Flight simulation system based on flexible cable parallel robot

Abstract

The present invention relates to the technical field of simulated aircraft. The existing traditional flight simulator is a fixed-point rigid support, that is, it can only swing in six dimensions at most at one fixed point, which causes the traditional system to be unable to truly simulate various difficult flight actions in flight. A flight simulation system based on a flexible cable parallel robot is disclosed, including: a flexible cable parallel robot, a flight cockpit, a VR helmet (glasses), a rolling ring and a control device; the flight cockpit is installed in the center of the rolling ring, the flexible cable parallel robot includes a plurality of columns and a plurality of flexible cables, one end of the flexible cable is connected to the column, and the other end suspends the rolling ring, and the flight cockpit in the center of the rolling ring is driven by the flexible cable parallel robot to move; the control device communicates with the VR helmet (glasses), the flight cockpit and the flexible cable parallel robot respectively.

Description

Technical Field

[0001] The invention relates to the technical field of simulated aircraft, in particular to a flight simulation system based on a flexible cable parallel robot. Background Art

[0002] A flight simulator is a machine used to simulate the flight of an aircraft. It is a simulation device that can reproduce the aircraft and the air environment and can be operated. It also needs to simulate the environment inside the aircraft cockpit. Traditional flight simulation driving is fixed-point rigid support, that is, it can only swing in six dimensions at a fixed point, resulting in the inability of traditional systems to truly simulate various difficult actions in flight (such as ascent, descent, tumbling, etc.).

[0003] Patent CN111462574AU discloses a flight training simulation system, which includes: a rotating bracket, the rotating bracket has three degrees of freedom of rotation in the axial direction; the axial directions include: a pitch axis, a roll axis and a yaw axis; an aircraft simulation cockpit, the aircraft simulation cockpit is installed on the rotating bracket, and an immersive simulation training scene for users to perform simulated flight training is formed in the aircraft simulation cockpit; a driving device, the driving device is arranged on the rotating bracket, and is used to drive the aircraft simulation cockpit to rotate around the pitch axis, the roll axis and the yaw axis. Through the cooperation of virtual reality technology and hardware structure, it can achieve better simulation effects, provide a good and very close to reality experience, thereby greatly improving the training effect. In the above scheme, the rotating bracket is designed to have three degrees of freedom of rotation in the axial direction, and the number of its degrees of freedom of rotation still cannot meet the actual difficulty requirements for simulator flight. Summary of the invention

[0004] The purpose of the present invention is to improve and break through the structural limitations of traditional flight simulators, that is, the existing traditional flight simulation belongs to a rigid system, that is, it can only swing in six dimensions at a fixed point, resulting in the inability of the traditional system to truly simulate various difficult actions in flight, such as rising, falling, and rolling. Ensure that the flight simulation system can achieve large-scale swings, rotations, and combined actions - swing limitations in rotation, and produce a climbing-like experience in simulated flight, providing a novel flight simulator.

[0005] The technical solution provided by the present invention is:

[0006] The flight simulation system based on the flexible cable parallel robot includes: a flexible cable parallel robot, a flight cockpit, a VR helmet, a rolling ring and a control device;

[0007] The flight cockpit is installed in the center of the rolling ring, and the flexible cable parallel robot includes a column and a flexible cable, one end of the flexible cable is connected to the column, and the other end of the flexible cable suspends the rolling ring, and the flight cockpit in the center of the rolling ring is driven by the flexible cable parallel robot to move;

[0008] The control device communicates with the VR helmet, the flight cockpit and the flexible cable parallel robot respectively;

[0009] The experiencer riding in the flight cockpit wears the VR helmet and makes a command action. The control device adjusts and controls the flexible cable parallel robot to further drive the flight cockpit in the center of the rolling ring to make a motion trajectory corresponding to the command action.

[0010] Furthermore, the flight cockpit is provided with a flight control handle, which is electrically connected to the control device and communicates with the control device. The flight control handle is used to control the "aircraft" to take off, land, and perform various complex actions in the virtual scene.

[0011] Furthermore, the rolling ring is a one-dimensional rolling ring, a two-dimensional rolling ring or a three-dimensional rolling ring; the two-dimensional rolling ring is provided with two rolling rings and the two rolling rings in the two-dimensional rolling ring are nested and mechanically connected, and each of the rolling rings can rotate around the extension line of the straight line where the connecting end is located; the three-dimensional rolling ring is provided with three rolling rings and the three rolling rings are nested and mechanically connected one by one, and each of the three-dimensional rolling rings rotates around the extension line of the straight line where the adjacent connecting end is located.

[0012] Furthermore, the flexible cable parallel robot also includes a servo motor and a reducer. The servo motor is mechanically connected to the reducer and controls the start and stop actions of the reducer. The reducer is provided with a rope drum for adjusting the winding length of the flexible cable. One end of the flexible cable is connected to the column, and the other end hangs the rolling ring. The flexible cable parallel robot drives the flight cockpit in the center of the rolling ring to move.

[0013] Furthermore, the control device includes a communication module, a main controller, a projector and a projection screen, and software; the controller is electrically connected to and communicates with the communication module, the projector and the projection screen, the VR helmet, and the flight control handle respectively; the action instructions made by the flight control handle are transmitted to the main controller through the communication module, and the main controller communicates with the flexible cable parallel robot and the VR helmet after calculation, and the flexible cable parallel robot further controls the flight cockpit in the center of the rolling ring to perform corresponding actions, and displays the entire process of the flight cockpit through the VR helmet.

[0014] Furthermore, the control device also includes a state monitoring module, and a motion recognition module, a trajectory generation module and a flight vision simulation module respectively connected to the state monitoring module, the motion recognition module is used to recognize and process the motion signal of the flight cockpit, and transmit the signal to the trajectory generation module; the trajectory generation module is used to recognize and process the signal transmitted by the motion recognition module, and generate a signal of the flight cockpit motion trajectory, and transmit the signal to the flight vision simulation module.

[0015] Furthermore, the motion recognition module includes a position sensor installed on the flight cockpit, and the position sensor is used to recognize the motion of the flight cockpit and generate a motion signal.

[0016] Furthermore, the main controller includes a core settlement module for settling simulation data and a signal acquisition module for providing signals of data from external devices to the core settlement module; the signal acquisition module includes a system test bench signal acquisition device for providing data signals to the core settlement unit, an input-output module electrically connected to the core settlement module for inputting control instructions to the core settlement module and for outputting simulation data settled by the core settlement module, the input-output module is provided with a touch screen display, and the touch screen display is associated with the input-output modules and communicates with each other.

[0017] Furthermore, the main controller also includes a mode selection module, which is electrically connected to the core settlement module and the signal acquisition module respectively. The mode switching facilitates the replacement of the core settlement module with a real or simulated external device.

[0018] Furthermore, the flexible cable parallel robot also includes a directional pulley, one end of the column is fixedly connected to the bottom surface; a directional pulley is provided at both ends of each column; one end of each cable in the flexible cable is connected to the rope drum on the reducer, close to the column, and the other end of the flexible cable hangs the rolling ring, and the entire flexible cable is transitioned by the two directional pulleys; the flexible cable parallel robot drives the flight cockpit in the center of the rolling ring to move.

[0019] One aspect of the invention has the beneficial effect that, compared with the traditional flight simulation equipment, the invention increases the multiple actions of the flight simulation and the difficulty of "flying", improves the fidelity of the virtual flight simulation, and improves the sense of reality of the virtual flight simulation. And at the same level of functional realization, the cost is greatly reduced.

[0020] One aspect of the present invention has the beneficial effect that the flight simulation cabin of the system of the present invention can move in a space, thus achieving true ascent, descent, straight forward movement, arc movement and multi-dimensional swing. At the same time, it adds a two-dimensional or three-dimensional rolling ring, so that the flight simulation cabin can achieve tumbling in the air, thereby increasing the experience of various difficult actions in the flight simulation. This is impossible to achieve in the existing traditional flight simulation system. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 It is a schematic diagram of the principle of the flight simulation system equipment based on the flexible cable parallel robot of the present invention;

[0022] Figure 2 It is a schematic diagram of the rolling ring structure in the flight simulation system based on the flexible cable parallel robot of the present invention;

[0023] Figure 3 It is a schematic diagram of the structure of the parallel robot column in the flight simulation system based on the flexible cable parallel robot of the present invention;

[0024] Figure 4 It is a schematic diagram of the structure of the rolling ring connection component of the flight simulation system based on the flexible cable parallel robot of the present invention;

[0025] Figure 5 This is a schematic diagram of the structure of the flight cockpit of the flight simulation system based on the flexible cable parallel robot of the present invention;

[0026] Figure 6 This is a framework diagram of the relationship between the components of the flight simulation system based on the flexible cable parallel robot of the present invention;

[0027] Figure 7 The electrical schematic diagram of the flight simulation system control device based on the flexible cable parallel robot of the present invention;

[0028] Figure 8 This is an electrical schematic diagram of a main controller in an embodiment of a flight simulation system based on a flexible cable parallel robot of the present invention;

[0029] Among them, 98, control device, 99, flexible cable parallel robot, 100, column, 101, servo motor and reducer, 102, directional pulley, 103, flight cockpit, 104, flexible cable, 105, rolling ring, 106, rolling ring fixing pin, 107, VR helmet, 108, main controller, 109, communication module, 110, projector and projection screen, 111, software, 112, flight control handle, 113, motion recognition module, 114, position sensor, 115, trajectory generation module, 116, flight vision simulation module, 117, status monitoring module, 118, signal acquisition module, 119, core settlement module, 120, touch screen display, 121, input and output module, 122, signal acquisition device, 123, mode selection module. DETAILED DESCRIPTION

[0030] In order to make the technical problems solved by the present invention, the technical solutions adopted and the technical effects achieved clearer, the technical solutions of the embodiments of the present invention will be further described in detail below in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, the embodiments obtained by those skilled in the art without making creative work are all within the scope of protection of the present invention.

[0031] Example 1

[0032] The purpose of this embodiment is to further illustrate the implementation methods and key points of the above technical solution, as follows:

[0033] Flight simulation system based on flexible cable parallel robot, such as Figure 1 , Figure 2 , Figure 3 , Figure 4 , Figure 5 as well as Figure 6 As shown, it includes: a flexible cable parallel robot 99, a flight cockpit 103, a VR helmet 107, a rolling ring 105 and a control device 98.

[0034] The flight cockpit 103 is installed in the center of the rolling ring 105, and the flexible cable parallel robot (99) includes a column (100) and a flexible cable 104. One end of the flexible cable 104 is connected to the column 100, and the other end of the flexible cable 104 lifts the rolling ring 105. The flight cockpit 103 in the center of the rolling ring 105 is driven by the flexible cable parallel robot 99 to move.

[0035] The control device 98 communicates with the VR helmet 107, the flight cockpit 103 and the flexible cable parallel robot 99 respectively. The experiencer riding in the flight cockpit wears the VR helmet 107 and makes a command action. The control device 98 adjusts and controls the flexible cable parallel robot 99 to further drive the flight cockpit 103 in the center of the rolling ring 105 to make a motion trajectory corresponding to the command action.

[0036] The flight cockpit 103 is provided with a flight control handle, which is electrically connected to the control device 98 and communicates with the control device 98. The flight control handle 112 is used to control the "aircraft" to take off, land, and perform various complex actions in the virtual scene.

[0037] The rolling ring 105 is a one-dimensional rolling ring, a two-dimensional rolling ring or a three-dimensional rolling ring. The two-dimensional rolling ring is provided with two rolling rings and the two rolling rings in the two-dimensional rolling ring are nested and mechanically connected by a rolling ring fixing pin 106. Each rolling ring can rotate around the extension line of the straight line where the connection end is located. The three-dimensional rolling ring is provided with three rolling rings, and the three rolling rings are nested one by one for mechanical connection. Each rolling ring of the three-dimensional rolling ring rotates around the extension line of the straight line where the adjacent connection end is located.

[0038] The flexible cable parallel robot 99 also includes a servo motor and a reducer 101. The servo motor is mechanically connected to the reducer and controls the start and stop of the reducer. The reducer is provided with a rope drum for adjusting the winding length of the flexible cable 104. One end of the flexible cable 104 is connected to the column 100, and the other end hangs the rolling ring 105. The flexible cable parallel robot 99 drives the central flight cockpit 103 of the rolling ring 105 to move.

[0039] The control device 98 includes a communication module 109, a main controller 108, a projector and a projection screen 110, and software 111. The main controller 108 is electrically connected to and communicates with the communication module 109, the projector and the projection screen 110, the VR helmet 107, and the flight control handle 112.

[0040] The action instructions made by the flight control handle 112 are communicated to the communication module 109 and transmitted to the main controller 108. After calculation, the main controller 108 communicates with the flexible cable parallel robot 99 and the VR helmet 107. The flexible cable parallel robot 99 further controls the flight cockpit 103 in the center of the rolling ring 105 to perform corresponding actions, and displays the entire process of the flight cockpit through the VR helmet 107.

[0041] Example 2

[0042] This embodiment further extends the function of the control device of the flight simulator on the basis of the first embodiment, and realizes the functions of the flight simulator to monitor its own state, preset trajectory and calibrate. The specific process is as follows:

[0043] Flight simulation system based on flexible cable parallel robot, such as Figure 1 , Figure 2 , Figure 3 , Figure 4 , Figure 5 as well as Figure 6 As shown, it includes: a flexible cable parallel robot 99, a flight cockpit 103, a VR helmet 107, a rolling ring 105 and a control device 98.

[0044] The flight cockpit 103 is installed in the center of the rolling ring 105, and the flexible cable parallel robot (99) includes a column (100) and a flexible cable 104. One end of the flexible cable 104 is connected to the column 100, and the other end of the flexible cable 104 lifts the rolling ring 105. The flight cockpit 103 in the center of the rolling ring 105 is driven by the flexible cable parallel robot 99 to move.

[0045] The control device 98 communicates with the VR helmet 107, the flight cockpit 103 and the flexible cable parallel robot 99 respectively. The experiencer riding in the flight cockpit wears the VR helmet 107 and makes a command action. The control device 98 adjusts and controls the flexible cable parallel robot 99 to further drive the flight cockpit 103 in the center of the rolling ring 105 to make a motion trajectory corresponding to the command action.

[0046] The flight cockpit 103 is provided with a flight control handle, which is electrically connected to the control device 98 and communicates with the control device 98. The flight control handle 112 is used to control the "aircraft" to take off, land, and perform various complex actions in the virtual scene.

[0047] The rolling ring 105 is a one-dimensional rolling ring, a two-dimensional rolling ring or a three-dimensional rolling ring. The two-dimensional rolling ring is provided with two rolling rings and the two rolling rings in the two-dimensional rolling ring are nested and mechanically connected by a rolling ring fixing pin 106. Each rolling ring can rotate around the extension line of the straight line where the connection end is located. The three-dimensional rolling ring is provided with three rolling rings, and the three rolling rings are nested one by one for mechanical connection. Each rolling ring of the three-dimensional rolling ring rotates around the extension line of the straight line where the adjacent connection end is located.

[0048] The flexible cable parallel robot 99 also includes a servo motor and a reducer 101. The servo motor is mechanically connected to the reducer and controls the start and stop of the reducer. The reducer is provided with a rope drum for adjusting the winding length of the flexible cable 104. One end of the flexible cable 104 is connected to the column 100, and the other end hangs the rolling ring 105. The flexible cable parallel robot 99 drives the central flight cockpit 103 of the rolling ring 105 to move.

[0049] The control device 98 includes a communication module 109, a main controller 108, a projector and a projection screen 110, and software 111. The main controller 108 is electrically connected to and communicates with the communication module 109, the projector and the projection screen 110, the VR helmet 107, and the flight control handle 112.

[0050] The control device 98 also includes Figure 7 As shown, a state monitoring module 117, and a motion recognition module 113, a trajectory generation module 115 and a flight visual simulation module 116 respectively connected to the state monitoring module 117.

[0051] The motion recognition module 113 is used to recognize and process the motion signal of the flight cockpit 103 and transmit the signal to the trajectory generation module 115;

[0052] The trajectory generation module 115 is used to identify and process the signal transmitted by the motion recognition module 113 , generate a signal of the motion trajectory of the flight cockpit 103 , and transmit the signal to the flight vision simulation module 103 .

[0053] The motion recognition module 113 includes a position sensor 114 installed on the flight cockpit 103 , and the position sensor 114 is used to recognize the motion of the flight cockpit 103 and generate a motion signal.

[0054] The action instructions made by the flight control handle 112 are communicated to the communication module 109 and transmitted to the main controller 108. After calculation, the main controller 108 communicates with the flexible cable parallel robot 99 and the VR helmet 107. The flexible cable parallel robot 99 further controls the flight cockpit 103 in the center of the rolling ring 105 to perform corresponding actions, and displays the entire process of the flight cockpit through the VR helmet 107.

[0055] Example 3

[0056] This embodiment is based on the second embodiment, and further extends the function of the main controller of the flight simulation system based on the flexible cable parallel robot of the present invention, thereby increasing the computing efficiency of the main controller and the dynamic visual impact of the whole process of combining virtuality and reality. The specific process is as follows:

[0057] Flight simulation system based on flexible cable parallel robot, such as Figure 1 , Figure 2 , Figure 3 , Figure 4 , Figure 5 as well as Figure 6 As shown, it includes: a flexible cable parallel robot 99, a flight cockpit 103, a VR helmet 107, a rolling ring 105 and a control device 98.

[0058] The flight cockpit 103 is installed in the center of the rolling ring 105, and the flexible cable parallel robot (99) includes a column (100) and a flexible cable 104. One end of the flexible cable 104 is connected to the column 100, and the other end of the flexible cable 104 lifts the rolling ring 105. The flight cockpit 103 in the center of the rolling ring 105 is driven by the flexible cable parallel robot 99 to move.

[0059] The control device 98 communicates with the VR helmet 107, the flight cockpit 103 and the flexible cable parallel robot 99 respectively. The experiencer riding in the flight cockpit wears the VR helmet 107 and makes a command action. The control device 98 adjusts and controls the flexible cable parallel robot 99 to further drive the flight cockpit 103 in the center of the rolling ring 105 to make a motion trajectory corresponding to the command action.

[0060] The flight cockpit 103 is provided with a flight control handle, which is electrically connected to the control device 98 and communicates with the control device 98. The flight control handle 112 is used to control the "aircraft" to take off, land, and perform various complex actions in the virtual scene.

[0061] The rolling ring 105 is a one-dimensional rolling ring, a two-dimensional rolling ring or a three-dimensional rolling ring. The two-dimensional rolling ring is provided with two rolling rings and the two rolling rings in the two-dimensional rolling ring are nested and mechanically connected by a rolling ring fixing pin 106. Each rolling ring can rotate around the extension line of the straight line where the connection end is located. The three-dimensional rolling ring is provided with three rolling rings, and the three rolling rings are nested one by one for mechanical connection. Each rolling ring of the three-dimensional rolling ring rotates around the extension line of the straight line where the adjacent connection end is located.

[0062] The flexible cable parallel robot 99 also includes a servo motor and a reducer 101. The servo motor is mechanically connected to the reducer and controls the start and stop of the reducer. The reducer is provided with a rope drum for adjusting the winding length of the flexible cable 104. One end of the flexible cable 104 is connected to the column 100, and the other end hangs the rolling ring 105. The flexible cable parallel robot 99 drives the central flight cockpit 103 of the rolling ring 105 to move.

[0063] The control device 98 includes a communication module 109, a main controller 108, a projector and a projection screen 110, and software 111. The main controller 108 is electrically connected to and communicates with the communication module 109, the projector and the projection screen 110, the VR helmet 107, and the flight control handle 112.

[0064] The control device 98 also includes Figure 7 As shown, a state monitoring module 117, and a motion recognition module 113, a trajectory generation module 115 and a flight visual simulation module 116 respectively connected to the state monitoring module 117.

[0065] The motion recognition module 113 is used to recognize and process the motion signal of the flight cockpit 103 and transmit the signal to the trajectory generation module 115;

[0066] The trajectory generation module 115 is used to identify and process the signal transmitted by the motion recognition module 113 , generate a signal of the motion trajectory of the flight cockpit 103 , and transmit the signal to the flight vision simulation module 103 .

[0067] The motion recognition module 113 includes a position sensor 114 installed on the flight cockpit 103 , and the position sensor 114 is used to recognize the motion of the flight cockpit 103 and generate a motion signal.

[0068] The main controller 108 includes a core settlement module 119 for settling simulation data and a signal acquisition module 118 for providing signals of data from external devices to the core settlement module 119; the signal acquisition module 118 includes a system test bench signal acquisition device 122 for providing data signals to the core settlement unit 119, and an input-output module 121 electrically connected to the core settlement module 119 for inputting control instructions to the core settlement module 119 and for outputting simulation data settled by the core settlement module 119, wherein the input-output module 121 is provided with a touch screen display 120, and the touch screen display 120 is associated with the input-output module 121 and communicates with each other.

[0069] The action instructions made by the flight control handle 112 are communicated to the communication module 109 and transmitted to the main controller 108. After calculation, the main controller 108 communicates with the flexible cable parallel robot 99 and the VR helmet 107. The flexible cable parallel robot 99 further controls the flight cockpit 103 in the center of the rolling ring 105 to perform corresponding actions, and displays the entire process of the flight cockpit through the VR helmet 107.

[0070] Example 4

[0071] This embodiment is based on the embodiment 1, embodiment 2 and embodiment 3, and further expands the function of the flight simulation system based on the flexible cable parallel robot, and can be selectively controlled according to the different experience requirements of different experiencers. The main improvement is in the main controller. The specific process is as follows:

[0072] Flight simulation system based on flexible cable parallel robot, such as Figure 1 , Figure 2 , Figure 3 , Figure 4 , Figure 5 as well as Figure 6As shown, it includes: a flexible cable parallel robot 99, a flight cockpit 103, a VR helmet 107, a rolling ring 105 and a control device 98.

[0073] The flight cockpit 103 is installed in the center of the rolling ring 105, and the flexible cable parallel robot (99) includes a column (100) and a flexible cable 104. One end of the flexible cable 104 is connected to the column 100, and the other end of the flexible cable 104 lifts the rolling ring 105. The flight cockpit 103 in the center of the rolling ring 105 is driven by the flexible cable parallel robot 99 to move.

[0074] The control device 98 communicates with the VR helmet 107, the flight cockpit 103 and the flexible cable parallel robot 99 respectively. The experiencer riding in the flight cockpit wears the VR helmet 107 and makes a command action. The control device 98 adjusts and controls the flexible cable parallel robot 99 to further drive the flight cockpit 103 in the center of the rolling ring 105 to make a motion trajectory corresponding to the command action.

[0075] The flight cockpit 103 is provided with a flight control handle, which is electrically connected to the control device 98 and communicates with the control device 98. The flight control handle 112 is used to control the "aircraft" to take off, land, and perform various complex actions in the virtual scene.

[0076] The rolling ring 105 is a one-dimensional rolling ring, a two-dimensional rolling ring or a three-dimensional rolling ring. The two-dimensional rolling ring is provided with two rolling rings and the two rolling rings in the two-dimensional rolling ring are nested and mechanically connected by a rolling ring fixing pin 106. Each rolling ring can rotate around the extension line of the straight line where the connection end is located. The three-dimensional rolling ring is provided with three rolling rings, and the three rolling rings are nested one by one for mechanical connection. Each rolling ring of the three-dimensional rolling ring rotates around the extension line of the straight line where the adjacent connection end is located.

[0077] The flexible cable parallel robot 99 also includes a servo motor and a reducer 101. The servo motor is mechanically connected to the reducer and controls the start and stop of the reducer. The reducer is provided with a rope drum for adjusting the winding length of the flexible cable 104. One end of the flexible cable 104 is connected to the column 100, and the other end hangs the rolling ring 105. The flexible cable parallel robot 99 drives the central flight cockpit 103 of the rolling ring 105 to move.

[0078] The control device 98 includes a communication module 109, a main controller 108, a projector and a projection screen 110, and software 111. The main controller 108 is electrically connected to and communicates with the communication module 109, the projector and the projection screen 110, the VR helmet 107, and the flight control handle 112.

[0079] Control device 98 such as Figure 7As shown, it also includes a state monitoring module 117, and a motion recognition module 113, a trajectory generation module 115 and a flight visual simulation module 116 which are respectively connected to the state monitoring module 117.

[0080] The motion recognition module 113 is used to recognize and process the motion signal of the flight cockpit 103 and transmit the signal to the trajectory generation module 115;

[0081] The trajectory generation module 115 is used to identify and process the signal transmitted by the motion recognition module 113 , generate a signal of the motion trajectory of the flight cockpit 103 , and transmit the signal to the flight vision simulation module 103 .

[0082] The motion recognition module 113 includes a position sensor 114 installed on the flight cockpit 103 , and the position sensor 114 is used to recognize the motion of the flight cockpit 103 and generate a motion signal.

[0083] The main controller 108 is as follows Figure 7 As shown, it includes a core settlement module 119 for settling simulation data and a signal acquisition module 118 for providing the signal of data of an external device to the core settlement module 119; the signal acquisition module 118 includes a system test bench signal acquisition device 122 for providing data signals to the core settlement unit 119, and an input-output module 121 electrically connected to the core settlement module 119 for inputting control instructions to the core settlement module 119 and for outputting simulation data settled by the core settlement module 119, and the input-output module 121 is provided with a touch screen display 120, and the touch screen display 120 is associated with the input-output module 121 and communicates with each other.

[0084] The main controller 108 is as follows Figure 8 As shown, it also includes a mode selection module 123, which is electrically connected to the core settlement module 119 and the signal acquisition module 122 respectively. The mode switching makes it easy to replace the core settlement module 119 with a real or simulated external device.

[0085] The action instructions made by the flight control handle 112 are communicated to the communication module 109 and transmitted to the main controller 108. After calculation, the main controller 108 communicates with the flexible cable parallel robot 99 and the VR helmet 107. The flexible cable parallel robot 99 further controls the flight cockpit 103 in the center of the rolling ring 105 to perform corresponding actions, and displays the entire process of the flight cockpit through the VR helmet 107.

[0086] Example 5

[0087] On the basis of Example 4, this example further extends the function of the flight simulation system based on the flexible cable parallel robot of the present invention, and further adjusts the method of using the flexible cable to avoid severe wear of the flexible cable during frequent movements. The specific process is as follows:

[0088] Flight simulation system based on flexible cable parallel robot, such as Figure 1 , Figure 2 , Figure 3 , Figure 4 , Figure 5 as well as Figure 6 As shown, it includes: a flexible cable parallel robot 99, a flight cockpit 103, a VR helmet 107, a rolling ring 105 and a control device 98.

[0089] The flight cockpit 103 is installed in the center of the rolling ring 105, and the flexible cable parallel robot (99) includes a column (100) and a flexible cable 104. One end of the flexible cable 104 is connected to the column 100, and the other end of the flexible cable 104 lifts the rolling ring 105. The flight cockpit 103 in the center of the rolling ring 105 is driven by the flexible cable parallel robot 99 to move.

[0090] The control device 98 communicates with the VR helmet 107, the flight cockpit 103 and the flexible cable parallel robot 99 respectively. The experiencer riding in the flight cockpit wears the VR helmet 107 and makes a command action. The control device 98 adjusts and controls the flexible cable parallel robot 99 to further drive the flight cockpit 103 in the center of the rolling ring 105 to make a motion trajectory corresponding to the command action.

[0091] The flight cockpit 103 is provided with a flight control handle, which is electrically connected to the control device 98 and communicates with the control device 98. The flight control handle 112 is used to control the "aircraft" to take off, land, and perform various complex actions in the virtual scene.

[0092] The rolling ring 105 is a one-dimensional rolling ring, a two-dimensional rolling ring or a three-dimensional rolling ring. The two-dimensional rolling ring is provided with two rolling rings and the two rolling rings in the two-dimensional rolling ring are nested and mechanically connected by a rolling ring fixing pin 106. Each rolling ring can rotate around the extension line of the straight line where the connection end is located. The three-dimensional rolling ring is provided with three rolling rings, and the three rolling rings are nested one by one for mechanical connection. Each rolling ring of the three-dimensional rolling ring rotates around the extension line of the straight line where the adjacent connection end is located.

[0093] The flexible cable parallel robot 99 also includes a servo motor and a reducer 101. The servo motor is mechanically connected to the reducer and controls the start and stop of the reducer. The reducer is provided with a rope drum for adjusting the winding length of the flexible cable 104. One end of the flexible cable 104 is connected to the column 100, and the other end hangs the rolling ring 105. The flexible cable parallel robot 99 drives the central flight cockpit 103 of the rolling ring 105 to move.

[0094] The control device 98 includes a communication module 109, a main controller 108, a projector and a projection screen 110, and software 111. The main controller 108 is electrically connected to and communicates with the communication module 109, the projector and the projection screen 110, the VR helmet 107, and the flight control handle 112.

[0095] Control device 98 such as Figure 7 As shown, it also includes a state monitoring module 117, and a motion recognition module 113, a trajectory generation module 115 and a flight visual simulation module 116 which are respectively connected to the state monitoring module 117.

[0096] The motion recognition module 113 is used to recognize and process the motion signal of the flight cockpit 103 and transmit the signal to the trajectory generation module 115;

[0097] The trajectory generation module 115 is used to identify and process the signal transmitted by the motion recognition module 113 , generate a signal of the motion trajectory of the flight cockpit 103 , and transmit the signal to the flight vision simulation module 103 .

[0098] The motion recognition module 113 includes a position sensor 114 installed on the flight cockpit 103 , and the position sensor 114 is used to recognize the motion of the flight cockpit 103 and generate a motion signal.

[0099] The main controller 108 is as follows Figure 7 As shown, it includes a core settlement module 119 for settling simulation data and a signal acquisition module 118 for providing the signal of data of an external device to the core settlement module 119; the signal acquisition module 118 includes a system test bench signal acquisition device 122 for providing data signals to the core settlement unit 119, and an input-output module 121 electrically connected to the core settlement module 119 for inputting control instructions to the core settlement module 119 and for outputting simulation data settled by the core settlement module 119, and the input-output module 121 is provided with a touch screen display 120, and the touch screen display 120 is associated with the input-output module 121 and communicates with each other.

[0100] The main controller 108 also includes a mode selection module 123, which is electrically connected to the core settlement module 119 and the signal acquisition module 122 respectively. The mode switching makes it easy to replace the core settlement module 119 with a real or simulated external device.

[0101] 99-wire parallel robot Figure 8 As shown, it also includes a directional pulley 102, one end of the column 100 is fixedly connected to the bottom surface; a directional pulley 102 is respectively provided at both ends of each column 100 in the column 100; one end of each cable 104 in the flexible cable 104 is connected to the rope drum on the reducer 101, close to the column 100, and the other end of the flexible cable 104 hangs the rolling ring 105, and the entire flexible cable 104 is transferred by the two directional pulleys 102; the flexible cable parallel robot 99 drives the flight cockpit 103 in the center of the rolling ring 105 to move.

[0102] The action instructions made by the flight control handle 112 are communicated to the communication module 109 and transmitted to the main controller 108. After calculation, the main controller 108 communicates with the flexible cable parallel robot 99 and the VR helmet 107. The flexible cable parallel robot 99 further controls the flight cockpit 103 in the center of the rolling ring 105 to perform corresponding actions, and displays the entire process of the flight cockpit through the VR helmet 107.

Claims

1. A flight simulation system based on a flexible cable parallel robot, characterized in that: include: Cable-coupled parallel robot, flight cockpit, VR helmet, rolling ring and control device; The flight cockpit is installed in the center of the rolling ring, the flexible cable parallel robot includes a column and a flexible cable, one end of the flexible cable is connected to the ground end of the column, and the other end of the flexible cable suspends the rolling ring, and the flight cockpit in the center of the rolling ring is driven by the flexible cable parallel robot to move; The control device communicates with the VR helmet, the flight cockpit and the flexible cable parallel robot respectively; The experiencer riding in the flight cockpit wears the VR helmet and makes a command action, and adjusts and controls the flexible cable parallel robot through the control device, further driving the flight cockpit in the center of the rolling ring to make a motion trajectory corresponding to the command action; The rolling ring is a one-dimensional rolling ring, a two-dimensional rolling ring or a three-dimensional rolling ring; the two-dimensional rolling ring is provided with two rolling rings and the two rolling rings in the two-dimensional rolling ring are nested and mechanically connected, and each of the rolling rings can rotate around the extension line of the straight line where the connection end is located; the three-dimensional rolling ring is provided with three rolling rings, and the three rolling rings are nested and mechanically connected one by one, and each of the three-dimensional rolling rings rotates around the extension line of the straight line where the adjacent connection end is located; The flexible cable parallel robot further comprises a servo motor and a reducer, wherein the servo motor is mechanically connected to the reducer and controls the start and stop actions of the reducer; the reducer is provided with a rope drum for adjusting the winding length of the flexible cable; The control device includes a communication module, a main controller, a projector and a projection screen, and software; the controller is electrically connected to and communicates with the communication module, the projector and the projection screen, the VR helmet, and the flight control handle respectively; the action instructions made by the flight control handle are transmitted to the main controller through the communication module, and the main controller communicates with the flexible cable parallel robot and the VR helmet after calculation, and the flexible cable parallel robot further controls the flight cockpit in the center of the rolling ring to perform corresponding actions, and displays the entire process of the flight cockpit through the VR helmet; The control device further comprises a state monitoring module, and a motion recognition module, a trajectory generation module and a flight vision simulation module respectively connected to the state monitoring module; the motion recognition module is used to recognize and process the motion signal of the flight cockpit, and transmit the signal to the trajectory generation module, and the trajectory generation module is used to recognize and process the signal transmitted by the motion recognition module, and generate a signal of the flight cockpit motion trajectory, and transmit the signal to the flight vision simulation module; The main controller includes a core settlement module for settling simulation data and a signal acquisition module for providing data signals of external devices to the core settlement module; the signal acquisition module includes a system test bench signal acquisition device for providing data signals to the core settlement unit, and an input-output module electrically connected to the core settlement module for inputting control instructions to the core settlement module and for outputting simulation data settled by the core settlement module, the input-output module is provided with a touch screen display, and the touch screen display is associated with the input-output modules and communicates with each other.

2. The flight simulation system based on the flexible cable parallel robot according to claim 1, characterized in that: The flight cockpit is provided with a flight control handle, which is electrically connected to the control device and communicates with the control device. The flight control handle is used to control the aircraft to take off, land and perform various complex actions in the virtual scene.

3. The flight simulation system based on the flexible cable parallel robot according to claim 1, characterized in that: The motion recognition module includes a position sensor installed on the flight cockpit, and the position sensor is used to recognize the motion of the flight cockpit and generate a motion signal.

4. The flight simulation system based on the flexible cable parallel robot according to claim 1, characterized in that: The main controller also includes a mode selection module, which is electrically connected to the core settlement module and the signal acquisition module respectively, and replaces the core settlement module with a real or simulated external device.

5. The flight simulation system based on the flexible cable parallel robot according to claim 1, characterized in that: The flexible cable parallel robot also includes a directional pulley, one end of the column is fixedly connected to the bottom surface; a directional pulley is provided at both ends of each column; one end of each flexible cable is connected to the rope drum on the reducer, close to the column, and the other end of the flexible cable hangs the rolling ring, and the entire flexible cable is transitioned by the two directional pulleys; the flexible cable parallel robot drives the flight cockpit in the center of the rolling ring to move.

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