation value, a line speed value, a line acceleration value, a corner speed value, a yaw angle value, a roll angle value, a bump angle value, and a video, the integrated module transmits the plurality of data to the first transmission module; and an analog stage, having a first a second transmission module coupled to the first transmission module, the control unit is electrically connected to the second transmission module and the driving unit, the second transmission mode The group is configured to receive the data, and the control unit converts the data into a plurality of control parameters according to a non-linear scaling method, wherein the driving unit controls a motion state of a cabin, the nonlinear scaling method is u ( t ) =ω ₁ . u ₁ ( t ) + ω ₂ . u ₂ ( t ) + ω ₃ . u ₃ ( t ), where u ₁ (t), u ₂ (t), u ₃ (t) are the control functions of the first, second and third line segments respectively; ω ₁ , ω ₂ , ω ₃ are respectively u ₁ The weight values of (t), u ₂ (t), and u ₃ (t).

The cockpit can use the data to display the visual field information of the remote control vehicle.

The sensing component can include a global positioning system, an accelerometer, a gyroscope, a magnetic field meter, a barometer, an ultrasonic meter, an image positioning system, a camera, and a thermometer and hygrometer.

The control unit may generate an error value according to the motion state of the base and a database, and generate the control parameter according to the error value.

The cockpit may include a six-axis motion platform.

The remote control carrier can be operated by a remote operating platform.

The above-mentioned real-world control simulation system can be driven according to the operation of the remote control vehicle. The analog stage enables the analog stage to reproduce the action state and visual field information experienced by the remote control vehicle, and provides a user with a driving demand for a high power load such as a racing car, a speed boat or a light aircraft. The safety and high-computation driving experience can achieve the effect of "safely improving the real experience of simulated driving", and can be applied to various simulation driving or somatosensory games to enhance industrial value.

1‧‧‧Remote control vehicle

11‧‧‧Sensing components

12‧‧‧ Integration module

13‧‧‧First transmission module

2‧‧‧Simulation stage

21‧‧‧Second transmission module

22‧‧‧Control unit

22A‧‧‧Control algorithm

22D‧‧‧Database

22E‧‧‧ Error value

23‧‧‧ drive unit

24‧‧‧Cockpit

C1‧‧‧ first line

C2‧‧‧second line

C3‧‧‧ third line

J‧‧ objects

P‧‧‧ simulation cabin

L‧‧‧ shaft parts

S‧‧‧ Driver's seat

Figure 1 is a block diagram of an embodiment of an embodiment of the present invention.

Fig. 2 is a schematic view showing the operation state of the remote control vehicle of the embodiment of the present invention.

Fig. 3 is a schematic view showing the simulation of the cabin of the embodiment of the present invention.

Fig. 4 is a graph showing the relationship of the nonlinear ratio of the embodiment of the present invention.

The above and other objects, features and advantages of the present invention will become more <RTIgt;

The "coupled connection" as used throughout this disclosure refers to the communication between two devices via wireless communication technology, but is not limited thereto, and can be understood by those of ordinary skill in the art to which the present invention pertains.

"Surge" as used throughout the present invention means that an object J moves back and forth along a direction of travel X (as shown in Fig. 2), as will be understood by those of ordinary skill in the art to which the present invention pertains.

"Roll" as used throughout the present invention means that the object J rotates with the traveling direction X as an axis (as shown in FIG. 2), which is in the technical field of the present invention. Regular knowledge can be understood.

"Sway" as used throughout the present invention means that the object J moves left and right along a side direction Y (as shown in Fig. 2), as will be understood by those of ordinary skill in the art to which the present invention pertains.

The term "pitch" as used throughout the present invention means that the object J is rotated with the side direction Y as an axis (as shown in FIG. 2), which is generally known in the art to which the present invention pertains. understanding.

"Heave" as used throughout the present invention means that an object J moves up and down in a depth direction Z (as shown in Fig. 2), as will be understood by those of ordinary skill in the art to which the present invention pertains.

"Yaw" as used throughout the present invention means that the object J is rotated in the depth direction Z as an axis (as shown in FIG. 2), which is generally known in the technical field to which the present invention pertains. understanding.

Please refer to FIG. 1, which is a system block diagram of an embodiment of the present invention. The embodiment of the real-world control system can include a remote control vehicle 1 and an analog carrier 2, and the analog carrier 2 can be coupled to the remote control carrier 1.

As shown in FIG. 1 , the remote control unit 1 can be provided with a sensing component 11 , an integrated module 12 , and a first transmission module 13 . The integrated module 12 is electrically connected to the sensing component 11 and The first transmission module 13 is configured to sense the movement state of the remote control vehicle 1 during actual operation; the integration module 12 can generate a plurality of data according to the output signal of the sensing component 11 and The data is transmitted to the first transmission module 13 for transmitting the data to the analog stage 2.

In this embodiment, the type of the remote control vehicle 1 can be a carrier (such as a remote control aircraft, etc.) made according to the ratio of a physical object (such as a vehicle, a boat, or an aircraft), and the carrier can be operated by a remote end. The platform (eg, remote control, etc.) operates in a controlled manner. The remote operating platform can be integrated into the analog stage 2, but the remote operating platform and the analog stage 2 can also be separately provided for an operator (eg: The user of the simulation stage 2 or other person controls the operation of the remote control vehicle 1; the sensing component 11 can include a global positioning system (GPS), an accelerometer (3D accelerometer), and a gyroscope (3D gyroscope). , a magnetic field meter (3D magnetometer), a barometer, an ultrasonoscope, an image positioning system, a camera, a thermometer and hygrometer, such as: smart glasses , a smart phone, a tablet computer, a quad-axis aircraft, a smart car, a smart ship or a smart phone, etc., for sensing physical quantities such as three-dimensional coordinates, acceleration and angular velocity when the remote-controlled vehicle 1 moves, and the physical quantities can be further After filtering (noise filtering), integration (smoothing), and data comparison (screening), the information such as the position and posture of the remote control vehicle 1 is obtained, but not limited thereto.

In this embodiment, the integrated module 12 can be an embedded system or the like, and the embedded system can further integrate the sensing component 11 , but not limited thereto. The plurality of data generated by the integration module 12 may include a horizontal Surge value, a horizontal sway value, a height wavy value, a line speed value, a line acceleration value, an angular velocity value, and a Yaw angle value, a roll angle value and a Pitch angle value (as shown in Figure 2), the data may also include a video, etc., but not limited thereto. The first transmission module 13 can be a conventional wireless communication transceiver for receiving the control signal of the remote control platform and transmitting the data to the analog carrier 2.

As shown in FIG. 1 , the analog transmission stage 2 can be provided with a second transmission module 21 , a control unit 22 and a driving unit 23 . The second transmission module 21 can be coupled to the remote control unit 1 . The first transmission module 13 is electrically connected to the second transmission module 21 and the driving unit 23, and the second transmission module 21 is configured to receive data generated by the integration module 12, the control unit 22 may generate a plurality of control parameters based on the data for the drive unit 23 to control the motion state of a cabin 24. In this embodiment, the second transmission module 21 is a device that can receive the wireless signal of the first transmission module 13 for receiving the data.

In this embodiment, the control unit 22 may include a control algorithm 22A for converting the data into a plurality of control parameters according to a nonlinear factor scaling method (eg, Piecewise Cubic Hermite Interpolating Polynomial, etc.). Infinitely large moving values are converted into analog values with limits in a non-linear manner, such as: close-range or low-speed analog values are close to real, and long-distance or high-speed analog values are nonlinear. After zooming out, it is used to control the cockpit 24, but the motion state of the cockpit 24 can also be fed back to the control unit 22, so that the control unit 22 can be based on the motion state of the cockpit 24 and a database 22D (eg, horizontal Inrush current mean, horizontal sway mean, height undulation mean, line velocity mean, line acceleration mean, angular velocity mean, yaw angle mean, roll angle mean or bump angle mean, etc.) an error value of 22E (the smaller the better, the most Preferably, the control parameter is generated according to the error value, and the control unit 22 can be a gesture and speed limit controller (gesture and veloc The ity constraint robust controller) or the like limits the control range region to the moving region of the cabin 24 (ie, its limit range), and both the attitude amount and the speed amount have a saturation (limit) threshold. The following examples illustrate the above-mentioned surge average value, sway average value, heave average value, yaw average value, roll average value, The pitch average value, the mean of the linear velocity, the mean of the linear acceleration, or the mean of the angular velocity, but not limited to this.

For example, an accelerometer can provide acceleration of a moving object in a three-dimensional direction, and the gyroscope provides an angular velocity in a three-dimensional direction of the moving object; using mathematical integration and initial conditions of the moving object, the instantaneous velocity and position of the moving object can be calculated. And the attitude, the three-dimensional acceleration measurement value, can be combined into a three-dimensional acceleration vector (representing the linear acceleration); the vector is integrated with the time as an independent variable. After the acceleration is integrated once, the instantaneous motion speed value can be obtained; and once again, the displacement value of the moving object can be obtained. With the initial conditions of the moving object, you can calculate the moving object The position, that is, the surge average value of the moving object, the sway average value, and the heave average value. In the same way, the angular velocity of the three-dimensional direction of the moving object is integrated by the gyroscope, and the yaw average value and the roll average value of the moving object can be obtained by adding the initial value posture condition of the moving object. , pitch average value, the above values are based on accelerometer and gyroscope measurement data, plus mathematical calculations, according to mathematical common sense should be very accurate.

In addition, because accelerometers and gyroscopes are micro-mechanical and electronic circuit components, the measured values may contain noise, resulting in inaccurate mathematical calculations and deviation from the correct values. Therefore, in this embodiment, before using the measurement data, the noise can be filtered first, and the noise filtering method can use a Kalman filter or a Weiner filter. The method is understood by those skilled in the art and will not be described here.

In addition, a barometer, an ultrasonic meter and a magnetic field meter can be used to compare the above calculated values, wherein the barometer can measure the height of the moving object and calibrate it in advance to accurately measure the height, which can be used for acceleration and acceleration. The height of the meter (usually the Z-axis direction) is calculated by comparison, and usually the error between the two can be within ±5%. Thereby, the calculation result can be used to calculate the calculation error of the other two dimensions; in addition, the ultrasonic meter can also be used to prevent the damage or failure of the barometer, and measure the height of the object in the Z-axis direction; and the magnetic field meter can be used. In comparing the posture of the moving object, the magnetic field meter is parallel to the central axis of the moving object, that is, the direction of the moving object can be known by using a magnetic field meter, wherein the common magnetic field meter refers to the north direction, and the angle with the central axis can be used to know The angle of the moving object. Use this angle to compare with the yaw average value calculated by the above mathematical method. The general error is within ± 5%, which can be used to compare and confirm the roll average value and the bump angle mean. (pitch average value).

In this embodiment, the driving unit 23 can generate power and control signals suitable for the cabin 24 according to the control parameters, such as: a driving signal of the servo motor, etc., and the driving The power source of the unit 23 can be from a pure electric drive (such as: AC, DC servo motor or screw motor electric cylinder, etc.) or an oil (or gas) electric drive (such as: powering the hydraulic cylinder (or pneumatic cylinder) to generate power The driving method can use a driving controller (such as a CNC driving controller) to convert the output result generated by the control algorithm 22A into a message or signal required by the power source to generate a motion for driving the cabin 24. The source of power required, but not limited thereto; the cockpit 24 may include a 6-axes motion platform, such as: the cockpit 24 may be a seat having a conventional six-axis motion control function, or As shown in FIG. 3, the cockpit 24 can also form a conventional simulation cabin P having a six-axis motion control function, and a six-degree-of-freedom shaft member L can be controlled by a conventional servo motor (eg, a hydraulic cylinder, a telescopic shaft, or The connecting shaft, etc.) generates different motion patterns. At least one driver's seat S can be set in the simulation cabin P, and various display technologies (such as multiple projection or screen division) can be used to make the simulation cabin P reproduce the remote control. The movement state and visual field of the vehicle 1 The cockpit 24 can also be provided with a temperature and humidity adjusting device. For example, according to the temperature and humidity sensed by the sensing component 11, the sprayer increases the humidity above the driver's seat S, extracts the wind, reduces the humidity, and sends the cold air to lower the temperature. Blowing out the heating to increase the temperature and the like in order to improve the fidelity of the simulation can be understood by a person having ordinary knowledge in the technical field, and is not limited herein.

Please refer to FIG. 4, which is a graph of the nonlinear ratio of the embodiment of the present invention. The non-linear ratio relationship curve is divided into a first line segment C1, a second line segment C2 and a third line segment C3. The first line segment C1 indicates that the distance is below R1, and each data can be used (eg: remote control) The moving distance of the vehicle 1 is simulated in a ratio of 1:1 to generate the control parameters (such as the speed, acceleration and distance of the cockpit 24), and is mainly based on the simple operation of immediacy and synchronization, and should not be too complicated. The operation program; the second line segment C2 indicates that the distance is between R1 and R2, and the data can be simulated by the nonlinear reduction ratio of 1 to n, and the continuous trajectory prediction action can be adopted to avoid the transmission distance and the data due to the data. The delay and the delay increase, which seriously affects the object tracking degree and the simulation degree; the third line segment C3 indicates that the distance is above R2, and the data can be greatly reduced by a certain ratio (n) to simulate the control parameter to generate a corresponding The simulation action avoids the delay of the transmission of the data, resulting in the simulation motion blur is not obvious. Therefore, the closer the distance of the remote control vehicle 1 is, the more obvious the dynamic of the simulation of the cockpit 24 is. The farther the distance of the remote control vehicle 1 is, the less the simulation dynamics of the cockpit 24 are. The movement of the cockpit 24 is prevented from being excessively large and out of control or emergency stop, so that the user can truly experience the moving state of the remote control vehicle 1 in real time (such as: smooth, upwind, etc.).

In this embodiment, the control parameter can also be generated by a control algorithm, as shown in the following formula (1): u ( t ) = ω ₁ . u ₁ ( t ) + ω ₂ . u ₂ ( t ) + ω ₃ . u ₃ ( t ) (1) where u ₁ (t), u ₂ (t), and u ₃ (t) are the control functions of the first, second, and third line segments, respectively; ω ₁ , ω ₂ , and ω ₃ are respectively The weight value of u ₁ (t), u ₂ (t), u ₃ (t), which can be adjusted according to the environment of the cockpit 24, and the weight value ω ₁ can be increased if the dynamic feeling of the close range is to be enhanced. , Yu can be like this, can not be described.

In addition, the embodiment of the present invention can simulate the dynamics of the remote control vehicle 1 by using the cockpit 24, and can also utilize the sensing component 11 of the remote control vehicle 1 (eg, the camera obtains video information). Obtaining an image of the environment in which the remote control vehicle 1 is located, and transmitting the image to the cockpit 24 via the first transmission module 13 and the second transmission module 21, and using the cockpit 24 to cooperate with related display technologies to generate immersive images Video to reproduce the visual field of the remote control vehicle 1.

In summary, the embodiment of the present invention can be electrically connected to the sensing component 11 and the first transmission module 13 by using the integrated module 12 of the remote control device 1. The integrated module 12 can be based on the sense The output signal of the component 11 generates a plurality of data and is transmitted to the first transmission module 13; the second transmission module 21 of the analog carrier 2 is coupled to the first transmission module 13, and the control unit 22 is electrically Connecting the second transmission module 21 and the driving unit 23, the second transmission module 21 can be used to receive the data, and the control unit 22 can generate a plurality of control parameters according to the data, for the driving unit 23 to control the cabin 24. The state of motion, the cockpit 24 can also utilize the data display The visual field information of the remote control vehicle 1 is displayed, and the cockpit 24 can avoid the excessive movement and runaway or emergency stop, so that the user can truly experience the movement of the remote control vehicle 1 in real time (such as: smooth, upwind, etc.). Status and view information.

Therefore, the embodiment of the present invention can drive the analog stage 2 according to the operation condition of the remote control vehicle 1, and the analog stage 2 can reproduce the action state and the visual field information experienced by the remote control vehicle 1. For users with high driving loads such as racing cars, speedboats or light aircraft, they can provide users with a safe and highly simulated driving experience, which can achieve the effect of "safely improving the real experience of simulated driving". It can be applied to various occasions such as simulated driving or somatosensory games to enhance industrial value.

While the invention has been described in connection with the preferred embodiments described above, it is not intended to limit the scope of the invention. The technical scope of the invention is protected, and therefore the scope of the invention is defined by the scope of the appended claims.

1‧‧‧Remote control vehicle

11‧‧‧Sensing components

12‧‧‧ Integration module

13‧‧‧First transmission module

2‧‧‧Simulation stage

21‧‧‧Second transmission module

22‧‧‧Control unit

22A‧‧‧Control algorithm

22D‧‧‧Database

22E‧‧‧ Error value

23‧‧‧ drive unit

24‧‧‧Cockpit

Claims (6)

A real-time control simulation system includes: a remote control vehicle, a sensing component, an integrated module, and a first transmission module, wherein the integrated module is electrically connected to the sensing component and the first transmission mode The integrated module generates a plurality of data according to the output signal of the sensing component, and the data includes a horizontal inrush value, a horizontal swing value, a height fluctuation value, a line speed value, a line acceleration value, and an angular velocity value. a yaw angle value, a roll angle value, a bump angle value, and a video, the integrated module transmits the plurality of data to the first transmission module; and an analog stage, and a second transmission mode The second transmission module is coupled to the first transmission module, the control unit is electrically connected to the second transmission module and the driving unit, and the second transmission module is used for Receiving the data, the control unit converts the data into a plurality of control parameters according to a non-linear scaling method, wherein the driving unit controls the motion state of a cabin, and the nonlinear scaling method is u ( t )=ω ₁ . u ₁ ( t ) + ω ₂ . u ₂ ( t ) + ω ₃ . u ₃ ( t ), where u ₁ (t), u ₂ (t), u ₃ (t) are the control functions of the first, second and third line segments respectively; ω ₁ , ω ₂ , ω ₃ are respectively u ₁ The weight values of (t), u ₂ (t), and u ₃ (t). The physical manipulation simulation system of claim 1, wherein the cockpit uses the data to display a field of view message of the remote control vehicle. The virtual control simulation system according to claim 1 or 2, wherein the sensing component comprises a global positioning system, an accelerometer, a gyroscope, a magnetic field meter, a barometer, an ultrasonic meter, An image positioning system, a camera and a thermometer and hygrometer. The real-world manipulation simulation system according to claim 1 or 2, wherein the control unit generates an error value according to the motion state of the base and a database, and generates the control parameter according to the error value. The reality control simulation system according to claim 1, wherein the cockpit comprises a Six-axis motion platform. The physical manipulation simulation system of claim 1, wherein the remote control vehicle is operated by a remote operating platform.