技术领域technical field
本发明涉及驾驶模拟训练领域，具体而言涉及一种自适应调整训练场景的驾驶模拟训练系统和方法。The present invention relates to the field of driving simulation training, in particular to a driving simulation training system and method for adaptively adjusting training scenarios.
背景技术Background technique
目前可用于训练的车辆和场地都很有限，学员通常需要花费较大的代价去学习驾驶，并且某些特殊地形或者环境条件下的训练根本无法展开，未经大量训练的学员在操作车辆时也容易引发较大的问题甚至伤亡，安全隐患差，如果投入大量车辆用于训练，车辆的成本和维修费相当高，同时还会产生较大的噪音污染和废气污染。概括来讲，现有的驾驶训练存在高成本、高危险、场地不足等限制。At present, the vehicles and venues available for training are very limited. Students usually need to spend a lot of money to learn to drive, and the training under certain special terrain or environmental conditions cannot be carried out at all. It is easy to cause major problems or even casualties, and the potential safety hazard is poor. If a large number of vehicles are used for training, the cost and maintenance fee of the vehicles will be quite high, and at the same time, large noise pollution and exhaust gas pollution will be generated. In a nutshell, existing driving training has limitations such as high cost, high risk, and insufficient venues.
另外，学员在训练时难免会出现差错，如果用实车训练，通常有两种选择，一是反复将实车转移至原场景，再由学员操作；二是反复练习当前整个场景段，以增加练习差错场景的次数。前者耗时费力，需要专业人员随时协助将实车转移至原场景，后者将会耗费太多的时间在已经熟练掌握的场景上，学员得不到针对性训练。In addition, students will inevitably make mistakes during training. If they use real cars for training, there are usually two options. One is to repeatedly transfer the real car to the original scene, and then let the students operate it; Number of times to practice error scenarios. The former is time-consuming and labor-intensive, and requires professionals to assist in transferring the real car to the original scene at any time. The latter will consume too much time on the scene that has been mastered, and the students will not receive targeted training.
发明内容Contents of the invention
本发明目的在于提供一种自适应调整训练场景的驾驶模拟训练系统和方法，记录分析用户在驾驶过程中出现的异常行驶状态和无法行驶状态，针对性的在后续的训练场景中插入多次出现异常行驶状态或者无法行驶状态的虚拟视景场景，使用户以较高的效率和较短的时间得到更好的训练效果。The purpose of the present invention is to provide a driving simulation training system and method for adaptively adjusting the training scene, record and analyze the abnormal driving state and the driving state that occur during the driving process of the user, and insert multiple occurrences in the subsequent training scene in a targeted manner The virtual scene of abnormal driving state or impossible driving state enables users to obtain better training effect with higher efficiency and shorter time.
本发明的上述目的通过独立权利要求的技术特征实现，从属权利要求以另选或有利的方式发展独立权利要求的技术特征。The above objects of the invention are achieved by the technical features of the independent claims, which the dependent claims develop in an alternative or advantageous manner.
为达成上述目的，本发明提出自适应调整训练场景的驾驶模拟训练系统，包括驾驶运动模拟装置、安装有虚拟视景软件的计算机、数据采集装置、自适应调整装置；In order to achieve the above object, the present invention proposes a driving simulation training system for adaptively adjusting the training scene, including a driving motion simulation device, a computer equipped with virtual scene software, a data acquisition device, and an adaptive adjustment device;
所述驾驶运动模拟装置包括载具、运动模拟平台以及位置控制回路；The driving motion simulation device includes a vehicle, a motion simulation platform, and a position control loop;
所述运动模拟平台包括相互平行的上平台和下平台，下平台固定在地面上，上平台和下平台之间连接设置有一伺服驱动机构；The motion simulation platform includes an upper platform and a lower platform parallel to each other, the lower platform is fixed on the ground, and a servo drive mechanism is connected between the upper platform and the lower platform;
所述载具内安装有若干个座椅、用于模拟真实车辆操作的操纵器、显示单元，载具固定安装在运动模拟平台的上平台之上；Several seats, a manipulator for simulating real vehicle operation, and a display unit are installed in the vehicle, and the vehicle is fixedly installed on the upper platform of the motion simulation platform;
所述虚拟视景软件包括虚拟视景生成模块、模型精简模块、虚拟视景存储模块、虚拟视景处理模块、虚拟视景设定模块、虚拟视景播放模块；The virtual scene software includes a virtual scene generation module, a model simplification module, a virtual scene storage module, a virtual scene processing module, a virtual scene setting module, and a virtual scene play module;
所述虚拟视景生成模块用以生成虚拟视景场景，生成的虚拟视景场景经模型精简模块精简后存储进虚拟视景存储模块，每种虚拟视景场景均具有其独立的编号、地形参数、环境参数；The virtual view generation module is used to generate a virtual view scene, and the generated virtual view scene is stored in the virtual view storage module after being simplified by the model simplification module, and each virtual view scene has its independent serial number, terrain parameters ,Environmental parameters;
所述虚拟视景设定模块用以让用户从虚拟视景存储模块中通过编号选取任意一种或者多种虚拟视景场景，将之组合成一种训练场景，发送给虚拟视景播放模块；The virtual scene setting module is used to allow the user to select any one or multiple virtual scene scenes by numbers from the virtual scene storage module, combine it into a training scene, and send it to the virtual scene play module;
所述虚拟视景播放模块与显示单元连接，将接收到的训练场景通过显示单元以显示给用户；The virtual scene playback module is connected to the display unit, and the received training scene is displayed to the user through the display unit;
所述数据采集装置包括安装在座椅上用于实时探测座椅所承受压力的压力传感器、用于采集当前操纵器操作参数的操纵器采集单元、用于采集当前虚拟视景场景的场景采集单元；The data collection device includes a pressure sensor installed on the seat for real-time detection of the pressure on the seat, a manipulator collection unit for collecting current manipulator operating parameters, and a scene collection unit for collecting the current virtual scene scene ;
所述数据采集装置与虚拟视景处理模块连接，将采集到的当前操纵器的操作参数、座椅承受的压力以及当前虚拟视景场景，实时发送给虚拟视景处理模块，虚拟视景处理模块分析处理接收到的信息，判断在当前操纵器操作参数和座椅承受的压力条件下当前虚拟视景场景产生的变化，生成新的虚拟视景场景，并发送给虚拟视景播放模块，虚拟视景播放模块通过显示单元以显示给用户；The data acquisition device is connected with the virtual scene processing module, and the collected operating parameters of the current manipulator, the pressure on the seat and the current virtual scene scene are sent to the virtual scene processing module in real time, and the virtual scene processing module Analyze and process the received information, judge the changes in the current virtual view scene under the current operating parameters of the manipulator and the pressure of the seat, generate a new virtual view scene, and send it to the virtual view playback module, the virtual view The scene playing module is displayed to the user through the display unit;
所述虚拟视景处理模块生成的新的虚拟视景场景的播放优先级高于虚拟视景设定模块中未播放的虚拟视景场景；The playback priority of the new virtual view scene generated by the virtual view processing module is higher than the virtual view scene not played in the virtual view setting module;
所述数据采集装置采集的当前操纵器的操作参数、以及当前虚拟视景场景同时发送给位置控制回路，位置控制回路将之分析处理后，生成当前虚拟视景场景和操纵器操作参数条件下运动模拟平台的运动状态指令，并且将运动状态指令解析成伺服驱动机构的运动指令；The current operating parameters of the manipulator collected by the data acquisition device and the current virtual scene scene are sent to the position control loop at the same time, and the position control loop analyzes and processes them to generate the current virtual scene scene and the motion under the condition of the manipulator operating parameters. Simulate the motion state command of the platform, and analyze the motion state command into the motion command of the servo drive mechanism;
所述伺服驱动机构与位置控制回路连接，响应于位置控制回路的运动指令，驱动上平台进行动作，使固定在上平台上的载具的运动状态与运动状态指令指定的运动状态相同；The servo drive mechanism is connected to the position control loop, and drives the upper platform to act in response to the motion command of the position control loop, so that the motion state of the carrier fixed on the upper platform is the same as the motion state specified by the motion state command;
使所述载具产生碰擦、侧滑、滑转、颠簸运动状态的运动状态指令被定义成异常行驶指令；Motion state commands that cause the vehicle to generate friction, sideslip, slip, and bump motion states are defined as abnormal driving commands;
使所述载具产生熄火、离开当前虚拟视景场景、碰撞运动状态的运动状态指令被定义成无法行驶指令；The motion state commands that cause the vehicle to turn off, leave the current virtual view scene, and collide with the motion state are defined as unable to drive commands;
使所述载具保持平稳行驶状态的运动状态指令被定义成正常行驶指令；The motion state instruction for keeping the vehicle in a stable driving state is defined as a normal driving instruction;
所述自适应调整装置包括用于生成警告信号的警告模块、用于生成警示信号的警示模块、用于采集当前虚拟视景场景的虚拟视景采集模块、用于插入虚拟视景场景的虚拟视景插入模块；The self-adaptive adjustment device includes a warning module for generating a warning signal, a warning module for generating a warning signal, a virtual scene collection module for collecting a current virtual scene scene, and a virtual scene for inserting a virtual scene scene. scene plug-in module;
所述警告模块响应于无法行驶指令，生成警告信号；The warning module generates a warning signal in response to a no-travel instruction;
所述警示模块响应于异常行驶指令，生成警示信号；The warning module generates a warning signal in response to an abnormal driving instruction;
所述虚拟视景采集模块与警告模块、警示模块连接，响应于警告信号和/或警示信号，采集当前虚拟视景场景，并将采集的虚拟视景场景发送给虚拟视景插入模块；The virtual scene collection module is connected with the warning module and the warning module, collects the current virtual scene scene in response to the warning signal and/or the warning signal, and sends the collected virtual scene scene to the virtual scene insertion module;
所述虚拟视景插入模块响应于警告信号，自适应地在后续的虚拟视景场景中插入M次采集的虚拟视景场景；The virtual view insertion module adaptively inserts the virtual view scene collected M times into the subsequent virtual view scene in response to the warning signal;
所述虚拟视景插入模块响应于警示信号，自适应地在后续的虚拟视景场景中插入N次采集的虚拟视景场景；The virtual view insertion module adaptively inserts the virtual view scene collected N times into the subsequent virtual view scene in response to the warning signal;
所述M、N均为大于零的正整数。Both M and N are positive integers greater than zero.
基于前述自适应调整训练场景的驾驶模拟训练系统，本申请还提及一种自适应调整训练场景的驾驶模拟训练方法，该方法包括：Based on the aforementioned driving simulation training system for adaptively adjusting training scenarios, the present application also mentions a driving simulation training method for adaptively adjusting training scenarios, the method comprising:
步骤1、选取一种或者多种虚拟视景场景，合成训练场景，用户操作驾驶模拟训练系统模拟行驶在该训练场景中；Step 1. Select one or more virtual scene scenes to synthesize a training scene, and the user operates the driving simulation training system to simulate driving in the training scene;
步骤2、数据采集装置采集当前虚拟视景场景中的地形参数和环境参数、操纵器操作参数、座椅所受的压力，将之发送给位置控制回路和虚拟视景处理模块；Step 2. The data acquisition device collects terrain parameters and environmental parameters, manipulator operating parameters, and pressure on the seat in the current virtual scene, and sends them to the position control loop and the virtual scene processing module;
步骤3、位置控制回路和虚拟视景处理模块结合动力学模型进行动力学分析，判断出车辆在当前情形下的行驶状态和视景变化，同时进行以下两个操作：1)位置控制回路生成运动状态指令，驱动伺服驱动机构运动，使载具的运动状态与运动状态指令指定的运动状态相同，2)虚拟视景处理模块生成新的虚拟视景场景，并且将之通过显示单元以显示给用户；Step 3. The position control loop and the virtual scene processing module combine the dynamic model to perform dynamic analysis to determine the driving state and scene changes of the vehicle in the current situation, and perform the following two operations at the same time: 1) The position control loop generates motion The state command drives the servo drive mechanism to move so that the motion state of the vehicle is the same as the motion state specified by the motion state command. 2) The virtual view processing module generates a new virtual view scene and displays it to the user through the display unit ;
步骤4、分析判断运动状态指令的性质，选择以下三种情形中的任意一种：Step 4. Analyze and judge the nature of the motion state command, and select any one of the following three situations:
1)如果是无法行驶指令，生成警告信号，自适应调整装置响应于警告信号，自适应地在后续的虚拟视景场景中插入M次当前虚拟视景场景；1) If it is an inability to drive instruction, a warning signal is generated, and the adaptive adjustment device responds to the warning signal, and adaptively inserts the current virtual view scene M times into the subsequent virtual view scene;
2)如果是异常行驶指令，生成对应的警示信号，自适应调整装置响应于警示信号，自适应地在后续的虚拟视景场景中插入N次当前虚拟视景场景；2) If it is an abnormal driving instruction, a corresponding warning signal is generated, and the adaptive adjustment device responds to the warning signal, and adaptively inserts N times of the current virtual view scene into the subsequent virtual view scene;
3)如果是正常行驶指令，不生成任何信号，继续在当前训练场景中训练。3) If it is a normal driving instruction, do not generate any signal, and continue training in the current training scene.
由以上本发明的技术方案，与现有相比，其显著的有益效果在于：By the technical scheme of the present invention above, compared with existing, its remarkable beneficial effect is:
记录分析用户在驾驶过程中出现的异常行驶状态和无法行驶状态，针对性的在后续的训练场景中插入多次出现异常行驶状态或者无法行驶状态的虚拟视景场景，使用户以较高的效率和较短的时间得到更好的训练效果。Record and analyze the abnormal driving state and unable to drive state during the driving process of the user, and insert multiple virtual scene scenes with abnormal driving state or impossible driving state in the subsequent training scenes, so that the user can drive with higher efficiency And shorter time to get better training effect.
应当理解，前述构思以及在下面更加详细地描述的额外构思的所有组合只要在这样的构思不相互矛盾的情况下都可以被视为本公开的发明主题的一部分。另外，所要求保护的主题的所有组合都被视为本公开的发明主题的一部分。It should be understood that all combinations of the foregoing concepts, as well as additional concepts described in more detail below, may be considered part of the inventive subject matter of the present disclosure, provided such concepts are not mutually inconsistent. Additionally, all combinations of claimed subject matter are considered a part of the inventive subject matter of this disclosure.
结合附图从下面的描述中可以更加全面地理解本发明教导的前述和其他方面、实施例和特征。本发明的其他附加方面例如示例性实施方式的特征和/或有益效果将在下面的描述中显见，或通过根据本发明教导的具体实施方式的实践中得知。The foregoing and other aspects, embodiments and features of the present teachings can be more fully understood from the following description when taken in conjunction with the accompanying drawings. Other additional aspects of the invention, such as the features and/or advantages of the exemplary embodiments, will be apparent from the description below, or learned by practice of specific embodiments in accordance with the teachings of the invention.
附图说明Description of drawings
附图不意在按比例绘制。在附图中，在各个图中示出的每个相同或近似相同的组成部分可以用相同的标号表示。为了清晰起见，在每个图中，并非每个组成部分均被标记。现在，将通过例子并参考附图来描述本发明的各个方面的实施例，其中：The figures are not intended to be drawn to scale. In the drawings, each identical or nearly identical component that is illustrated in various figures may be represented by a like reference numeral. For purposes of clarity, not every component may be labeled in every drawing. Embodiments of the various aspects of the invention will now be described by way of example with reference to the accompanying drawings, in which:
图1是本发明的自适应调整训练场景的驾驶模拟训练系统的结构示意图。FIG. 1 is a schematic structural diagram of a driving simulation training system for adaptively adjusting training scenarios according to the present invention.
图2是本发明的位置控制回路的结构示意图。Fig. 2 is a structural schematic diagram of the position control loop of the present invention.
图3是本发明的驾驶运动模拟装置的结构示意图。Fig. 3 is a schematic structural diagram of the driving motion simulation device of the present invention.
图4是本发明的运动模拟平台的结构示意图。Fig. 4 is a schematic structural diagram of the motion simulation platform of the present invention.
图5是本发明的自适应调整训练场景的驾驶模拟训练方法的流程图。Fig. 5 is a flow chart of the driving simulation training method for adaptively adjusting the training scene according to the present invention.
具体实施方式detailed description
为了更了解本发明的技术内容，特举具体实施例并配合所附图式说明如下。In order to better understand the technical content of the present invention, specific embodiments are given together with the attached drawings for description as follows.
在本公开中参照附图来描述本发明的各方面，附图中示出了许多说明的实施例。本公开的实施例不必定意在包括本发明的所有方面。应当理解，上面介绍的多种构思和实施例，以及下面更加详细地描述的那些构思和实施方式可以以很多方式中任意一种来实施，这是因为本发明所公开的构思和实施例并不限于任何实施方式。另外，本发明公开的一些方面可以单独使用，或者与本发明公开的其他方面的任何适当组合来使用。Aspects of the invention are described in this disclosure with reference to the accompanying drawings, which show a number of illustrated embodiments. Embodiments of the present disclosure are not necessarily intended to include all aspects of the invention. It should be appreciated that the various concepts and embodiments described above, as well as those described in more detail below, can be implemented in any of numerous ways, since the concepts and embodiments disclosed herein are not limited to any implementation. In addition, some aspects of the present disclosure may be used alone or in any suitable combination with other aspects of the present disclosure.
本发明提及一种自适应调整训练场景的驾驶模拟训练系统，除了能够从视觉和体感上同时再现驾驶真实装甲车时的操作感，还能够记录分析用户在驾驶过程中不熟练或者容易出错的场景，将该场景自适应地插入后续的场景之中，使用户得到具有一定针对性的训练。The present invention refers to a driving simulation training system that can adaptively adjust the training scene. In addition to visually and physically reproducing the operating feeling of driving a real armored vehicle, it can also record and analyze the scene where the user is unskilled or error-prone during the driving process. , and adaptively insert the scene into subsequent scenes, so that the user can receive targeted training.
该驾驶模拟训练系统包括驾驶运动模拟装置100、安装有虚拟视景软件200的计算机、数据采集装置300和自适应调整装置400。The driving simulation training system includes a driving motion simulation device 100 , a computer installed with virtual scene software 200 , a data collection device 300 and an adaptive adjustment device 400 .
驾驶运动模拟装置100用于模拟实现车辆的运动状态变化，使用户从体感上感受真实车辆的操作，驾驶运动模拟装置100包括载具101、运动模拟平台102和位置控制回路103。The driving motion simulation device 100 is used for simulating and realizing the change of the motion state of the vehicle, so that the user can feel the operation of the real vehicle from the body. The driving motion simulation device 100 includes a vehicle 101 , a motion simulation platform 102 and a position control circuit 103 .
载具101是参照真实的车辆结构，同比例缩小或者仅选取驾驶位形成。当然，载具101也可以和真实车辆同一结构，以达到最大的真实度，但此种方案成本较高。The vehicle 101 refers to the real vehicle structure and is scaled down or formed by only selecting the driving seat. Of course, the vehicle 101 can also have the same structure as the real vehicle, so as to achieve the maximum degree of realism, but the cost of this solution is relatively high.
载具101安装在运动模拟平台102上，运动模拟平台能够实现六自由度的运动过程，由此携带位于其上的载具101实现六自由度的运动。The vehicle 101 is installed on the motion simulation platform 102, and the motion simulation platform can realize a six-degree-of-freedom movement process, thereby carrying the vehicle 101 on it to realize a six-degree-of-freedom movement.
用户所在的载具101内设置有一操纵器101b，和载具101类似，操纵器101b可以选择和真实车辆一样的配置、或者采用带有体感反馈回路的模拟操纵器来尽可能达到最大的操作真实感。The vehicle 101 where the user is located is provided with a manipulator 101b, similar to the vehicle 101, the manipulator 101b can choose the same configuration as the real vehicle, or use a simulated manipulator with a somatosensory feedback loop to achieve the greatest operational reality possible. feel.
载具101里还具有一仪表单元，仪表单元用以实时显示当前操纵器101b操作参数以及载具101的模拟运动参数。The vehicle 101 also has an instrument unit, which is used to display the current operating parameters of the manipulator 101b and the simulated motion parameters of the vehicle 101 in real time.
通过以上各种结构件，使用户从视觉和体感上两方面同时感觉正操作真实的车辆行驶在真实的场景中。Through the above various structural parts, the user feels that he is operating a real vehicle and driving in a real scene from both visual and physical aspects.
运动模拟平台102包括相互平行的上平台102b和下平台102a，下平台102a固定在地面上，或者先在地面上固定设置一基座，下平台102b安装在该基座上，便于拆卸移运和日常保养。The motion simulation platform 102 includes an upper platform 102b and a lower platform 102a parallel to each other. The lower platform 102a is fixed on the ground, or a base is first fixed on the ground, and the lower platform 102b is installed on the base to facilitate disassembly, transportation and Daily maintenance.
上平台102b和下平台102a之间连接设置有一伺服驱动机构102c，通过该伺服驱动机构102c使上平台实现六自由度的运动过程。A servo drive mechanism 102c is connected between the upper platform 102b and the lower platform 102a, and the upper platform can realize a six-degree-of-freedom motion process through the servo drive mechanism 102c.
载具101安装在上平台102b之上，跟随上平台102b运动。The carrier 101 is installed on the upper platform 102b and moves along with the upper platform 102b.
载具101内设置有若干个座椅、用于模拟真实车辆操作的操纵器101b、用于显示虚拟视景场景的显示单元101a，载具101和操纵器101b的结构在前已经描述过，此处不再赘述，本处仅说明显示单元101a的相关设置。应当理解，为了达到最真实的效果，显示单元101a通常采用与真实车辆视觉相近或者相同的显示器，而由于近年来虚拟现实技术的进步，此处，我们还可以采用基于虚拟现实技术的显示设备，例如头戴式虚拟现实显示设备等，达到更好的显示效果。Several seats, a manipulator 101b for simulating real vehicle operation, and a display unit 101a for displaying a virtual scene are arranged in the vehicle 101. The structures of the vehicle 101 and the manipulator 101b have been described before, and here No more details are given here, and only relevant settings of the display unit 101a are described here. It should be understood that in order to achieve the most realistic effect, the display unit 101a usually uses a display that is similar to or identical to the real vehicle vision, and due to the advancement of virtual reality technology in recent years, here, we can also use a display device based on virtual reality technology, For example, a head-mounted virtual reality display device, etc., to achieve a better display effect.
伺服驱动机构102c具有多样性，我们可以采用现有技术所提及的六自由度运动平台，也可以根据车辆的行进特性调整参数，构造最合适的运动模拟平台。The servo drive mechanism 102c is diverse. We can use the six-degree-of-freedom motion platform mentioned in the prior art, or adjust parameters according to the traveling characteristics of the vehicle to construct the most suitable motion simulation platform.
结合图4、图5，下面为一伺服驱动机构102c的示例之一，伺服驱动机构102c包括该示例但不仅限于此。Referring to FIG. 4 and FIG. 5 , one example of a servo drive mechanism 102c is shown below, and the servo drive mechanism 102c includes this example but is not limited thereto.
伺服驱动结构102c包括第一电动缸、第二电动缸、第三电动缸、第四电动缸、第五电动缸、第六电动缸，前述所有电动缸的一端通过虎克铰安装在上平台上，另一端通过虎克铰安装在下平台102a上。The servo drive structure 102c includes the first electric cylinder, the second electric cylinder, the third electric cylinder, the fourth electric cylinder, the fifth electric cylinder, and the sixth electric cylinder, and one end of all the electric cylinders mentioned above is installed on the upper platform through a Hooke hinge , and the other end is installed on the lower platform 102a through a Hooke hinge.
第一电动缸与下平台102a的铰接点被定义成A点，第二电动缸与下平台102a的铰接点被定义成A’点，A点和A’点无限接近。The hinge point of the first electric cylinder and the lower platform 102a is defined as point A, the hinge point of the second electric cylinder and the lower platform 102a is defined as point A', and point A and point A' are infinitely close.
第三电动缸与下平台102a的铰接点被定义成B点，第四电动缸与下平台102a的铰接点被定义成B’点，B点和B’点无限接近。The hinge point of the third electric cylinder and the lower platform 102a is defined as point B, the hinge point of the fourth electric cylinder and the lower platform 102a is defined as point B', and point B and point B' are infinitely close.
第五电动缸与下平台102a的铰接点被定义成C点，第六电动缸与下平台102a的铰接点被定义成C’点，C点和C’点无限接近。The hinge point between the fifth electric cylinder and the lower platform 102a is defined as point C, the hinge point between the sixth electric cylinder and the lower platform 102a is defined as point C', and point C and point C' are infinitely close.
上平台102b与下平台102a一一垂直对应的位置也布设有相互临近的a点和a’点、b点和b’点、c点和c’点，其中，a点与A点对应，b点和B点对应，c点和C点对应，a’点与A’点对应，b’点与B’点对应，c’点与C’点对应。The vertically corresponding positions of the upper platform 102b and the lower platform 102a are also arranged with points a and a', points b and b', points c and c' which are adjacent to each other, wherein point a corresponds to point A, and point b Point corresponds to point B, point c corresponds to point C, point a' corresponds to point A', point b' corresponds to point B', and point c' corresponds to point C'.
第一电动缸与上平台102b的铰接点为b点，第二电动缸与上平台102b的铰接点为c点。The hinge point between the first electric cylinder and the upper platform 102b is point b, and the hinge point between the second electric cylinder and the upper platform 102b is point c.
第三电动缸与上平台102b的铰接点为a点，第四电动缸与上平台102b的铰接点为c’点。The hinge point between the third electric cylinder and the upper platform 102b is point a, and the hinge point between the fourth electric cylinder and the upper platform 102b is point c'.
第五电动缸与上平台102b的铰接点为a’点，第六电动缸与上平台102b的铰接点为b’点。The hinge point between the fifth electric cylinder and the upper platform 102b is point a', and the hinge point between the sixth electric cylinder and the upper platform 102b is point b'.
A点、B点、C点形成一三角形，该三角形的外切圆将下平台102a包含在内。Point A, point B, and point C form a triangle, and the circumscribed circle of the triangle includes the lower platform 102a.
位置控制回路103同伺服驱动机构102c，可以采用现有技术中的位置控制回路，也可以调整其中的参数以使其更适合车辆的运动姿态，以下是其中一种位置控制回路103的示例：The position control loop 103 and the servo drive mechanism 102c can adopt the position control loop in the prior art, and can also adjust the parameters therein to make it more suitable for the motion posture of the vehicle. The following is an example of one of the position control loops 103:
结合图3，位置控制回路103包括主控机103a、D/A转换单元103b、控制器103c、传感器组103d、A/D转换单元103e。Referring to FIG. 3 , the position control loop 103 includes a main control machine 103a, a D/A conversion unit 103b, a controller 103c, a sensor group 103d, and an A/D conversion unit 103e.
主控机103a、D/A转换单元103b、控制器103c、伺服驱动机构102c依次连接，传感器组103d、A/D转换单元103e、主控机103a依次连接。The main control machine 103a, the D/A conversion unit 103b, the controller 103c, and the servo drive mechanism 102c are sequentially connected, and the sensor group 103d, the A/D conversion unit 103e, and the main control machine 103a are sequentially connected.
主控机103a生成运动状态指令，将之解析成伺服驱动机构102c的运动指令，运动指令经D/A转换单元103b转换后发送至控制器103c，控制器103c根据接收到的运动指令驱动伺服驱动机构102c动作，使载具101的运动状态与运动状态指令指定的运动状态相同。The main control machine 103a generates a motion state command, and parses it into a motion command of the servo drive mechanism 102c. The motion command is converted by the D/A conversion unit 103b and sent to the controller 103c. The controller 103c drives the servo drive according to the received motion command. The mechanism 102c acts to make the motion state of the vehicle 101 the same as the motion state specified by the motion state instruction.
传感器组103d安装在载具101上，实时探测载具101的运动状态及位置姿势，并将探测结果经A/D转换单元103e转换后反馈给主控机103a。主控机103a将接收到的传感器组103d反馈的结果与运动状态指令相比较，生成误差指令，误差指令经D/A转换单元103b转换后发送至控制器103c。The sensor group 103d is installed on the vehicle 101, detects the motion state, position and posture of the vehicle 101 in real time, and feeds back the detection result to the main control computer 103a after being converted by the A/D conversion unit 103e. The main control machine 103a compares the received feedback result of the sensor group 103d with the motion state command to generate an error command, which is converted by the D/A conversion unit 103b and sent to the controller 103c.
传感器组103d可以采用三轴加速度传感器和三轴陀螺仪。The sensor group 103d can adopt a three-axis acceleration sensor and a three-axis gyroscope.
结合上述示例中的伺服驱动机构102c和位置控制回路103，我们阐述下本申请所提及的驾驶运动模拟装置100的运动过程。Combining the servo drive mechanism 102c and the position control loop 103 in the above example, we describe the motion process of the driving motion simulation device 100 mentioned in this application.
位置控制回路103运用动力学模型进行动力学分析，判断生成一运动状态指令，再反向计算出运动模拟平台各关节连杆相应的位置和速度，这成为运动综合或运动学的逆向问题。需要设定不同的坐标系，确定坐标变换矩阵，推导出运动学方程，建立系统数学模型(欧拉角定理)，这是实现模拟运动平台自动控制的关键问题。此处可采用X，Y，Z，α，β，γ坐标系，其中，X代表水平移动，Y代表垂直移动，Z代表上下，α代表俯仰角，β代表倾侧角，γ代表转向角。The position control loop 103 uses the dynamic model for dynamic analysis, judges and generates a motion state command, and then reversely calculates the corresponding position and speed of each joint link of the motion simulation platform, which becomes an inverse problem of motion synthesis or kinematics. It is necessary to set different coordinate systems, determine the coordinate transformation matrix, derive the kinematic equations, and establish the system mathematical model (Euler angle theorem), which are the key issues to realize the automatic control of the simulated motion platform. X, Y, Z, α, β, γ coordinate system can be used here, where X represents horizontal movement, Y represents vertical movement, Z represents up and down, α represents pitch angle, β represents roll angle, and γ represents steering angle.
位置控制回路103需要实时发送前述六个电动缸的运动指令，同时检测载具101的实际姿态(速度、位置信息等)，构成对运动模拟平台102数字式闭环控制，通过计算确保六只电动缸的协调动作以及控制精度。The position control loop 103 needs to send the motion commands of the aforementioned six electric cylinders in real time, and at the same time detect the actual posture (speed, position information, etc.) coordination and control precision.
此处也可以采用数字缸，如此便可取消了前述的电动缸、传感器组103d、A/D转换103e和D/A转换103b等诸多环节，它是将传感器、数字阀等全部做到油缸内部，形成自动位置反馈和速度反馈。数字缸可以直接接受计算机发出的数字脉冲信号进行可靠的工作。A digital cylinder can also be used here, so that many links such as the aforementioned electric cylinder, sensor group 103d, A/D conversion 103e, and D/A conversion 103b can be eliminated. , forming automatic position feedback and speed feedback. The digital cylinder can directly accept the digital pulse signal sent by the computer to work reliably.
虚拟视景软件200包括虚拟视景生成模块201、模型精简模块202、虚拟视景存储模块203、虚拟视景处理模块204、虚拟视景设定模块205、虚拟视景播放模块206。The virtual scene software 200 includes a virtual scene generating module 201 , a model simplification module 202 , a virtual scene storage module 203 , a virtual scene processing module 204 , a virtual scene setting module 205 , and a virtual scene playing module 206 .
虚拟视景生成模块201用以生成虚拟视景场景，生成的虚拟视景场景经模型精简模块202精简后存储进虚拟视景存储模块203，每种虚拟视景场景均具有其独立的编号、地形参数、环境参数，此处可提供一些关键词，例如山地、颠簸等级、风向、风力等级、雨雪等级、道路尺寸等。The virtual view generation module 201 is used to generate a virtual view scene, and the generated virtual view scene is stored in the virtual view storage module 203 after being simplified by the model simplification module 202. Each virtual view scene has its independent number, terrain Parameters, environmental parameters, some keywords can be provided here, such as mountain, bump level, wind direction, wind force level, rain and snow level, road size, etc.
虚拟视景设定模块205用以让用户从虚拟视景存储模块203中通过编号或者关键词选取任意一种或者多种虚拟视景场景，将之组合成一种训练场景，发送给虚拟视景播放模块206，以此实现针对性的训练。The virtual view setting module 205 is used to allow the user to select any one or more virtual view scenes from the virtual view storage module 203 by numbers or keywords, combine it into a training scene, and send it to the virtual view for playback. Module 206, so as to realize targeted training.
虚拟视景播放模块206与显示单元101a连接，将接收到的训练场景通过显示单元101a以显示给用户。The virtual scene playing module 206 is connected to the display unit 101a, and displays the received training scene to the user through the display unit 101a.
而要实现前述驾驶模拟训练方法中的体感变化和视觉变化，本驾驶模拟训练系统还需要设置一数据采集装置300，以采集包括场景参数、操纵器参数、载具内载人情况等信息，收集的信息越多，模拟的真实性就越强，但同时，需要运算的过程也越长，计算量越大。To realize the somatosensory changes and visual changes in the aforementioned driving simulation training method, this driving simulation training system also needs to be provided with a data acquisition device 300 to collect information including scene parameters, manipulator parameters, and the situation of people in the vehicle. The more information there is, the stronger the authenticity of the simulation, but at the same time, the longer the calculation process is, the greater the amount of calculation.
结合图2，综合考虑信息收集和运算速度，本申请设置的数据采集装置300包括安装在座椅上用于实时探测座椅所承受压力的压力传感器301、用于采集当前操纵器操作参数的操纵器采集单元302、用于采集当前虚拟视景场景的场景采集单元303。In conjunction with Fig. 2, considering information collection and computing speed comprehensively, the data acquisition device 300 provided in the present application includes a pressure sensor 301 installed on the seat for real-time detection of the pressure on the seat, and a control panel for collecting the current operating parameters of the manipulator. A device acquisition unit 302 and a scene acquisition unit 303 for acquiring the current virtual view scene.
数据采集装置300与虚拟视景处理模块205连接，将采集到的当前操纵器的操作参数、座椅承受的压力以及当前虚拟视景场景，实时发送给虚拟视景处理模块205，虚拟视景处理模块205分析处理接收到的信息，判断在当前操纵器操作参数和座椅承受的压力条件下当前虚拟视景场景产生的变化，生成新的虚拟视景场景，并发送给虚拟视景播放模块206，虚拟视景播放模块206通过显示单元以显示给用户。The data acquisition device 300 is connected with the virtual scene processing module 205, and the collected operating parameters of the current manipulator, the pressure on the seat and the current virtual scene scene are sent to the virtual scene processing module 205 in real time, and the virtual scene processing The module 205 analyzes and processes the received information, judges the changes of the current virtual view scene under the current operating parameters of the manipulator and the pressure condition of the seat, generates a new virtual view scene, and sends it to the virtual view play module 206 , the virtual scene playing module 206 is displayed to the user through the display unit.
如前所述，虚拟视景处理模块205生成的新的虚拟视景场景的播放优先级高于虚拟视景设定模块204中未播放的虚拟视景场景。As mentioned above, the play priority of the new virtual view scene generated by the virtual view processing module 205 is higher than that of the unplayed virtual view scene in the virtual view setting module 204 .
数据采集装置300采集的当前操纵器的操作参数、以及当前虚拟视景场景同时发送给位置控制回路103，位置控制回路103将之分析处理后，生成当前虚拟视景场景和操纵器操作参数条件下运动模拟平台102的运动状态指令，并且将运动状态指令解析成伺服驱动机构102c的运动指令。The operating parameters of the current manipulator collected by the data acquisition device 300 and the current virtual view scene are sent to the position control loop 103 at the same time, and the position control loop 103 analyzes and processes them to generate the current virtual view scene and the operating parameters of the manipulator. The motion state command of the motion simulation platform 102 is analyzed, and the motion state command is resolved into a motion command of the servo drive mechanism 102c.
伺服驱动机构102c与位置控制回路103连接，响应于位置控制回路103的运动指令，驱动上平台102b进行动作，使固定在上平台102b上的载具101的运动状态与运动状态指令指定的运动状态相同。The servo drive mechanism 102c is connected with the position control loop 103, and in response to the motion command of the position control loop 103, drives the upper platform 102b to move, so that the motion state of the carrier 101 fixed on the upper platform 102b and the motion state specified by the motion state command same.
在前述结构的基础上，我们在该驾驶模拟训练系统上另外设置一自适应调整装置400，自适应调整装置400包括用于生成警告信号的警告模块401、用于生成警示信号的警示模块402、用于采集当前虚拟视景场景的虚拟视景采集模块403、用于插入虚拟视景场景的虚拟视景插入模块404.On the basis of the aforementioned structure, we additionally set an adaptive adjustment device 400 on the driving simulation training system. The adaptive adjustment device 400 includes a warning module 401 for generating a warning signal, a warning module 402 for generating a warning signal, A virtual view acquisition module 403 for collecting the current virtual view scene, and a virtual view insertion module 404 for inserting the virtual view scene.
在描述自适应调整装置400的工作原理之前，我们先将前述位置控制装置103生成的运动状态指令做一个分类，将之分为三类：Before describing the working principle of the adaptive adjustment device 400, we first classify the motion state commands generated by the aforementioned position control device 103 into three categories:
第一类，异常行驶指令，其包括一切模拟车辆发生异常行驶，但并未停止行驶或者离开当前虚拟视景场景的运动状态指令，例如碰擦、侧滑、滑转、颠簸等。The first category is abnormal driving instructions, which include all motion state instructions that simulate abnormal driving of the vehicle but do not stop driving or leave the current virtual scene, such as rubbing, skidding, skidding, bumping, etc.
第二类，无法行驶指令，其包括一切模拟车辆停止行驶或者已经离开当前虚拟视景场景，训练场景无法继续的运动状态指令，例如熄火、离开当前场景、碰撞等。The second category is unable to drive instructions, which include all simulated vehicles that stop driving or have left the current virtual scene scene, and the motion state instructions that the training scene cannot continue, such as turning off the engine, leaving the current scene, collision, etc.
第三类，正常行驶指令，其包括一切模拟车辆保持平稳行驶状态的运动状态指令。The third category is normal driving instructions, which include all motion state instructions for simulating the vehicle to maintain a stable driving state.
而自适应调整装置400的工作原理正是基于判别以上三类运动状态指令，判断用户通过该场景时是否出现了异常，如果出现异常，则抓取当前虚拟视景场景，再自适应地插入后续的训练场景中，使用户有机会在同一个训练场景的训练中得到更多关于其弱项的训练。The working principle of the adaptive adjustment device 400 is based on discriminating the above three types of motion state instructions, and judging whether there is an abnormality when the user passes through the scene. In the training scene, users have the opportunity to get more training on their weaknesses in the same training scene.
具体实现原理如下：The specific implementation principle is as follows:
警告模块401响应于无法行驶指令，生成警告信号；警示模块402响应于异常行驶指令，生成警示信号；当运动状态指令为正常行驶指令时，不生成任何信号，车辆继续按当前训练场景的编排练习。The warning module 401 generates a warning signal in response to an inability to travel instruction; the warning module 402 generates a warning signal in response to an abnormal driving instruction; when the motion state instruction is a normal driving instruction, no signal is generated, and the vehicle continues to exercise according to the arrangement of the current training scene .
虚拟视景采集模块403与警告模块401、警示模块402连接，响应于警告信号和/或警示信号，采集当前虚拟视景场景，并将采集到的虚拟视景场景发送给虚拟视景插入模块404。The virtual scene collection module 403 is connected with the warning module 401 and the warning module 402, collects the current virtual scene scene in response to the warning signal and/or the warning signal, and sends the collected virtual scene scene to the virtual scene insertion module 404 .
虚拟视景插入模块404响应于警告信号，自适应地在后续的虚拟视景场景中插入M次采集的虚拟视景场景。The virtual view insertion module 404 adaptively inserts the virtual view scenes acquired M times into subsequent virtual view scenes in response to the warning signal.
虚拟视景插入模块404响应于警示信号，自适应地在后续的虚拟视景场景中插入N次采集的虚拟视景场景。The virtual view insertion module 404 adaptively inserts the virtual view scene collected N times into the subsequent virtual view scene in response to the warning signal.
此处M、N均为大于零的正整数。通常M被设置成大于N，这也是因为警告信号代表的是训练过程中出现了较为严重的问题，需要更加认真的对待、改正，练习次数增加的较多。Here M and N are both positive integers greater than zero. Usually M is set to be greater than N, this is also because the warning signal represents a more serious problem in the training process, which needs to be treated and corrected more seriously, and the number of exercises has increased more.
当然，以上运动状态指令的定义是可以另行设置的。Of course, the definition of the above motion state command can be set separately.
例如，在前述例子中，滑转、侧滑被看作异常行驶，也可以人为定义成无法行驶或者正常行驶，其余行驶状态也同样如此，由管理人员或者用户根据需要自行设置。For example, in the aforementioned example, slipping and sideslip are regarded as abnormal driving, and they can also be artificially defined as non-driving or normal driving, and the same is true for other driving states, which can be set by managers or users according to their needs.
管理人员或者用户还可以根据载具101的运动状态作为基准生成警告信号或者警示信号，比如通过数据采集装置300反馈的载具101的姿态、位置来判断。Managers or users can also generate warning signals or warning signals based on the motion state of the vehicle 101 , such as judging by the attitude and position of the vehicle 101 fed back by the data acquisition device 300 .
自适应调整装置还具有一记录模块405，该记录模块405用以详细记录用户在一次训练场景中出现的行驶状态的种类和数量，帮助用户掌握自己的训练情况。The self-adaptive adjustment device also has a recording module 405, which is used to record in detail the type and quantity of the driving state that the user appears in a training scene, so as to help the user to grasp his own training situation.
为了识别不同的用户，自适应调整装置还具有一身份识别模块406，该识别方式可以选择指纹、刷卡、登陆口令等各种身份识别确认模块。In order to identify different users, the self-adaptive adjustment device also has an identity identification module 406, and various identity identification confirmation modules such as fingerprint, swiping card, and login password can be selected as the identification method.
众所周知，在装甲车的行进已经操作过程中，是会产生一些音效的，例如发动机工作时传至驾驶员耳内的声音等，为了最真实的还原车辆实际操作体验，本申请还设置了用于模拟车辆行进和操作的声觉模拟装置。As we all know, some sound effects will be produced during the running and operation of an armored vehicle, such as the sound transmitted to the driver's ear when the engine is working. In order to restore the actual operating experience of the vehicle, this application also sets a simulation Acoustic simulation of vehicle movement and handling.
声觉模拟装置包括安装在载具内的音响单元、以及安装在计算机中的音效存储模块、音效处理模块。The acoustic simulation device includes an audio unit installed in the vehicle, an audio storage module and an audio processing module installed in the computer.
音效存储模块用以存储操作真实车辆时产生的若干种音效，该若干种音效与操纵器的操作动作一一对应。The sound effect storage module is used for storing several kinds of sound effects generated when operating the real vehicle, and the several kinds of sound effects correspond to the operation actions of the manipulator one by one.
数据采集装置300将当前操纵器101b的操作参数发送至音效处理模块，音效处理模块响应于接收到的数据采集装置300的反馈结果，调取对应的音效通过音响单元以播放给用户。The data collection device 300 sends the current operating parameters of the manipulator 101b to the sound effect processing module, and the sound effect processing module responds to the received feedback result from the data collection device 300, calls the corresponding sound effect and plays it to the user through the sound unit.
通过上述声觉模拟装置，能够让用户在操作驾驶模拟训练系统时从声觉上感受车辆操作，快速准确地掌握车辆运行时的声音，达到更好的训练效果。Through the above-mentioned acoustic simulation device, the user can feel the operation of the vehicle acoustically when operating the driving simulation training system, quickly and accurately grasp the sound of the vehicle during operation, and achieve a better training effect.
基于前述自适应调整训练场景的驾驶模拟训练系统，本申请提出一种自适应调整训练场景的驾驶模拟训练方法，该方法包括：Based on the aforementioned driving simulation training system for adaptively adjusting training scenarios, the present application proposes a driving simulation training method for adaptively adjusting training scenarios, the method comprising:
步骤1、选取一种或者多种虚拟视景场景，合成训练场景，用户操作驾驶模拟训练系统模拟行驶在该训练场景中；Step 1. Select one or more virtual scene scenes to synthesize a training scene, and the user operates the driving simulation training system to simulate driving in the training scene;
步骤2、数据采集装置300采集当前虚拟视景场景中的地形参数和环境参数、操纵器101b操作参数、座椅所受的压力，将之发送给位置控制回路103和虚拟视景处理模块205；Step 2. The data collection device 300 collects the terrain parameters and environmental parameters in the current virtual scene, the operating parameters of the manipulator 101b, and the pressure on the seat, and sends them to the position control loop 103 and the virtual scene processing module 205;
步骤3、位置控制回路103和虚拟视景处理模块205结合动力学模型进行动力学分析，判断出车辆在当前情形下的行驶状态和视景变化，同时进行以下两个操作：1)位置控制回路103生成运动状态指令，驱动伺服驱动机构102c运动，使载具101的运动状态与运动状态指令指定的运动状态相同，2)虚拟视景处理模块205生成新的虚拟视景场景，并且将之通过显示单元101a以显示给用户；Step 3, the position control loop 103 and the virtual scene processing module 205 carry out dynamic analysis in combination with the dynamic model to determine the driving state and scene changes of the vehicle in the current situation, and perform the following two operations simultaneously: 1) position control loop 103 generates a motion state command, drives the servo drive mechanism 102c to move, so that the motion state of the carrier 101 is the same as the motion state specified by the motion state command, 2) the virtual view processing module 205 generates a new virtual view scene, and passes it display unit 101a to display to the user;
步骤4、分析判断运动状态指令的性质，选择以下三种情形中的任意一种：Step 4. Analyze and judge the nature of the motion state command, and select any one of the following three situations:
1)如果是无法行驶指令，生成警告信号，自适应调整装置400响应于警告信号，自适应地在后续的虚拟视景场景中插入M次当前虚拟视景场景；1) If it is an inability to drive instruction, a warning signal is generated, and the adaptive adjustment device 400 responds to the warning signal, and adaptively inserts the current virtual scene scene M times into the subsequent virtual scene scene;
2)如果是异常行驶指令，生成警示信号，自适应调整装置400响应于警示信号，自适应地在后续的虚拟视景场景中插入N次当前虚拟视景场景；2) If it is an abnormal driving instruction, a warning signal is generated, and the adaptive adjustment device 400 responds to the warning signal, and adaptively inserts N times of the current virtual view scene into the subsequent virtual view scene;
3)如果是正常行驶指令，不生成任何信号，继续在当前训练场景中训练。3) If it is a normal driving instruction, do not generate any signal, and continue training in the current training scene.
前述的自适应地在后续的虚拟视景场景中插入当前虚拟视景场景，指的是，每隔设定行驶距离后插入一次当前虚拟视景场景。The aforementioned adaptively inserting the current virtual view scene into the subsequent virtual view scene refers to inserting the current virtual view scene after every set driving distance.
前述的设定行驶距离可以通过设置一设定模块来人为设置，优选的，设置为2公里，还可以选择为随机设置，增加训练的不可控性，提高用户训练效果。The aforementioned set driving distance can be set artificially by setting a setting module. Preferably, it is set to 2 kilometers, and it can also be set randomly to increase the uncontrollability of training and improve the user training effect.
从而，本发明提及一种自适应调整训练场景的驾驶模拟训练系统和方法，记录分析用户在驾驶过程中出现的异常行驶状态和无法行驶状态，针对性的在后续的训练场景中插入多次出现异常行驶状态或者无法行驶状态的虚拟视景场景，使用户以较高的效率和较短的时间得到更好的训练效果。Therefore, the present invention refers to a driving simulation training system and method for adaptively adjusting the training scene, which records and analyzes the abnormal driving state and the incapable driving state of the user during driving, and inserts multiple times in the subsequent training scene in a targeted manner. The virtual scene of abnormal driving state or impossible driving state enables users to obtain better training effect with higher efficiency and shorter time.
虽然本发明已以较佳实施例揭露如上，然其并非用以限定本发明。本发明所属技术领域中具有通常知识者，在不脱离本发明的精神和范围内，当可作各种的更动与润饰。因此，本发明的保护范围当视权利要求书所界定者为准。Although the present invention has been disclosed above with preferred embodiments, it is not intended to limit the present invention. Those skilled in the art of the present invention can make various changes and modifications without departing from the spirit and scope of the present invention. Therefore, the scope of protection of the present invention should be defined by the claims.
| Application Number | Priority Date | Filing Date | Title |
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| CN201710332198.7ACN106940942B (en) | 2017-05-12 | 2017-05-12 | The driving training simulator and method of adaptive adjusting training scene |
| Application Number | Priority Date | Filing Date | Title |
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| CN201710332198.7ACN106940942B (en) | 2017-05-12 | 2017-05-12 | The driving training simulator and method of adaptive adjusting training scene |
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| CN106940942Atrue CN106940942A (en) | 2017-07-11 |
| CN106940942B CN106940942B (en) | 2019-05-24 |
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| CN201710332198.7AActiveCN106940942B (en) | 2017-05-12 | 2017-05-12 | The driving training simulator and method of adaptive adjusting training scene |
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