An automatic follow-up aerial refueling simulation device and method

Abstract

The application discloses an automatic following aerial refueling simulation device and method. The device comprises a simulation oil delivery end and a simulation oil receiving end arranged oppositely. The simulation oil delivery end comprises a six-degree-of-freedom platform I, which is provided with a simulation refueling gun module, an image acquisition module and a control module. The simulation oil receiving end comprises a six-degree-of-freedom platform II, which is provided with a simulation oil receiving nozzle, and the simulation oil receiving nozzle is provided with a calibration ring, and the calibration ring is provided with a positioning pattern. The control module controls the movement of the six-degree-of-freedom platform I based on the information of the positioning pattern acquired by the image acquisition module, and realizes the automatic following of the simulation refueling gun module to the simulation oil receiving nozzle. The application uses the simulation device to simulate the aerial refueling scene, and uses the image visual detection and tracking technology to realize the automatic following, thereby providing the simulation device and technical support for the complex aerial refueling scene, and being beneficial to the further improvement of the aerial refueling technology.

Description

Technical Field

[0001] This invention relates to the field of aerial refueling technology, specifically to an aerial refueling simulation device and method that achieves automatic tracking through the principle of image visual detection and tracking alignment. Background Technology

[0002] The role of aerial refueling tankers is to refuel receiver aircraft in mid-air. Aerial refueling increases the range of combat aircraft, enabling receiver aircraft to reach previously inaccessible airspace and perform previously impossible missions, while eliminating the need for mid-flight refueling. For specialized aircraft such as reconnaissance and anti-submarine aircraft, aerial refueling tankers can increase their loiter time, thereby reducing the number of sorties required and allowing for more efficient completion of combat missions.

[0003] Existing aerial refueling technologies fall into two categories: hose-and-drogue and boom-and-rig. Both require manual docking of the fuel line by aerial refueling personnel. Throughout the process, both the tanker and receiver aircraft must maintain stable flight, placing immense demands on the pilots' flying skills and mental fortitude. Even slight errors can lead to refueling failure or accidents. Automatic detection and tracking of the fuel nozzle's position would significantly improve the reliability of aerial refueling. Testing these technologies in a real-world aerial refueling environment is time-consuming and extremely costly; therefore, a simulation device is needed to test automatic tracking technology during aerial refueling. This simulation device could also be used for educational purposes. Summary of the Invention

[0004] To address the problems in the background art, this invention discloses an automatic following aerial refueling simulation device and method to simulate aerial refueling scenarios, and to detect and track the simulated fuel port through image visual detection and tracking technology.

[0005] The technical solution adopted in this invention is as follows:

[0006] A first aspect of the present invention provides an automatic following aerial refueling simulation device, comprising a simulated refueling delivery end and a simulated refueling receiving end arranged opposite to each other; the simulated refueling delivery end includes a six-degree-of-freedom platform one, on which a simulated refueling nozzle module and an image acquisition module are mounted; the simulated refueling delivery end further includes a control module, which is communicatively connected to the image acquisition module and the six-degree-of-freedom platform one; the simulated refueling receiving end includes a six-degree-of-freedom platform two fixed opposite to the six-degree-of-freedom platform one, on which a simulated refueling nozzle is mounted, and a calibration ring is mounted on the calibration ring, which is configured with a positioning pattern; the image acquisition module is used to acquire image information of the positioning pattern, and the control module is used to control the movement of the six-degree-of-freedom platform one based on the image information of the positioning pattern acquired by the image acquisition module, thereby realizing the automatic following of the simulated refueling nozzle by the simulated refueling nozzle module.

[0007] Furthermore, the six-degree-of-freedom platform one and the six-degree-of-freedom platform two respectively include a base platform and a motion platform; six hydraulic cylinders are provided between the two; one end of each hydraulic cylinder is hinged to the base platform via a Hooke hinge on the fixed platform, and the other end is hinged to the motion platform via a Hooke hinge on the motion platform.

[0008] Furthermore, the image acquisition module includes a camera bracket fixed to the motion platform of the simulated oil delivery end, and a visible light camera fixed to the camera bracket.

[0009] Furthermore, the control module is an embedded development board, fixed on the motion platform of the simulated oil delivery end. The control module is connected to the visible light camera via a network cable and to the six-degree-of-freedom platform via a serial data cable.

[0010] Furthermore, the simulated refueling gun module includes a gun base fixed to the simulated oil delivery end motion platform, a rotary drive motor mounted on the gun base, and a telescopic gun connected to the output shaft of the rotary drive motor via an intermediate connector; the rotary drive motor is used to drive the telescopic gun to rotate circumferentially.

[0011] Furthermore, the oil gun base is also equipped with two parallel oil gun hydraulic cylinders, and the piston rods of the two oil gun hydraulic cylinders are connected to a ring. The ring has a circumferential groove on its inner side. The intermediate connecting member includes a first connecting member and a second connecting member that are hinged to each other. The first connecting member is connected to the output of the rotary drive motor to the second connecting member. The second connecting member has an outwardly extending lever on the hinge shaft. The end of the lever has a ball head, which is adapted to and assembled in the groove inside the ring. The telescopic oil gun is fixed to the second connecting member. The oil gun hydraulic cylinder is used to control the axial displacement of the ring, and then drives the second connecting member to move around the hinge shaft through the lever, thereby controlling the telescopic oil gun to unfold or fold.

[0012] Furthermore, the positioning pattern consists of alternating black and white squares with varying spacing.

[0013] Furthermore, the device also includes a base, with the simulated oil delivery end and the simulated oil receiving end disposed at both ends of the base.

[0014] A second aspect of the present invention provides an automatic following aerial refueling simulation method, applied to the automatic following aerial refueling simulation device described in the first aspect above, the method comprising the following steps:

[0015] S1. Perform intrinsic parameter calibration and distortion correction on the image acquisition module, determine the coordinates of the corner points of the positioning pattern on the calibration ring in the world coordinate system, and initialize the point set;

[0016] S2. Control the pose of the six-degree-of-freedom platform two at the oil receiving end to change the pose of the calibration ring on it, simulating different poses of the oil receiving port.

[0017] S3. Acquire continuous frame images of the positioning pattern on the calibration ring through the image acquisition module, and send the continuous frame images to the control module;

[0018] S4. The control module calculates the three-axis rotation Euler angles and translation vectors of the six-degree-of-freedom platform one through an automatic following algorithm.

[0019] S5. Based on the calculated three-axis rotation Euler angles and translation vectors, control the pose of the six-degree-of-freedom platform one, so that the six-degree-of-freedom platform one follows the pose change of the six-degree-of-freedom platform two, so that the simulated refueling gun module is aligned with the simulated oil receiving nozzle.

[0020] Furthermore, the automatic following algorithm includes the following steps:

[0021] S41. Perform corner detection on the positioning pattern contour image of the calibration ring; calculate the centroid of each positioning pattern corner based on the corner contour, thereby obtaining the specific position of each positioning pattern corner in the image;

[0022] S42. After the calibration ring changes its pose, it becomes an ellipse. Based on the specific position of the corner point of the positioning pattern, Hough transform is performed to fit the ellipse, so that the centroid of the corner point of the preset number of positioning patterns falls on the same ellipse.

[0023] S43. Based on the number of centroids of the corner points of the positioning pattern falling on the same ellipse, select the corresponding number of coordinate points from the initial corner point coordinates of the positioning pattern and store each possibility into vector A.

[0024] S44. Using the corner points and centroids of the positioning pattern in the positioning pattern contour image as two-dimensional points and each item in vector A as a three-dimensional point, the perspective N-point algorithm is used to solve for rotation and translation vectors. The three-dimensional points of the corresponding items in vector A are reprojected onto the two-dimensional image, and the error is calculated between the three-dimensional points and the corner points and centroids of the positioning pattern in the positioning pattern contour image to obtain the reprojection error corresponding to each item in vector A. After traversing each item in vector A and solving for each item using the perspective N-point algorithm, the item with the smallest reprojection error in vector A is obtained, and the rotation vector m and translation vector T obtained from this item are taken as the optimal result.

[0025] S45. Perform Rodrigues transformation on the optimal rotation vector m to obtain the rotation matrix M. Calculate the three-axis rotation Euler angles based on the rotation matrix M, and use the three-axis rotation Euler angles and translation vector T as the calculation results.

[0026] The beneficial effects of this invention are:

[0027] (1) Using a simulated oil delivery end six-degree-of-freedom platform one to simulate a refueling aircraft and a simulated oil receiving end six-degree-of-freedom platform two to simulate an oil receiving aircraft is more in line with the real working scenario of aerial refueling.

[0028] (2) The simulated refueling gun module is used to simulate the refueling gun of the tanker aircraft, and the simulated receiving nozzle is used to simulate the receiving nozzle of the receiving aircraft, which is consistent with the actual working situation and restores the aerial refueling process to a higher extent; the calibration ring is used to simulate the receiving aircraft's oil port, which facilitates subsequent image processing operations and is simpler and more efficient.

[0029] (3) The present invention uses image vision detection and tracking technology to detect the simulated oil receiving nozzle in real time, which can obtain the position and pose of the simulated oil receiving nozzle in real time. Based on the obtained position and pose, the motion of the simulated oil delivery end six-degree-of-freedom platform is controlled to realize the automatic tracking of the simulated oil receiving nozzle by the simulated refueling gun without manual docking.

[0030] (5) While using automatic tracking technology, the simulated refueling gun module can be manually controlled to adjust the attitude of the telescopic refueling gun. The combination of automatic tracking and manual control can make up for the slight errors in image visual detection and tracking technology, making the results more accurate. Attached Figure Description

[0031] Figure 1 This is a perspective view of an embodiment of the present invention;

[0032] Figure 2 This is a perspective view of an embodiment of the present invention;

[0033] Figure 3 This is a front view of an embodiment of the present invention;

[0034] Figure 4 This is a top view of an embodiment of the present invention;

[0035] Figure 5 This is a perspective view of a simulated refueling nozzle in an embodiment of the present invention;

[0036] Figure 6 This is a perspective view of a simulated refueling nozzle in an embodiment of the present invention;

[0037] Figure 7 This is an exploded view of a simulated refueling nozzle in an embodiment of the present invention;

[0038] Figure 8 This is a flowchart illustrating the process of an embodiment of the present invention;

[0039] Explanation of reference numerals in the attached drawings: 1-Base; 2-Base platform; 3-Fixed platform Hooke's hinge; 5-Hydraulic cylinder; 7-Motion platform Hooke's hinge; 8-Motion platform; 9-Visible light camera; 10-Control module; 11-Camera bracket; 12-Calibration ring; 13-Simulated oil nozzle; 14-Simulated oil gun module; 141-Oil gun base; 142-Oil gun hydraulic cylinder; 143-Ring; 144-First connector; 145-Second connector; 146-Telescopic oil gun. Implementation

[0040] To further understand the present invention, preferred embodiments of the present invention are described below in conjunction with examples. However, it should be understood that these descriptions are only for further illustrating the features and advantages of the present invention, and not for limiting the scope of the claims of the present invention.

[0041] In a preferred embodiment of the present invention, an automatic following aerial refueling simulation device, such as... Figure 1 , 2 As shown in Figures 3 and 4, the base includes a U-shaped base in the front view. A horizontally mounted six-degree-of-freedom platform 1 is fixed to the inner vertical surface of one end of the base 1 with bolts. The six-degree-of-freedom platform 1 is equipped with a simulated refueling gun module 14, an image acquisition module, and a control module 10. A six-degree-of-freedom platform 2 is fixed to the inner vertical surface of the other end of the base 1 at a position corresponding to the six-degree-of-freedom platform 1. An oil receiving module is installed on the six-degree-of-freedom platform 2.

[0042] In this embodiment, the six-degree-of-freedom platform one includes a base platform 2 and a motion platform 8; six hydraulic cylinders 5 are provided between the two; the hydraulic cylinders 5 are hinged to the base platform 2 via a fixed platform Hooke hinge 3; the hydraulic cylinders 5 are hinged to the motion platform 8 via a motion platform Hooke hinge 7. The structure of the six-degree-of-freedom platform two is similar to that of the six-degree-of-freedom platform one.

[0043] Hydraulic cylinder 5 drives the motion platform 8 to move, thereby realizing the drive control of the six-degree-of-freedom motion platform. By controlling the motion state of the six hydraulic cylinders 5, the motion platform 8 can reach different positions and postures, simulating the different attitudes of the tanker and receiver aircraft, and is used to simulate actual aerial refueling operations.

[0044] In this embodiment, the image acquisition module includes a camera bracket 11 fixed on a motion platform 8 at the simulated oil delivery end, and a visible light camera 9 fixed on the camera bracket 11.

[0045] The control module 10 is fixed on the motion platform 8 at the simulated oil delivery end. The control module 10 is connected to the visible light camera 9 via a network cable and to the six-degree-of-freedom platform 1 via a serial data cable.

[0046] The control module 10 analyzes the images sampled by the visible light camera 9, calculates the pose of the simulated oil nozzle based on the acquired images, and sends the calculated pose information to the simulated oil delivery end base platform 2 via a serial data line, thereby controlling the pose of the six-degree-of-freedom platform 1 and enabling the simulated refueling nozzle module 14 to track the simulated receiving nozzle 13. Preferably, the control module 10 is an embedded development board.

[0047] This illustration shows an embodiment, such as Figure 5 , 6 As shown in Figures 7 and 8, the simulated refueling gun module (14) includes a gun base (141) fixed on the simulated oil delivery end motion platform (8), a rotary drive motor mounted on the gun base (141), and a telescopic gun connected to the output shaft of the rotary drive motor via an intermediate connector; the rotary drive motor is used to drive the telescopic gun (146) to rotate circumferentially.

[0048] The oil gun base 141 is also provided with two parallel oil gun hydraulic cylinders 142. The piston rods of the two oil gun hydraulic cylinders 142 are connected to a ring 143. The ring 143 has a circumferential groove on its inner side. The intermediate connecting member includes a first connecting member 144 and a second connecting member 145 that are hinged to each other. The output of the first connecting member 144 and the rotary drive motor is connected to the second connecting member 145. The second connecting member 145 has an outwardly extending lever on the hinge axis. The end of the lever has a ball head. The ball head is adapted to the groove in the ring 143 and is assembled in the groove. The telescopic oil gun 146 is fixed on the second connecting member 145. The oil gun hydraulic cylinder 142 is used to control the axial displacement of the ring 143, and then drives the second connecting member 145 to move around the hinge axis through the lever.

[0049] As described above, the telescopic oil gun 146 can rotate circumferentially under the drive of the oil gun motor, and can also move around the hinge axis of the intermediate connecting member under the drive of the oil gun hydraulic cylinder 142, so as to make fine adjustments to its position and posture. At the same time, the telescopic oil gun 146 can be further controlled to fold or unfold, and can also extend and retract in multiple stages. Thus, automatic tracking technology and manual control technology can be combined to compensate for the slight errors in automatic tracking.

[0050] The oil receiving module includes a simulated oil receiving nozzle 13 fixed to the simulated oil receiving end motion platform 8, and a calibration ring 12 fixed to the simulated oil receiving nozzle 13. Preferably, the positioning pattern on the calibration ring 12 consists of alternating black and white squares with unequal spacing.

[0051] Preferably, the present invention can complete a more complex full-process simulation by automatically controlling the six-degree-of-freedom platform two and the simulated refueling nozzle module 14. When the simulation starts, the six-degree-of-freedom platform two is automatically triggered to select its posture, and the positions of the simulated refueling nozzle 13 and the calibration ring 12 change accordingly. The control module 10 guides the six-degree-of-freedom platform one to determine the following posture, and further automatically controls the multi-dimensional movement of the telescopic refueling nozzle 146 to accurately extend into the simulated refueling nozzle.

[0052] like Figure 8 As shown, the simulation process includes the following steps:

[0053] Step 1) Perform intrinsic parameter calibration and distortion correction on the visible light camera 9, determine the coordinates of the eight black and white grid corner points on the calibration ring 12 in the world coordinate system, and initialize the point set.

[0054] Step 2) Control the hydraulic cylinder of the six-degree-of-freedom platform 2 to change the position of its motion platform 8. Since the calibration ring 12 is installed on the motion platform 8, the position of the calibration ring 12 changes, that is, it simulates the different positions of the oil receiving port.

[0055] Step 3) Acquire continuous frame images of the calibration loop using a visible light camera and send the continuous frame images to the control module 10.

[0056] Step 4) In the control module, corner detection is performed on calibration ring 12 to determine the outline of black and white grid corner points; the centroid of each black and white grid corner point is calculated based on the outline, thus obtaining the specific position of each black and white grid corner point in the image; Hough transform is performed on the specific positions of the black and white grid corner points to fit an ellipse, so that as many black and white grid corner point centroids as possible fall on the same ellipse, thereby eliminating falsely detected black and white grid corner point centroids (the calibration ring becomes elliptical after changing its pose), ensuring that there are no invalid points in the remaining black and white grid corner point centroids; based on the number of retained black and white grid corner point centroids, a corresponding number of coordinate points are selected from the eight black and white grid corner point coordinates in step 1), and each type The data may be stored in vector A. Using the corner points and centroids of the black and white grid in the image as 2D points, and each item in vector A as a 3D point, perform PNP (Perspective-n-Point) calculation to obtain rotation and translation vectors. Based on the rotation and translation vectors obtained from the PNP calculation, reproject the corresponding 3D points in A onto the 2D image. Calculate the error between this reprojection and the corner points and centroids of the black and white grid in the image to obtain the reprojection error for this PNP calculation. After performing PNP calculation on each item in vector A, obtain the result with the minimum PNP reprojection error. If the error of the optimal solution is greater than a specified value, return to step 3) to re-collect the data. Record the corresponding item in A, the rotation vector m, and the translation vector T for this calculation as the optimal result.

[0057] Step 5) Perform Rodrigues transformation on the optimal rotation vector m to obtain the rotation matrix M. Calculate the three-axis rotation Euler angles based on the rotation matrix M. The obtained three-axis rotation Euler angles and translation vectors are the pose of the calibration loop relative to the visible light camera 9, which is also the pose of the simulated oil nozzle relative to the refueling machine.

[0058] Step 6) The three-axis rotation Euler angles and translation vectors obtained in Step 5) are transmitted to the six-degree-of-freedom platform 1 through the data line to control the pose of its motion platform 8, so that the six-degree-of-freedom platform 1 can follow the pose change of the six-degree-of-freedom platform 2, thereby enabling the simulated refueling gun to be aligned with the simulated oil receiving nozzle 13.

[0059] If the number of black and white grid corner points and centroids in step 4) is less than 5, it will indicate that the number of visible target points is insufficient, and you will return to step 2), and you need to change the pose of the six-degree-of-freedom platform 2 again.

[0060] After the automatic following posture adjustment is completed, any remaining minor errors in automatic tracking can be addressed by manually controlling the simulated refueling nozzle 14. The attitude of the telescopic nozzle 146 can be adjusted via the drive motor and the nozzle hydraulic cylinder 142 to achieve precise alignment. This combines automatic tracking with manual control, compensating for minor errors in image-based visual detection and tracking technology, resulting in more accurate and reliable results. This also simulates the situation in real-world in-flight refueling scenarios where, when image tracking cannot achieve perfect alignment, the pilot makes manual adjustments based on the image.

[0061] The above description of the embodiments is only for the purpose of helping to understand the method and core ideas of the present invention. It should be noted that those skilled in the art can make several improvements and modifications to the present invention without departing from the principles of the present invention, and these improvements and modifications also fall within the protection scope of the claims of the present invention.

Claims

1. An automatic following aerial refueling simulation device, characterized in that: The system includes a simulated oil delivery end and a simulated oil receiving end set opposite to each other; the simulated oil delivery end includes a six-degree-of-freedom platform one, on which a simulated refueling nozzle module (14) and an image acquisition module are provided; the simulated oil delivery end also includes a control module (10), which is communicatively connected to the image acquisition module and the six-degree-of-freedom platform one; the simulated oil receiving end includes a six-degree-of-freedom platform two fixed opposite to the six-degree-of-freedom platform one, on which a simulated oil receiving nozzle (13) is provided, on which a calibration ring (12) is provided, and on which a positioning pattern is configured; the image acquisition module is used to acquire image information of the positioning pattern, and the control module (10) is used to control the movement of the six-degree-of-freedom platform one based on the image information of the positioning pattern acquired by the image acquisition module, so as to realize the automatic following of the simulated refueling nozzle module (14) to the simulated oil receiving nozzle (13), specifically including: The image acquisition module is calibrated with intrinsic parameters and distortion correction is performed to determine the coordinates of the corner points of the positioning pattern on the calibration ring (12) in the world coordinate system and the point set is initialized. The pose of the simulated oil receiving end six-degree-of-freedom platform two is controlled to change the pose of the calibration ring (12) on it, simulating different poses of the oil receiving nozzle. The continuous frame images of the positioning pattern on the calibration ring (12) are obtained through the image acquisition module and sent to the control module (10). The control module (10) calculates the three-axis rotation Euler angle and translation vector of the six-degree-of-freedom platform one through the automatic following algorithm. Based on the calculated three-axis rotation Euler angle and translation vector, the pose of the six-degree-of-freedom platform one is controlled so that the six-degree-of-freedom platform one follows the six-degree-of-freedom platform two to change its pose, so that the simulated refueling gun module (14) is aligned with the simulated oil receiving nozzle (13). The automatic following is implemented based on the following algorithm: corner point detection is performed on the positioning pattern contour image of the calibration ring (12); the centroid of each positioning pattern corner point is calculated according to the corner point contour, so as to obtain the specific position of each positioning pattern corner point in the image; after the calibration ring (12) changes its pose, it presents an elliptical shape, and the Hough transform is performed to fit the ellipse according to the specific position of the positioning pattern corner point, so that more than a preset number of positioning pattern corner point centroids fall on the same ellipse; according to the number of positioning pattern corner point centroids falling on the same ellipse, a corresponding number of coordinate points are selected from the initial positioning pattern corner point coordinates, and each possibility is stored in vector A; the positioning pattern corner point centroids in the positioning pattern contour image are used as For each two-dimensional point in vector A, and each item in vector A as a three-dimensional point, the perspective N-point algorithm is used to solve for the rotation vector and translation vector. The three-dimensional point of the corresponding item in vector A is reprojected onto the two-dimensional image, and the error is calculated between the three-dimensional point and the centroid of the positioning pattern corner point in the positioning pattern contour image to obtain the reprojection error corresponding to this item in vector A. After traversing each item in vector A and solving for each item in vector A using the perspective N-point algorithm, the item with the smallest reprojection error is obtained. The rotation vector m and translation vector T obtained from this item are taken as the optimal result. The optimal rotation vector m is subjected to Rodrigues transformation to obtain the rotation matrix M. The three-axis rotation Euler angles are calculated based on the rotation matrix M, and the three-axis rotation Euler angles and translation vector T are taken as the calculation result.

2. The automatic following aerial refueling simulation device according to claim 1, characterized in that: The six-degree-of-freedom platform one and six-degree-of-freedom platform two respectively include a base platform (2) and a motion platform (8); six hydraulic cylinders (5) are provided between the two; one end of the hydraulic cylinder (5) is hinged to the base platform (2) through the fixed platform Hooke hinge (3), and the other end is hinged to the motion platform (8) through the motion platform Hooke hinge (7).

3. The automatic following aerial refueling simulation device according to claim 2, characterized in that: The image acquisition module includes a camera bracket (11) fixed on the motion platform (8) of the simulated oil delivery end, and a visible light camera (9) fixed on the camera bracket (11).

4. The automatic following aerial refueling simulation device according to claim 3, characterized in that: The control module (10) is an embedded development board, which is fixed on the motion platform (8) of the simulated oil delivery end. The control module (10) is connected to the visible light camera (9) via a network cable and to the six-degree-of-freedom platform via a serial port data cable.

5. An automatic following aerial refueling simulation device according to claim 2, characterized in that: The simulated refueling gun module (14) includes a gun base (141) fixed on the simulated oil delivery end motion platform (8), a rotary drive motor mounted on the gun base (141), and a telescopic gun connected to the output shaft of the rotary drive motor via an intermediate connector; the rotary drive motor is used to drive the telescopic gun (146) to rotate circumferentially.

6. The automatic following aerial refueling simulation device according to claim 5, characterized in that: The oil gun base (141) is also provided with two parallel oil gun hydraulic cylinders (142). The piston rods of the two oil gun hydraulic cylinders (142) are connected to a ring (143). The ring (143) has a circumferential groove on its inner side. The intermediate connecting member includes a first connecting member (144) and a second connecting member (145) that are hinged to each other. The first connecting member (144) is connected to the output shaft of the rotary drive motor and the second connecting member (145). The second connecting member (145) has an outwardly extending lever on the hinge shaft. The end of the lever has a ball head. The ball head is adapted to the groove in the ring (143) and is assembled in the groove. The telescopic oil gun (146) is fixed on the second connecting member (145). The oil gun hydraulic cylinder (142) is used to control the ring (143) to make axial displacement, and then drive the second connecting member (145) to move around the hinge shaft through the lever.

7. The automatic following aerial refueling simulation device according to claim 1, characterized in that: The positioning pattern consists of alternating black and white squares with varying spacing.

8. The automatic following aerial refueling simulation device according to claim 1, characterized in that: It also includes a base (1), and the simulated oil delivery end and the simulated oil receiving end are located at both ends of the base (1).

Images