Flight Simulator

Abstract

The present invention relates to the field of simulated aircraft technology, especially flight simulators. In view of the existing traditional flight simulators, which are implemented on a rigid six-degree-of-freedom base, the amplitude of the simulation experience is limited by the length and structure of the rigid support rod. A flight simulator is disclosed, including: a flexible cable parallel robot, a simulated flight cockpit, a visual system and a control device; a revolving chassis and a top rod are provided at the bottom of the simulated flight cockpit, and the simulated flight cockpit is fixed on the revolving chassis, and a spherical surface is provided at the end of the top rod to connect with the revolving chassis; a plurality of connecting holes are provided on the edge of the revolving chassis, and a plurality of flexible cables are provided on the flexible parallel robot, and the revolving chassis is connected to the flexible cables of the flexible parallel robot through the plurality of connecting holes; the visual system includes VR glasses, a projector and a projection screen for experiencing virtual visual impact.

Description

Technical Field

[0001] The present invention relates to the technical field of simulated aircraft, in particular to a flight simulator. 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. At the same time, it is also necessary to simulate the environment inside the aircraft cockpit. The environment inside the aircraft cockpit is complex, including various instruments and other function buttons that assist flight. The flight simulators currently on the market only reproduce key control devices such as joysticks and throttles inside the cockpit. For other complex function buttons, due to the high cost of reproduction, they are abandoned, but this will result in poor simulation effects. In addition, the existing traditional flight simulators are implemented on a rigid six-degree-of-freedom base, and the flight simulation cockpit is placed on the base. The amplitude of its simulation experience is limited by the length and structure of the rigid support rod, and it cannot achieve a large degree of tilt and swing, thereby weakening the simulation effect and experience.

[0003] Patent CN211349698U discloses a closed cabin flight simulator. The technical solution adopts a closed cabin shell structure and adds an auxiliary module to create an environmental atmosphere. From the perspective of the features, the utility model fixes the cabin shell on the floor, and the cabin shell is equipped with a control console, a screen, a seat and other structures to simulate the control interface. At the same time, the cylinders in different directions under the floor provide a multi-degree-of-freedom driving function; on this basis, the utility model sets a retractable coil at the entrance of the cabin shell, which can close the entrance of the cabin shell to a certain extent, so that the trainees can be trained in a relatively closed environment, which conforms to the characteristics of the real environment; moreover, the coil can be raised to the top wall of the cabin shell by an electric push rod, so as not to affect the entry and exit of large equipment; in addition, the utility model adds a simulated tower shape to the outside of the cabin shell, which enhances the effect of creating an environmental atmosphere to a certain extent. In this scheme, the multi-degree-of-freedom driving function is provided by cylinders in different directions under the floor, and the range of the simulation experience is limited, which cannot give the experiencer a better visual impact effect in all directions. Summary of the invention

[0004] The purpose of the present invention is to improve and break through the structural limitations of traditional flight simulators for simulated flight, so that the simulated flight can achieve large-scale swings, rotations and combined actions - swing limitations in rotations, and produce a climbing-like experience in simulated flight, thereby providing a flight simulator.

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

[0006] Flight simulator, including a flexible cable parallel robot, a simulated flight cockpit, a visual system and a control device;

[0007] A revolving chassis and a push rod are provided at the bottom of the simulated flight cockpit, and the simulated flight cockpit is fixed on the revolving chassis, and a spherical surface is provided at the end of the push rod and connected to the revolving chassis;

[0008] The edge of the rotary chassis is provided with a connection hole, the flexible parallel robot is provided with a flexible cable, and the rotary chassis is connected to the flexible cable of the flexible parallel robot through the connection hole;

[0009] A fixed collar is provided below the rotary chassis, the top rod passes through the fixed collar and slides up and down in the fixed collar;

[0010] The visual system includes VR glasses, a projector and a projection screen for experiencing virtual visual impact; the control device includes a main controller and a simulation flight control system software, and the control device controls the flight simulator by communicating with the visual system, the simulation flight cockpit and the parallel robot component.

[0011] Furthermore, the flexible cable parallel robot is provided with a flexible cable, 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. The edge of the rotating chassis is provided with a connecting hole, and the flexible cable is connected to the rotating chassis through the rope drum on the reducer.

[0012] Furthermore, the fixing ring is arranged in the middle position of the top of a fixed base, and the fixed base is selected from a triangular seat, a diagonal seat, a quadrangular seat, a pentagonal seat or a hexagonal seat; the number of the flexible cables, the number of the servo motors and the number of the reducers are the same, and the number of the connecting holes is 2, 3, 4, 5 or 6.

[0013] 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, wherein the motion recognition module is used to recognize and process the motion signal of the simulated 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 motion trajectory of the simulated flight cockpit, and transmit the signal to the flight vision simulation module.

[0014] Furthermore, the motion recognition module includes a posture sensor installed on the simulated flight cockpit, and the posture sensor is used to identify posture changes of the simulated flight cockpit and generate an adjustment signal.

[0015] Furthermore, the simulated flight cockpit also includes a virtual reality helmet, a virtual reality input module, and a flight control handle; the virtual reality input module includes data gloves, a virtual reality input platform, a microprocessor, a communication module, and a DC regulated power supply, the microprocessor is electrically connected to the data gloves, the virtual reality input platform, the communication module, the DC regulated power supply, and the flight control handle respectively, and the microprocessor is connected to the main controller through the communication module.

[0016] Furthermore, the data glove includes five finger cuffs, which are respectively connected to the DC regulated power supply, and the virtual reality input platform includes virtual buttons, which are connected to the microprocessor. The finger cuffs contact the virtual buttons through the actions of the flight control handle to generate corresponding control signals that are transmitted to the microprocessor. The microprocessor generates simulated flight instructions according to the control signals and transmits them to the main controller. The main controller controls the movement of the simulated flight cabin according to the simulated flight instructions.

[0017] The data finger sleeve sends out corresponding control signals and transmits them to the microprocessor through the movement of the flight control handle and the contact of the virtual button;

[0018] The microprocessor generates simulated flight instructions based on the received control signals and transmits them to the main controller;

[0019] The main controller controls the movement of the simulated flight cabin according to the simulated flight instructions.

[0020] Furthermore, the virtual reality helmet includes a display for displaying flight simulation images and a camera for capturing real scenes inside the cockpit; the flight vision simulation module recognizes and processes the signals transmitted by the trajectory generation module, generates corresponding virtual images, and mixes in real scenes inside the cabin captured by the camera, and the mixed images are transmitted to the display for display.

[0021] Furthermore, the visual system also 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, 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, and 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.

[0022] Furthermore, the visual system shown also includes a mode selection module, which is electrically connected to the core settlement module and the signal acquisition module respectively. The switching of multiple modes facilitates the replacement of the core settlement module with a real or simulated external device.

[0023] The beneficial effects brought about by one aspect of the present invention are: in order to achieve large swings during simulated flight, the present invention adopts a flexible cable parallel robot structure, that is, flexible cables are used to replace rigid rods, thereby reducing the length constraints of the rigid rods; a lifting and rotating mechanism is added to enable rotation and climbing in simulated flight; on the basis of increasing functions and performance, the structure is simplified, the space occupied is reduced, and the cost is reduced.

[0024] One aspect of the present invention brings about the beneficial effects that: the present invention increases the multiple actions of simulated flight and the difficulty of "flying", improves the fidelity of simulated flight, improves the realism of simulated flight, and greatly reduces the cost at the same functional level. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 This is a schematic diagram of the flight simulator device of the present invention;

[0026] Figure 2 This is a schematic diagram of the relationship between the modules of the flight simulator of the present invention;

[0027] Figure 3 It is a schematic diagram of the association between the control device and the visual system framework in the flight simulator of the present invention;

[0028] Figure 4 This is a schematic diagram of the structure of a control device in an embodiment of a flight simulator of the present invention;

[0029] Figure 5 This is a schematic diagram of the structure of a simulated flight cockpit in an embodiment of a flight simulator of the present invention;

[0030] Figure 6 This is a schematic diagram of the distribution of the functional modules of the video system in the flight simulator embodiment of the present invention;

[0031] 100, casters, 101, slewing chassis, 102, connecting holes, 103, flexible ropes, 104, simulated flight cockpit, 105, rope drum, 106, fixing rings, 107, top rods, 108, tripods, 109, visual systems, 110, control devices, 111, main controllers, 112, VR glasses, 113, simulated flight control system software, 114, projectors and projection screens; 115, status monitoring modules, 116, motion recognition modules, 117, trajectory Generation module, 118. Flight vision simulation module, 119. Virtual reality helmet, 120. Virtual reality input module, 121. Display, 122. Camera, 123. Data gloves, 124. Communication module, 125. Microprocessor, 126. Virtual reality input platform, 127. DC regulated power supply, 128. Core settlement module, 129. Signal acquisition module, 130. System test bench signal acquisition device, 131. Input and output module, 132. Flexible cable parallel robot. DETAILED DESCRIPTION

[0032] 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.

[0033] Example 1

[0034] The purpose of this embodiment is to further illustrate the implementation methods and key points of the above technical solution, as follows:

[0035] Flight simulators, including Figure 1 and Figure 2 As shown, the cable-connected parallel robot 132 , the simulated flight cabin 104 , the vision system 109 and the control device 110 .

[0036] A revolving chassis 101 and a mandrel 107 are provided at the bottom of the simulated flight cabin 104, and the simulated flight cabin 104 is fixed on the revolving chassis 101, and a spherical surface is provided at the end of the mandrel 107 and connected to the revolving chassis 101;

[0037] A connection hole 102 is provided at the edge of the rotary chassis 101, and a flexible cable 103 is provided at the flexible parallel robot 132. The rotary chassis 101 is connected to the flexible cable of the flexible parallel robot 132 through the connection hole 102; a fixed collar 106 is provided below the rotary chassis 101, and a top rod 107 is sleeved in the fixed collar 106 and slides up and down in the fixed collar 106;

[0038] The visual system 109 includes VR glasses 112 for experiencing virtual visual impact, a projector, and a projection screen 114.

[0039] like Figure 3 As shown, the control device 110 includes a main controller 111 and a simulation flight control system software 113. The control device 110 controls the flight simulator by communicating with the visual system 109, the simulation flight cockpit 104 and the cable parallel robot 132.

[0040] The flexible cable parallel robot 132 is provided with a flexible cable 103, 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.

[0041] The reducer is provided with a rope drum 105 for adjusting the winding length of the flexible rope 103; a connecting hole 102 is provided on the edge of the rotary chassis 101, and the flexible rope 103 is connected to the rotary chassis 101 through the rope drum 105 on the reducer.

[0042] The fixing ring 106 is arranged at the top middle position of a triangular seat 108, and the triangular seat 108 can also be a two-point seat, a four-corner seat, a five-corner seat or a hexagonal seat; the number of the flexible cables 103, the number of the servo motors and the number of the reducers are the same, and the number of the connecting holes 102 is 2, 3, 4, 5 or 6.

[0043] The control device 110 is electrically connected to the flexible cable parallel robot 132, the simulated flight cockpit 104 and the visual system 109 module system respectively, and the simulated flight cockpit 104 is controlled to move along with the movement of the flexible cable parallel robot 132, so as to realize the flexible movement of the flight simulator and achieve the turning and climbing in the simulated flight.

[0044] Example 2

[0045] 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:

[0046] Flight simulators, including Figure 1 and Figure 2 As shown, the cable-connected parallel robot 132 , the simulated flight cabin 104 , the vision system 109 and the control device 110 .

[0047] A revolving chassis 101 and a mandrel 107 are provided at the bottom of the simulated flight cabin 104, and the simulated flight cabin 104 is fixed on the revolving chassis 101, and a spherical surface is provided at the end of the mandrel 107 and connected to the revolving chassis 101;

[0048] A connection hole 102 is provided at the edge of the rotary chassis 101, and a flexible cable 103 is provided at the flexible parallel robot 132. The rotary chassis 101 is connected to the flexible cable of the flexible parallel robot 132 through the connection hole 102; a fixed collar 106 is provided below the rotary chassis 101, and a top rod 107 is sleeved in the fixed collar 106 and slides up and down in the fixed collar 106;

[0049] The visual system 109 includes VR glasses 112 for experiencing virtual visual impact, a projector, and a projection screen 114.

[0050] like Figure 3 As shown, the control device 110 includes a main controller 111 and a simulation flight control system software 113. The control device 110 controls the flight simulator by communicating with the visual system 109, the simulation flight cockpit 104 and the cable parallel robot 132.

[0051] The flexible cable parallel robot 132 is provided with a flexible cable 103, 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.

[0052] The reducer is provided with a rope drum 105 for adjusting the winding length of the flexible rope 103; a connecting hole 102 is provided on the edge of the rotary chassis 101, and the flexible rope 103 is connected to the rotary chassis 101 through the rope drum 105 on the reducer.

[0053] The fixing ring 106 is arranged at the top middle position of a triangular seat 108, and the triangular seat 108 can also be a two-point seat, a four-corner seat, a five-corner seat or a hexagonal seat; the number of the flexible cables 103, the number of the servo motors and the number of the reducers are the same, and the number of the connecting holes 102 is 2, 3, 4, 5 or 6.

[0054] like Figure 4 As shown, the control device 110 further includes a state monitoring module 115, a motion identification module 116 connected to the state monitoring module 115, a trajectory generation module 117, and a flight visual simulation module 118. The motion identification module 116 is used to identify and process motion signals of the simulated flight cockpit 104, and transmit the signals to the trajectory generation module 117.

[0055] The trajectory generation module 117 is used to identify and process the signal transmitted by the motion identification module 116 , and generate a signal simulating the motion trajectory of the flight cockpit 104 , and transmit the signal to the flight vision simulation module 118 .

[0056] The motion recognition module 116 includes an attitude sensor installed on the simulated flight cockpit 104 , and the attitude sensor is used to recognize attitude changes of the simulated flight cockpit 104 and generate an adjustment signal.

[0057] The control device 110 is electrically connected to the flexible cable parallel robot 132, the simulated flight cockpit 104 and the visual system 109 module system respectively, and the simulated flight cockpit 104 is controlled to move along with the movement of the flexible cable parallel robot 132, so as to realize the flexible movement of the flight simulator and achieve the turning and climbing in the simulated flight.

[0058] Example 3

[0059] This embodiment is based on the second embodiment, and further extends the function of simulating the flight cockpit of the flight simulator of the present invention, and increases the full dynamic visual impact of the virtual effect. The specific process is as follows:

[0060] Flight simulators, including Figure 1 and Figure 2 As shown, the cable-connected parallel robot 132 , the simulated flight cabin 104 , the vision system 109 and the control device 110 .

[0061] A revolving chassis 101 and a mandrel 107 are provided at the bottom of the simulated flight cabin 104, and the simulated flight cabin 104 is fixed on the revolving chassis 101, and a spherical surface is provided at the end of the mandrel 107 and connected to the revolving chassis 101;

[0062] A connection hole 102 is provided at the edge of the rotary chassis 101, and a flexible cable 103 is provided at the flexible parallel robot 132. The rotary chassis 101 is connected to the flexible cable of the flexible parallel robot 132 through the connection hole 102; a fixed collar 106 is provided below the rotary chassis 101, and a top rod 107 is sleeved in the fixed collar 106 and slides up and down in the fixed collar 106;

[0063] The visual system 109 includes VR glasses 112 for experiencing virtual visual impact, a projector, and a projection screen 114.

[0064] like Figure 3 As shown, the control device 110 includes a main controller 111 and a simulation flight control system software 113. The control device 110 controls the flight simulator by communicating with the visual system 109, the simulation flight cockpit 104 and the cable parallel robot 132.

[0065] The flexible cable parallel robot 132 is provided with a flexible cable 103, 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.

[0066] The reducer is provided with a rope drum 105 for adjusting the winding length of the flexible rope 103; a connecting hole 102 is provided on the edge of the rotary chassis 101, and the flexible rope 103 is connected to the rotary chassis 101 through the rope drum 105 on the reducer.

[0067] The fixing ring 106 is arranged at the top middle position of a triangular seat 108, and the triangular seat 108 can also select a two-point seat, a four-corner seat, a pentagonal seat or a hexagonal seat; the number of the flexible cables 103, the number of the servo motors and the number of the reducers are the same, and the number of the connecting holes 102 is 2, 3, 4, 5 or 6. In this embodiment, a triangular seat 108, 4 flexible cables, 4 servo motors and reducers are selected, and 4 connecting holes are designed.

[0068] like Figure 4 As shown, the control device 110 further includes a state monitoring module 115, a motion identification module 116 connected to the state monitoring module 115, a trajectory generation module 117, and a flight visual simulation module 118. The motion identification module 116 is used to identify and process motion signals of the simulated flight cockpit 104, and transmit the signals to the trajectory generation module 117.

[0069] The trajectory generation module 117 is used to identify and process the signal transmitted by the motion identification module 116 , and generate a signal simulating the motion trajectory of the flight cockpit 104 , and transmit the signal to the flight vision simulation module 118 .

[0070] The motion recognition module 116 includes an attitude sensor installed on the simulated flight cockpit 104 , and the attitude sensor is used to recognize attitude changes of the simulated flight cockpit 104 and generate an adjustment signal.

[0071] Simulated flight cockpit 104 Figure 5 As shown, it includes a virtual reality helmet 119 and a virtual reality input module 120. The virtual reality input module 120 includes a data glove 123, a virtual reality input platform 126, a microprocessor 125, a communication module 124 and a DC stabilized power supply 127. The microprocessor 125 is electrically connected to the data glove 123, the virtual reality input platform 126, the communication module 124 and the DC stabilized power supply 127 respectively, and the microprocessor 125 is connected to the main controller 111 through the communication module 124.

[0072] Furthermore, the data glove 123 includes five finger sleeves, each of which is connected to a DC regulated power supply 127.

[0073] The virtual reality input platform 126 includes virtual keys, which are connected to the microprocessor 125

[0074] Electrically connected, the finger sleeves contact the virtual buttons through the movement of the flight control handle to generate corresponding control signals transmitted to the microprocessor 125, and the microprocessor 125 generates simulated flight instructions according to the control signals and transmits them to the main controller 111. The main controller 111 controls the movement of the simulated flight cockpit 104 according to the simulated flight instructions.

[0075] The virtual reality helmet 119 includes a display 121 for displaying flight simulation images and a camera 122 for capturing real scenes inside the cockpit. The flight vision simulation module 118 recognizes and processes the signals transmitted by the trajectory generation module 117, generates corresponding virtual images, and mixes in the real scenes inside the cabin captured by the camera 122. The mixed images are transmitted to the display 121 for display.

[0076] The control device 110 is electrically connected to the flexible cable parallel robot 132, the simulated flight cockpit 104 and the visual system 109 module system respectively, and the simulated flight cockpit 104 is controlled to move along with the movement of the flexible cable parallel robot 132, so as to realize the flexible movement of the flight simulator and achieve the turning and climbing in the simulated flight.

[0077] Example 4

[0078] This embodiment is based on Embodiment 1, Embodiment 2 and Embodiment 3, and further expands the functions of the visual system of the flight simulator. Based on the application of VR glasses, projector and projection screen, the data in the process is further calculated and extracted to ensure the accuracy and stability of the visual system of the flight simulator of the present invention and increase the functions of this novel flight simulator.

[0079] Flight simulators, including Figure 1 and Figure 2 As shown, the cable-connected parallel robot 132 , the simulated flight cabin 104 , the vision system 109 and the control device 110 .

[0080] A revolving chassis 101 and a push rod 107 are provided at the bottom of the simulated flight cabin 104 , and the simulated flight cabin 104 is fixed on the revolving chassis 101 . A spherical surface is provided at the end of the push rod 107 and connected to the revolving chassis 101 .

[0081] A connecting hole 102 is provided on the edge of the revolving chassis 101, and the flexible parallel robot 132 is provided with a flexible cable 103. The revolving chassis 101 is connected to the flexible cable of the flexible parallel robot 132 through the connecting hole 102; a fixed ring 106 is provided under the revolving chassis 101, and a top rod 107 is sleeved in the fixed ring 106 and slides up and down in the fixed ring 106.

[0082] The visual system 109 includes VR glasses 112, a projector, and a projection screen 114 for experiencing virtual visual impact. Figure 3 As shown, the control device 110 includes a main controller 111 and a simulation flight control system software 113. The control device 110 controls the flight simulator by communicating with the visual system 109, the simulation flight cockpit 104 and the cable parallel robot 132.

[0083] The flexible cable parallel robot 132 is provided with a flexible cable 103, 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 105 for adjusting the winding length of the flexible cable 103; a connecting hole 102 is provided on the edge of the rotary chassis 101, and the flexible cable 103 is connected to the rotary chassis 101 through the rope drum 105 on the reducer. A fixed collar 106 is provided at the top middle position of a triangular seat 108, and the triangular seat 108 can also be a two-point seat, a four-corner seat, a five-corner seat or a hexagonal seat; the number of the flexible cables 103, the number of the servo motors and the number of the reducers are the same, and the number of the connecting holes 102 is 2, 3, 4, 5 or 6.

[0084] like Figure 4 As shown, the control device 110 further includes a state monitoring module 115, a motion identification module 116 connected to the state monitoring module 115, a trajectory generation module 117, and a flight visual simulation module 118. The motion identification module 116 is used to identify and process motion signals of the simulated flight cockpit 104, and transmit the signals to the trajectory generation module 117.

[0085] The trajectory generation module 117 is used to identify and process the signal transmitted by the motion identification module 116 , and generate a signal simulating the motion trajectory of the flight cockpit 104 , and transmit the signal to the flight vision simulation module 118 .

[0086] The motion recognition module 116 includes an attitude sensor installed on the simulated flight cockpit 104 , and the attitude sensor is used to recognize attitude changes of the simulated flight cockpit 104 and generate an adjustment signal.

[0087] Simulated flight cockpit 104 Figure 5 As shown, it includes a virtual reality helmet 119 and a virtual reality input module 120. The virtual reality input module 120 includes a data glove 123, a virtual reality input platform 126, a microprocessor 125, a communication module 124 and a DC stabilized power supply 127. The microprocessor 125 is electrically connected to the data glove 123, the virtual reality input platform 126, the communication module 124 and the DC stabilized power supply 127 respectively, and the microprocessor 125 is connected to the main controller 111 through the communication module 124.

[0088] Furthermore, the data glove 123 includes five finger sleeves, each of which is connected to a DC regulated power supply 127.

[0089] The virtual reality input platform 126 includes virtual keys, which are connected to the microprocessor 125

[0090] The finger sleeves are connected by contacting the virtual buttons respectively to generate corresponding control signals which are transmitted to the microprocessor 125. The microprocessor 125 generates simulated flight instructions according to the control signals and transmits them to the main controller 111. The main controller 111 controls the movement of the simulated flight cockpit 104 according to the simulated flight instructions.

[0091] The virtual reality helmet 119 includes a display 121 for displaying flight simulation images and a camera 122 for capturing real scenes inside the cockpit. The flight vision simulation module 118 recognizes and processes the signals transmitted by the trajectory generation module 117, generates corresponding virtual images, and mixes in the real scenes inside the cabin captured by the camera 122. The mixed images are transmitted to the display 121 for display.

[0092] like Figure 6 As shown, the visual system 109 also includes a core settlement module 128 for settling simulation data.

[0093] And a signal acquisition module 129 for providing the signal of data from the external device to the core settlement module; the signal acquisition module 129 includes a system test bench signal acquisition device 130 for providing the data signal to the core settlement unit, and an input-output module 131 electrically connected to the core settlement module 128 for inputting control instructions to the core settlement module 128 and for outputting simulation data settled by the core settlement module 128, the input-output module 131 is provided with a touch screen display, and the touch screen display is associated with the input-output module 131 and communicates with each other.

[0094] The control device 110 is electrically connected to the flexible cable parallel robot 132, the simulated flight cockpit 104 and the visual system 109 module system respectively, and the simulated flight cockpit 104 is controlled to move along with the movement of the flexible cable parallel robot 132, so as to realize the flexible movement of the flight simulator and achieve the turning and climbing in the simulated flight.

[0095] Example 5

[0096] On the basis of Example 4, this example adds mode selection to the typing simulator of the present invention, and the experiencer can switch the corresponding mode according to their actual needs to increase the overall dynamic experience. The specific implementation process is as follows:

[0097] Flight simulators, including Figure 1 and Figure 2 As shown, the cable-connected parallel robot 132 , the simulated flight cabin 104 , the vision system 109 and the control device 110 .

[0098] A revolving chassis 101 and a mandrel 107 are provided at the bottom of the simulated flight cabin 104, and the simulated flight cabin 104 is fixed on the revolving chassis 101, and a spherical surface is provided at the end of the mandrel 107 and connected to the revolving chassis 101;

[0099] A connection hole 102 is provided at the edge of the rotary chassis 101, and a flexible cable 103 is provided at the flexible parallel robot 132. The rotary chassis 101 is connected to the flexible cable of the flexible parallel robot 132 through the connection hole 102; a fixed collar 106 is provided below the rotary chassis 101, and a top rod 107 is sleeved in the fixed collar 106 and slides up and down in the fixed collar 106;

[0100] The visual system 109 includes VR glasses 112 for experiencing virtual visual impact, a projector, and a projection screen 114.

[0101] like Figure 3 As shown, the control device 110 includes a main controller 111 and a simulation flight control system software 113. The control device 110 controls the flight simulator by communicating with the visual system 109, the simulation flight cockpit 104 and the cable parallel robot 132.

[0102] The flexible cable parallel robot 132 is provided with a flexible cable 103, 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.

[0103] The reducer is provided with a rope drum 105 for adjusting the winding length of the flexible rope 103; a connecting hole 102 is provided on the edge of the rotary chassis 101, and the flexible rope 103 is connected to the rotary chassis 101 through the rope drum 105 on the reducer.

[0104] The fixing ring 106 is arranged at the top middle position of a triangular seat 108, and the triangular seat 108 can also be a two-point seat, a four-corner seat, a five-corner seat or a hexagonal seat; the number of the flexible cables 103, the number of the servo motors and the number of the reducers are the same, and the number of the connecting holes 102 is 2, 3, 4, 5 or 6.

[0105] like Figure 4 As shown, the control device 110 further includes a state monitoring module 115, a motion identification module 116 connected to the state monitoring module 115, a trajectory generation module 117, and a flight visual simulation module 118. The motion identification module 116 is used to identify and process motion signals of the simulated flight cockpit 104, and transmit the signals to the trajectory generation module 117.

[0106] The trajectory generation module 117 is used to identify and process the signal transmitted by the motion identification module 116 , and generate a signal simulating the motion trajectory of the flight cockpit 104 , and transmit the signal to the flight vision simulation module 118 .

[0107] The motion recognition module 116 includes an attitude sensor installed on the simulated flight cockpit 104 , and the attitude sensor is used to recognize attitude changes of the simulated flight cockpit 104 and generate an adjustment signal.

[0108] Simulated flight cockpit 104 Figure 5 As shown, it includes a virtual reality helmet 119 and a virtual reality input module 120. The virtual reality input module 120 includes a data glove 123, a virtual reality input platform 126, a microprocessor 125, a communication module 124 and a DC stabilized power supply 127. The microprocessor 125 is electrically connected to the data glove 123, the virtual reality input platform 126, the communication module 124 and the DC stabilized power supply 127 respectively, and the microprocessor 125 is connected to the main controller 111 through the communication module 124.

[0109] Furthermore, the data glove 123 includes five finger sleeves, each of which is connected to a DC regulated power supply 127.

[0110] The virtual reality input platform 126 includes virtual keys, which are connected to the microprocessor 125

[0111] The finger sleeves are connected by contacting the virtual buttons respectively to generate corresponding control signals which are transmitted to the microprocessor 125. The microprocessor 125 generates simulated flight instructions according to the control signals and transmits them to the main controller 111. The main controller 111 controls the movement of the simulated flight cockpit 104 according to the simulated flight instructions.

[0112] The virtual reality helmet 119 includes a display 121 for displaying flight simulation images and a camera 122 for capturing real scenes inside the cockpit. The flight vision simulation module 118 recognizes and processes the signals transmitted by the trajectory generation module 117, generates corresponding virtual images, and mixes in the real scenes inside the cabin captured by the camera 122. The mixed images are transmitted to the display 121 for display.

[0113] like Figure 6 As shown, the visual system 109 also includes a core settlement module 128 for settling simulation data.

[0114] and a signal acquisition module 129 for providing the signal of the data of the external device to the core settlement module; the signal acquisition module 129 includes a system test bench signal acquisition device 130 for providing the data signal to the core settlement unit, and an input-output module 131 electrically connected to the core settlement module 128 for inputting control instructions to the core settlement module 128 and for outputting the simulation data settled by the core settlement module 128, the input-output module 131 is provided with a touch screen display, and the touch screen display is associated with the input-output module 131 and communicates with each other. The visual system also includes a mode selection module, which is electrically connected to the core settlement module and the signal acquisition module respectively, and the switching of multiple modes facilitates the replacement of the core settlement module with a real or simulated external device.

[0115] The control device 110 is electrically connected to the flexible cable parallel robot 132, the simulated flight cockpit 104 and the visual system 109 module system respectively, and the simulated flight cockpit 104 is controlled to move along with the movement of the flexible cable parallel robot 132, so as to realize the flexible movement of the flight simulator and enable the turning and climbing in the simulated flight.

Claims

1. A flight simulator, characterized in that include: Flexible cable parallel robot, simulated flight cockpit, visual system and control device; A revolving chassis and a push rod are provided at the bottom of the simulated flight cockpit, and the simulated flight cockpit is fixed on the revolving chassis. A spherical surface is provided at the end of the push rod, and the spherical surface is connected to the revolving chassis. The edge of the rotary chassis is provided with a connection hole, the flexible cable parallel robot is provided with a flexible cable, and the rotary chassis is connected to the flexible cable of the parallel robot through the connection hole; A fixing collar is provided below the rotary chassis, the push rod passes through the fixing collar, and the push rod slides up and down in the fixing collar; The visual system includes VR glasses, a projector and a projection screen for experiencing virtual visual impact; the control device includes a main controller and a simulation flight control system software, and the control device controls the flight simulator by communicating with the visual system, the simulation flight cockpit and the flexible cable parallel robot component; The flexible cable parallel robot is provided with a flexible cable, 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; a connecting hole is provided on the edge of the rotary chassis, and the flexible cable is connected to the rotary chassis through the rope drum on the reducer; 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, wherein the motion recognition module is used to recognize and process the motion signal of the simulated 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 motion trajectory of the simulated flight cockpit, and transmit the signal to the flight vision simulation module; The simulated flight cockpit also includes a virtual reality helmet, a virtual reality input module, and a flight control handle; the virtual reality input module includes a data glove, a virtual reality input platform, a microprocessor, a communication module, and a DC regulated power supply, the microprocessor is electrically connected to the data glove, the virtual reality input platform, the communication module, the DC regulated power supply, and the flight control handle, respectively, and the microprocessor is connected to the main controller through the communication module; The visual system also 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, 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 simulator according to claim 1, characterized in that: The fixing ring is arranged at the middle position of the top of the fixing base, and the fixing base is selected from a triangular seat, a diagonal seat, a quadrangular seat, a pentagonal seat or a hexagonal seat; the number of the flexible cables, the number of the servo motors and the number of the reducers are the same, and the number of the connecting holes is 2, 3, 4, 5 or 6.

3. The flight simulator according to claim 1, characterized in that: The motion recognition module includes a posture sensor installed on the simulated flight cockpit, and the posture sensor is used to recognize the posture change of the simulated flight cockpit and generate an adjustment signal.

4. The flight simulator according to claim 1, characterized in that: The data glove includes five finger sleeves, which are electrically connected to the DC regulated power supply respectively. The virtual reality input platform includes virtual buttons, which are connected to a microprocessor. The finger sleeves contact the virtual buttons through the flight control handle movements respectively to generate corresponding control signals which are transmitted to the microprocessor. The microprocessor generates simulated flight instructions according to the control signals and transmits them to the main controller. The main controller controls the movement of the simulated flight cabin according to the simulated flight instructions.

5. The flight simulator according to claim 1, characterized in that: The virtual reality helmet includes a display for displaying flight simulation images and a camera for capturing real scenes inside the cockpit; the flight vision simulation module identifies and processes the signals transmitted by the trajectory generation module, generates corresponding virtual images, and mixes in the real scenes inside the cabin captured by the camera, and the mixed images are transmitted to the display for display.

6. The flight simulator according to claim 1, characterized in that: The visual system shown also includes a mode selection module, which is electrically connected to the core settlement module and the signal acquisition module respectively, so as to facilitate replacement of the core settlement module with a real or simulated external device.

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