A driving simulation system

Abstract

The application provides a driving simulation system, comprising various types of driving simulators, a modular graphics rendering chassis and a central processing unit; the modular graphics rendering chassis comprises a chassis body, and a plurality of pluggable lane graphics rendering board cards and lane graphics rendering board card switching circuits arranged in the chassis body; the lane graphics rendering board card switching circuits are electrically connected with the central processing unit and each lane graphics rendering board card respectively, and the image signal output ends of each lane graphics rendering board card are electrically connected with each type of driving simulator. Through a plurality of preset physical level lane graphics rendering board cards, the lane graphics rendering board card switching circuit can quickly switch to different lane graphics rendering board cards, realize the quick switching and combination of various tunnel scenes, and greatly improve the tunnel scene reconstruction efficiency.

Description

Technical Field

[0001] This application relates to the field of driving simulation technology, and more specifically, to a driving simulation system. Background Technology

[0002] Currently, the evaluation of renovation plans for urban or highway tunnels largely relies on manual surveys or general-purpose driving simulation systems. However, these systems are typically built on general-purpose graphics workstations and software platforms. When it is necessary to change or adjust the tunnel scene, the 3D model must be reloaded and the lighting parameters adjusted, which is time-consuming. Utility Model Content

[0003] In view of this, the purpose of this application is to provide a driving simulation system to achieve rapid reconstruction of tunnel scenes during driving simulation.

[0004] In the first aspect, a driving simulation system is provided, including: various types of driving simulators, a modular graphics rendering chassis, and a central processing unit;

[0005] The modular graphics rendering chassis includes a chassis body, and multiple pluggable lane graphics rendering boards and lane graphics rendering board switching circuits disposed within the chassis body; the lane graphics rendering board switching circuits are electrically connected to the central processing unit and each lane graphics rendering board, and the image signal output terminals of each lane graphics rendering board are electrically connected to various types of driving simulators.

[0006] Optionally, the lane graphics rendering board includes a single-vehicle lane graphics rendering board, a multi-vehicle lane graphics rendering board, and a mixed-traffic lane graphics rendering board.

[0007] Optionally, the lane graphics rendering board switching circuit includes an FPGA control chip and the same number of MOSFET switches as the lane graphics rendering boards. Each lane graphics rendering board is connected to the power supply via a power supply line. A MOSFET switch is connected in series on each power supply line. The gate of each MOSFET switch is connected to the FPGA control chip. The control terminal of the FPGA control chip is connected to the central processing unit.

[0008] Optionally, various types of driving simulators include dynamic simulators, static simulators, bicycle simulators, and electric bicycle simulators; the dynamic simulators include a first dynamic simulator and a second dynamic simulator, wherein the first dynamic simulator is larger in volume than the second dynamic simulator.

[0009] Optionally, both the first dynamic simulator and the second dynamic simulator include a host and a monitor. The host is connected to the central processing unit, and the processor of the host is a 13th generation i7 processor. The monitor of the first dynamic simulator is a large panoramic screen with a central angle of 180°. The monitor of the second dynamic simulator is a triple screen.

[0010] Optionally, each driving simulator is equipped with an external device interface, which can be connected to VR glasses or pedestrian bionic walking devices.

[0011] Optionally, both the first dynamic simulator and the second dynamic simulator are six-degree-of-freedom dynamic simulators, and the first dynamic simulator and the second dynamic simulator are installed on a six-degree-of-freedom platform.

[0012] Optionally, the six-degree-of-freedom platform includes a base, a movable platform, and six retractable legs disposed between the base and the movable platform. The two ends of the legs are connected to the base and the movable platform respectively via ball joints. Each leg is connected to a brake, which drives it to work independently. The bottom of the dynamic simulator is fixedly mounted on the base. The movable platform is provided with a groove for accommodating the base. The base and the movable platform are movably mounted to facilitate changing the vehicle model of the dynamic simulator.

[0013] Optionally, the system also includes a physiological data acquisition device, which is electrically connected to the central processing unit.

[0014] Optionally, the physiological data acquisition device includes an eye tracker and a physiological recorder. The eye tracker is worn on the driver's eyes; the physiological recorder includes electrode pads and a signal sensor. The electrode pads are connected to the sensor and are attached to different parts of the human body to collect physiological signals. The sensor is used to convert the physiological signals into electrical signals.

[0015] This application provides a driving simulation system, including various types of driving simulators, a modular graphics rendering chassis, and a central processing unit (CPU). The modular graphics rendering chassis includes a chassis body, and multiple pluggable lane graphics rendering boards and lane graphics rendering board switching circuits disposed within the chassis body. The lane graphics rendering board switching circuits are electrically connected to the CPU and each lane graphics rendering board, respectively. The image signal output terminals of each lane graphics rendering board are electrically connected to various types of driving simulators. This application, through multiple pre-set physical-level lane graphics rendering boards and lane graphics rendering board switching circuits, can achieve rapid switching and combination of various tunnel scenes, greatly improving the efficiency of tunnel scene reconstruction.

[0016] To make the above-mentioned objectives, features and advantages of this application more apparent and understandable, preferred embodiments are described below in detail with reference to the accompanying drawings. Attached Figure Description

[0017] To more clearly illustrate the technical solutions of the embodiments of this application, the accompanying drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of this application and should not be regarded as a limitation of the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0018] Figure 1 This paper shows a structural block diagram of a driving simulation system provided in an embodiment of this application;

[0019] Figure 2 A schematic diagram of the structure of a driving simulator system provided in another embodiment of this application is shown;

[0020] Figure 3 The diagram shows the layout of various types of driving simulators provided in the embodiments of this application;

[0021] Figure 4 This paper shows a schematic diagram of the main view structure of the dynamic simulator provided in an embodiment of this application;

[0022] Figure 5 This paper shows a schematic diagram of the front view structure of the dynamic simulator provided in an embodiment of this application;

[0023] Figure 6 A cross-sectional structural diagram of the base and the movable platform installation is shown.

[0024] Reference numerals: 101, Driving simulator; 102, Modular graphics rendering chassis; 103, Central processing unit; 1021, Lane graphics rendering board; 1022, Lane graphics rendering board switching circuit; 1022A, FPGA control chip; 1022B, MOSFET switch; 201, Base; 202, Moving platform; 203, Base; 204, Support leg; 205, Slider; 206, Wedge block; 207, Limiting rod; 208, Movable handle; 209, Telescopic spring; 210, Limiting groove. Detailed Implementation

[0025] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. The components of the embodiments of this application described and shown in the accompanying drawings can generally be arranged and designed in various different configurations. Therefore, the following detailed description of the embodiments of this application provided in the accompanying drawings is not intended to limit the scope of the claimed application, but merely represents selected embodiments of this application. All other embodiments obtained by those skilled in the art based on the embodiments of this application without inventive effort are within the scope of protection of this application.

[0026] This application provides a driving simulation system, such as... Figure 1 As shown, it includes: various types of driving simulators 101, modular graphics rendering chassis 102, and central processing unit 103;

[0027] The modular graphics rendering chassis 102 includes a chassis body, and multiple pluggable lane graphics rendering boards 1021 and lane graphics rendering board switching circuits 1022 disposed within the chassis body; the lane graphics rendering board switching circuits 1022 are electrically connected to the central processing unit 103 and each lane graphics rendering board 1021 respectively, and the image signal output terminals of each lane graphics rendering board 1021 are electrically connected to each type of driving simulator respectively.

[0028] The multiple lane graphics rendering boards include single-vehicle lane graphics rendering boards, multi-vehicle lane graphics rendering boards, and mixed-traffic lane graphics rendering boards. Specifically, each board is the size of a standard PCIe (Peripheral Component Interconnect Express) card, with a dedicated GPU (Graphics Processing Unit) soldered on it. The GPU of the single-vehicle lane graphics rendering board contains graphics of a single-lane highway or tunnel scene, the GPU of the multi-vehicle lane graphics rendering board contains graphics of a multi-lane tunnel or highway scene, and the GPU of the mixed-traffic lane graphics rendering board contains graphics of a tunnel or highway scene with mixed motor vehicle lanes and non-motor vehicle lanes.

[0029] In one feasible implementation, the modular graphics rendering chassis 102 has multiple slots arranged longitudinally in a drawer-like manner inside, and each lane graphics rendering board is inserted into a slot in the modular graphics rendering chassis via a hot-swappable structure.

[0030] like Figure 2As shown, the lane graphics rendering board switching circuit 1022 includes an FPGA control chip 1022A and the same number of MOSFET (Metal-Oxide-Semiconductor Field-Effect Transistor) switches 1022B as the lane graphics rendering boards. Each lane graphics rendering board is connected to the power supply via a power supply line, with one MOSFET switch 1022B connected in series on each power supply line. The gate of each MOSFET switch 1022B is connected to the FPGA control chip. The control terminal of the FPGA control chip 1022A is connected to the central processing unit to control the on / off state of the MOSFET switches. In one example, the FPGA control chip can be an Artix-7 series chip, such as the XC7A200T.

[0031] When the MOSFET switch is off, the lane graphics rendering board connected to it is not selected, and the unselected lane graphics rendering board maintains a 5V standby power supply; when the MOSFET switch is on, the lane graphics rendering board connected to it is selected, and the selected lane graphics rendering board is powered by 12V.

[0032] The interaction process between the central processing unit 103 and the modular graphics rendering chassis 102 is as follows:

[0033] The central processing unit 103 sends instructions to the FPGA chip, such as "0x03-0x07", indicating that slots 3 and 7 are selected. Assuming that a single-vehicle lane graphics rendering board is inserted into slot 3 and a mixed-traffic lane graphics rendering board is inserted into slot 7, the FPGA control chip turns on the MOSFET switches on the power supply lines of slots 3 and 7, that is, splices the traffic scenes of the single-lane tunnel section and the mixed-traffic tunnel section together and sends them to the driving simulator 101.

[0034] In this embodiment, the central processing unit 103 includes two 4090 graphics cards and a 13th generation i7 processor to ensure that the device's performance can support the operation of the simulated scene.

[0035] The central processing unit 103 stores the 3D vehicle models corresponding to each driving simulator 101. After the driving simulation begins, the central processing unit loads the 3D vehicle models from each driving simulator 101 onto the monitor of the driving simulator 101, merging them with the tunnel scene reconstructed by the modular graphics rendering chassis 102. During the driving simulation, multiple vehicle models can influence each other, including obstructing vision, colliding and generating feedback, and overtaking. This enables interaction between vehicles and between vehicles and the environment, making the simulated scene more realistic.

[0036] Additionally, the case study allows for the setup of computer-controlled simulated traffic flow, with adjustable parameters such as average traffic speed, vehicle type ratio, and traffic density. The simulated traffic flow can also interact with the vehicle model represented by the driving simulator 101, possessing the ability to automatically determine whether to overtake based on the position and speed of the vehicle in front.

[0037] The central processing unit 103 is also equipped with four displays: a third-person display for observing global information, two displays for operating the simulation software, and a display for observing the driver's physiological data.

[0038] Through the embodiments of this application, the central processing unit only needs to issue instructions, and the FPGA control chip can output the selected lane graphics rendering boards in parallel to form a new tunnel scene in real time, achieving a physical-level scene reconstruction effect without the need for software algorithms.

[0039] Furthermore, by physically splicing together multiple tunnel segment scenarios, it is possible to simulate various tunnel scenarios. In these simulation scenarios, combined with various types of driving simulators and physiological data collected by physiological data acquisition devices, interactions between people and vehicles, vehicles and vehicles, and vehicles and the environment can be realized, making the simulated driving environment more realistic. This improves the authenticity and accuracy of verifying the feasibility and safety of tunnel renovation schemes.

[0040] Based on the above embodiments, such as Figure 3 As shown, the various types of driving simulators 101 include dynamic simulators, static simulators, bicycle simulators, and electric bicycle simulators.

[0041] In one specific example, these driving simulators 101 are arranged together in a 200m2 laboratory, with each driving simulator 101 and the central processing unit 103 forming a local area network via a switch.

[0042] Each driving simulator 101 is equipped with a host computer, monitor, keyboard, mouse, rearview mirror, and UPS power supply. Each simulator also has an external device interface for connecting to VR glasses and pedestrian bionic walking devices to mimic pedestrian traffic behavior. The host computer uses a 4090 graphics card and a 13th-generation i7 processor to ensure sufficient performance for the driving simulator to operate. The host computer of each driving simulator 101 is connected to a modular graphics rendering chassis 102 and a central processing unit 103, and driving control software and dynamics engine software are deployed within each host computer.

[0043] The dynamic simulator includes a first dynamic simulator and a second dynamic simulator, with the first dynamic simulator having a larger volume than the second dynamic simulator.

[0044] Specifically, the first dynamic simulator is a large-scale dynamic simulator, such as... Figure 3 As shown, it includes a large model simulator host and a large panoramic screen that is 4 meters high, 7 meters in diameter, and has a central angle of 180°.

[0045] In this embodiment, both the first dynamic simulator and the second dynamic simulator are six-degree-of-freedom dynamic simulators, and the first dynamic simulator and the second dynamic simulator are installed on a six-degree-of-freedom platform.

[0046] Specifically, this six-degrees-of-freedom platform can be the Stewart platform, such as... Figure 4 As shown, it includes a base 201, a movable platform 202, and six retractable legs 204 disposed between the base 201 and the movable platform 202. The two ends of the legs 204 are connected to the base 201 and the movable platform 202 respectively via ball joints. Each leg 204 is connected to a brake, which can work independently. Each brake is connected to the controller of the Stewart platform.

[0047] like Figure 4 and Figure 5 As shown, the Stewart platform is a classic six-degree-of-freedom parallel mechanism. Through the coordinated extension and retraction of its six outriggers 204, the Stewart platform achieves six degrees of freedom in space. These six degrees of freedom include translational motion along the X, Y, and Z axes, and rotational motion around the X, Y, and Z axes, including pitch, roll, and yaw. Specifically, the Stewart platform can simulate the throttle and braking performance of different vehicle models by adjusting the extension and retraction length of each outrigger 204.

[0048] In addition, the large-scale six-degree-of-freedom driving simulator uses a modified half-cab of a real car, including left, center, and right rearview mirrors, an instrument panel, and other visual displays. It also features modified components such as the gearshift and pedals, and is connected to a six-axis motion platform 202. This half-cab can be replaced with other modified car models as needed, and corresponding dynamic parameters can be set in the system to simulate the driving experience of various car types.

[0049] To facilitate changing the vehicle model of the dynamic simulator, the bottom of the dynamic simulator is fixedly mounted on the base 203. The movable platform 202 is provided with a groove for accommodating the base 203. The base 203 and the movable platform 202 are movably installed to facilitate changing the vehicle model of the dynamic simulator.

[0050] In a specific example, such as Figure 6As shown, the base 203 and the movable platform 202 are connected by some structural modifications to achieve movable installation. Specifically, a storage slot is provided at each of the four corners of the base 203. One end of the storage slot is open, and a slider 205 is slidably connected inside the storage slot. One end of the slider 205 is connected to a telescopic spring 209, and one end of the telescopic spring 209 is fixedly connected to the inner wall of the storage slot. The other end of the slider 205 is connected to a wedge block 206. The wedge block 206 and the slider 205 can slide back and forth at the opening of the storage slot.

[0051] The movable platform 202 has a groove with a limiting groove 210 that aligns with the four storage slots. The movable platform 202 has movable handles 208 on the outer sides of both ends. Each movable handle 208 is movably connected by two limiting rods 207. One end of the limiting rod 207 is fixed to the outer wall of the movable platform 202. The movable handle 208 is movably sleeved on the limiting rod 207 and aligned with the limiting groove 210.

[0052] The principle by which the base 203 and the movable platform 202 are installed and disassembled through the above-described movable structure is as follows:

[0053] During installation, the base 203 is slowly inserted into the moving platform 202. As the base 203 is pushed in, the wedge block 206 first contacts the inner wall of the moving platform 202. Due to the inclined structure of the wedge block 206, the squeezing force of the inner wall of the moving platform 202 on the wedge block 206 will push the wedge block 206 into the storage groove. At the same time, it will drive the sliding block fixedly connected to the wedge block 206 to compress the telescopic spring 209 in the storage groove until the base 203 is completely pushed into the moving platform 202. After the base 203 is in place, the wedge block 206 is aligned with the limiting groove 210 of the moving platform 202, and under the rebound of the telescopic spring 209, the wedge block 206 slides into and is locked in the limiting groove 210 of the moving platform 202, thereby completing the limiting and fixing of the base 203.

[0054] When disassembling and changing the vehicle model, you can hold the movable handles 208 on both sides and push the movable handles 208 towards the limiting groove 210. The movable handles 208 enter the limiting groove 210 and squeeze the wedge block 206 in the limiting groove 210, pushing the wedge block 206 from the limiting groove 210 back into the storage groove of the base 203, thereby releasing the limiting fixation of the base 203, and then you can change the vehicle model of the dynamic simulator.

[0055] The second dynamic simulator is... Figure 3 The small dynamic simulator also includes a host and a monitor, with the monitor being a triple-screen setup. Additionally, the small dynamic simulator uses a replica cockpit, with a six-axis motion platform 202 connected below to achieve six degrees of freedom adjustment; a Stewart platform could also be used.

[0056] In one specific example, the static driving simulator system includes two static simulators. Similarly, the static simulators adopt a replica of the driver's cockpit, and the static simulators are configured with a triple-screen display.

[0057] In addition, the bicycle simulator and the moped simulator use real bicycles and electric bikes modified from real vehicles, respectively, and are connected to a three-axis motion platform 202 to achieve three degrees of freedom of movement, namely translational motion on the X, Y, and Z axes. The bicycle simulator and the moped simulator are also equipped with a triple-screen display.

[0058] This application embodiment also includes a physiological data acquisition device, which is worn by the driver and used to collect the driver's physiological data when driving a corresponding type of driving simulator, and send the collected physiological data to the central processing unit 103.

[0059] In this embodiment, the physiological data acquisition device includes an eye tracker and a physiological recorder. The eye tracker is worn on the driver's eyes; the physiological recorder includes at least electrode pads and a signal sensor. The electrode pads are connected to the signal sensor and are attached to different parts of the body to collect physiological signals. The signal sensor is used to convert the physiological signals into electrical signals.

[0060] The eye tracker's appearance is the same as or similar to that of ordinary glasses. It is used to record the area and duration of the driver's gaze while driving. The lenses are replaceable to adjust the prescription, adapting to people with different vision. The eye-tracking data can be used to create a heat map, reflecting the range of attention focused while driving.

[0061] In a specific example, the signal sensor includes a signal conditioning unit and an analog-to-digital converter (ADC). The signal conditioning unit includes an amplifier and a filter connected in series. The specific circuit connection structure is that the amplifier is connected to the filter, and the filter is connected to the ADC. The ADC can specifically use the ADS129x series chip (commonly used in ECG and EEG).

[0062] Electrodes are attached to the skin of the test subject on areas such as the waist, chest, and hands to record data such as heart rate, pulse, respiration, and skin conductance. These physiological data can reflect the physiological and psychological state during driving.

[0063] This application embodiment collects the driver's physiological data through a physiological data acquisition device to achieve human-vehicle interaction.

[0064] In the description of the embodiments of this application, unless otherwise expressly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this application based on the specific circumstances.

[0065] In the description of this application, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this application. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0066] In the several embodiments provided in this application, it should be understood that the disclosed systems, apparatuses, and methods can be implemented in other ways. The apparatus embodiments described above are merely illustrative. For example, the division of units is only a logical functional division, and in actual implementation, there may be other division methods. Furthermore, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Additionally, the shown or discussed mutual couplings, direct couplings, or communication connections may be through some communication interfaces; indirect couplings or communication connections between devices or units may be electrical, mechanical, or other forms.

[0067] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0068] In addition, the functional units in the various embodiments of this application can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit.

[0069] Finally, it should be noted that the above-described embodiments are merely specific implementations of this application, used to illustrate the technical solutions of this application, and not to limit them. The scope of protection of this application is not limited thereto. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that any person skilled in the art can still modify or easily conceive of changes to the technical solutions described in the foregoing embodiments, or make equivalent substitutions for some of the technical features, within the scope of the technology disclosed in this application. Such modifications, changes, or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this application, and should all be covered within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. A driving simulation system, characterized in that, include: Multiple types of driving simulators, modular graphics rendering chassis and central processing units; The modular graphics rendering chassis includes a chassis body, and multiple pluggable lane graphics rendering boards and lane graphics rendering board switching circuits disposed within the chassis body. The lane graphics rendering board switching circuit is electrically connected to the central processing unit and each lane graphics rendering board, and the image signal output terminal of each lane graphics rendering board is electrically connected to each type of driving simulator.

2. The system according to claim 1, characterized in that, The lane graphics rendering board includes a single-vehicle lane graphics rendering board, a multi-vehicle lane graphics rendering board, and a mixed-traffic lane graphics rendering board.

3. The system according to claim 1, characterized in that, The lane graphics rendering board switching circuit includes an FPGA control chip and the same number of MOSFET switches as the lane graphics rendering boards. Each lane graphics rendering board is connected to a power supply via a power supply line. Each power supply line has a MOSFET switch connected in series. The gate of each MOSFET switch is connected to the FPGA control chip. The control terminal of the FPGA control chip is connected to the central processing unit.

4. The system according to claim 1, characterized in that, The various types of driving simulators include dynamic simulators, static simulators, bicycle simulators, and electric bicycle simulators; the dynamic simulators include a first dynamic simulator and a second dynamic simulator, wherein the volume of the first dynamic simulator is larger than that of the second dynamic simulator.

5. The system according to claim 4, characterized in that, Both the first dynamic simulator and the second dynamic simulator include a host and a display. The host is communicatively connected to the central processing unit, and the processor of the host is a 13th generation i7 processor. The display of the first dynamic simulator is a large panoramic screen with a central angle of 180°. The display of the second dynamic simulator is a triple screen.

6. The system according to claim 1, characterized in that, Each of the driving simulators is equipped with an external device interface, through which it can be connected to VR glasses and pedestrian bionic walking devices.

7. The system according to claim 4, characterized in that, Both the first dynamic simulator and the second dynamic simulator are six-degree-of-freedom dynamic simulators, and they are installed on a six-degree-of-freedom platform.

8. The system according to claim 7, characterized in that, The six-degree-of-freedom platform includes a base, a movable platform, and six retractable legs disposed between the base and the movable platform. The two ends of each leg are connected to the base and the movable platform respectively via ball joints. Each leg is connected to a brake, which drives it to work independently. The bottom of the dynamic simulator is fixedly mounted on the base. The movable platform is provided with a groove for accommodating the base. The base and the movable platform are movably mounted to facilitate changing the vehicle model of the dynamic simulator.

9. The system according to claim 1, characterized in that, The system also includes a physiological data acquisition device, which is electrically connected to the central processing unit.

10. The system according to claim 9, characterized in that, The physiological data acquisition device includes an eye tracker and a physiological recorder. The eye tracker is worn on the driver's eyes. The physiological recorder includes electrode pads and a signal sensor. The electrode pads are connected to the sensor and are attached to different parts of the human body to collect physiological signals. The sensor is used to convert the physiological signals into electrical signals.

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