A driving simulator dynamic seat and control method

Abstract

The application provides a driving simulator dynamic seat and a control method, the seat can be installed on most existing driving simulators, the controller interface is simple, and the seat can provide a driving feeling with dynamics when a trainee practices. The driving simulator dynamic seat comprises a driving seat and a control system. The driving seat comprises a platform, a base and a chair. The chair is fixed on the base, the base is fixed on the platform, and the platform can be fixed on any driving simulator. A speed reducer motor is arranged on the platform and can drive the base to tilt left and right, and a speed reducer motor is also arranged on the base and can drive the chair to tilt forward and backward, so that the chair can tilt left and right and forward and backward during simulation driving. The control system can read the motion parameters of the driving simulator in real time, calculate the angle and speed at which the chair should tilt according to the motion parameters, control the rotation of each speed reducer motor to realize the dynamic effect of the seat, and enable the driver of the simulator to have a driving feeling of forward and backward tilting and left and right tilting.

Description

Technical Field

[0001] This invention belongs to the field of automotive driving simulation technology, specifically relating to a driving simulator dynamics seat and control method. Background Technology

[0002] Currently, with economic development and improved living standards, cars have become commonplace in households, making driving skills a necessity for every adult. However, with increasing demands for driving training facilities and rising fuel prices, driver training costs are rising, leading to the adoption of driving simulators in many driving schools. A driving simulator is a teaching device that uses virtual reality simulation technology to create a virtual driving training environment. Users interact with this virtual environment through the simulator's control components, thus practicing driving in a broader sense. Car driving simulators almost completely replicate the real driving environment, eliminating the fear of novice drivers, regulating driver operations, and providing significant support for driving school training.

[0003] However, apart from the extremely expensive and difficult-to-widespread six-degrees-of-freedom simulator, current driving simulators can only provide simulated audiovisual effects and cannot give students a realistic driving experience in terms of dynamics, such as the push-back feeling when accelerating, the forward tilt feeling when braking, and the left and right tilt feeling when turning the steering wheel. Based on these reasons, a dynamic seat compatible with most existing driving simulators has been designed. This seat, through good control, can provide students with a realistic dynamic experience during driving, and is relatively inexpensive, making it easy to promote and use. Summary of the Invention

[0004] In order to be compatible with most existing driving simulators, this invention provides a driving simulator dynamics seat and control method. The seat can be installed on most existing driving simulators, and the controller interface is simple, providing a dynamic driving experience for trainees during practice.

[0005] To achieve the above functions, the implementation scheme adopted by the present invention is as follows:

[0006] A driving simulator kinetic seat includes a driving seat and a control system. The driving seat includes a platform, a base, and a chair. The chair is fixed to the base, and the base is fixed to the platform. The platform can be fixed to most driving simulators.

[0007] A slide rail with fixing holes is installed beneath the platform base plate, allowing it to be fixed to the driving simulator with screws. The fore-and-aft position of the entire seat can be adjusted manually by adjusting the slide rail. The platform geared motor is connected to the platform crankshaft assembly to drive its rotation. The shafts at both ends of the platform crankshaft assembly are respectively fitted into platform rings, each platform ring fixed to the platform base plate at a certain height. The platform crankshaft assembly has two grooves, each with a platform connecting rod installed. The upper end of the platform connecting rod is fixed to a protruding ring on the base plate. The rotation of the platform crankshaft drives the platform connecting rod to move up and down, thereby controlling the up and down movement of one end of the base. The platform pivot is fixed to the platform base plate, generally at a certain distance above it. A base sleeve is fitted into the pivot to fix the base and allows the base to rotate a certain angle along the pivot, thus achieving left and right tilting of the seat. The platform geared motor is connected to the control system.

[0008] The base includes a base plate, a base geared motor, a base crankshaft assembly, a base rotating shaft, a base angle sensor, and a base sleeve. The base plate includes two base plate protruding rings and a base plate circular ring. The base plate protruding rings are connected to platform connecting rods. The base plate circular ring is fitted onto the platform rotating shaft. The base geared motor is connected to the base crankshaft assembly and drives it to rotate. The shafts at both ends of the base crankshaft assembly are respectively fitted into a base circular ring, and each base circular ring is fixed to the base plate at a certain height. The base crankshaft assembly has two grooves, each with a base connecting rod installed. The upper end of the base connecting rod is fixed to a chair protruding ring, and the rotation of the base crankshaft drives the base connecting rod to move up and down, thereby controlling the up and down movement of one end of the chair. The base rotating shaft is fixed to the base plate, generally at a certain distance above the base plate. The chair sleeve is fitted into the rotating shaft to fix the chair and allow the chair to rotate a certain angle along the rotating shaft, thus achieving the forward and backward tilting of the chair. The base geared motor is connected to the control system. The base angle sensor is installed above the base plate and is used to detect the left and right tilt angle of the base. It is connected to the control system.

[0009] The chair includes a chair body, a chair back, a chair ring, a chair sleeve, leg belts, a chest belt, a chair angle sensor, a leg belt locking device, a leg belt tension sensor, a chest belt locking device, and a chest belt tension sensor. The chair ring is fixed to the lower rear of the chair body and connected to a base connecting rod. The chair sleeve is fixed to the lower front of the chair body and fits onto the base pivot. The leg belt functions similarly to a driver's seatbelt, used to detect whether the student is wearing the seatbelt while driving; the signal terminal of the leg belt buckle is connected to the control system. The chest belt secures the driver to the chair, preventing swaying when the chair tilts forward, backward, or sideways; the signal terminal of the chest belt buckle is also connected to the control system.

[0010] The leg belt locking device includes a leg belt locking motor and a leg belt pulley, both fixed to the side of the chair. The leg belt locking motor drives the leg belt pulley to rotate and is connected to a corresponding motor driver in the control system. The leg belt is wound around the leg belt pulley. The leg belt tension sensor is fixed to the other side of the chair, with one end connected to the leg belt buckle. It detects the locking force of the leg belt and provides feedback to the control system to ensure optimal locking force; its signal terminal is connected to the control system.

[0011] The chest seatbelt locking device includes a chest seatbelt locking motor and a chest seatbelt pulley, which are fixed to the side of the chair back. The chest seatbelt locking motor drives the chest seatbelt pulley to rotate and is connected to a corresponding motor driver in the control system. The chest seatbelt is wound around the chest seatbelt pulley. The chest seatbelt tension sensor is fixed to the other side of the chair back, with one end connected to the chair back seatbelt buckle. It is used to detect the locking force of the chest seatbelt and provide feedback signals to the control system to ensure optimal locking force. Its signal terminal is connected to the control system.

[0012] The chair angle sensor is installed under the chair to detect the angle of the chair's forward and backward tilt, and it is connected to the control system.

[0013] The control system includes a platform geared motor driver, a base geared motor driver, a leg seatbelt locking motor driver, a chest seatbelt locking motor driver, a microcontroller, a power supply system, a base angle sensor interface, a chair angle sensor interface, and a communication interface. The platform geared motor driver controls the platform geared motor, enabling its forward, reverse, and stop rotation; its control terminal is connected to the microcontroller. Similarly, the base geared motor driver controls the base geared motor, enabling its forward, reverse, and stop rotation; its control terminal is connected to the microcontroller. The leg seatbelt locking motor driver controls the leg seatbelt locking motor, enabling its forward, reverse, and stop rotation; and the chest seatbelt locking motor driver controls the chest seatbelt locking motor, enabling its forward, reverse, and stop rotation; its control terminal is connected to the microcontroller. The microcontroller, as the core of the control system, deploys embedded software to control the motors, read angles, and communicate with the simulator. The power supply system provides power to all components of the control system. The communication interface enables communication with the driving simulator, receiving various necessary signals from the simulator, such as brake, accelerator, steering wheel angle, and vehicle speed.

[0014] The methods for implementing various dynamic sensing are briefly described below:

[0015] When the control system receives a vehicle acceleration signal from the driving simulator via the communication interface, it controls the base reduction motor to rotate, thereby driving the base crankshaft to rotate and lowering the rear of the seat, thus giving the driver a feeling of being pushed back.

[0016] When the control system receives a signal of vehicle deceleration from the driving simulator through the communication interface, it controls the base reduction motor to rotate, thereby driving the base crankshaft to rotate and raising the rear end of the chair, thus giving the driver a feeling of leaning forward when braking.

[0017] When the control system receives a left or right steering signal from the simulator via the communication interface, it controls the platform base reduction motor to rotate, thereby driving the platform crankshaft to rotate and raising or lowering one side of the base, thus giving the driver a feeling of tilting to the left or right.

[0018] Beneficial effects: The driving simulator dynamic seat provided by this invention has the following advantages compared with existing technologies:

[0019] 1. This dynamic seat provides students with a realistic driving experience during training, including the push-back feeling when pressing the accelerator, the forward tilt feeling when braking, and the lateral tilt feeling when turning the steering wheel left and right. This greatly shortens the transition time for students from simulator to real car driving.

[0020] 2. This dynamic seat can be installed on most existing driving simulators, with strong compatibility. It only requires data transmission according to the communication protocol.

[0021] 3. The invention has a low implementation cost and is easy to promote and use on a large scale. Attached Figure Description

[0022] To more clearly illustrate the embodiments of this specification and existing technical solutions, the accompanying drawings used in this embodiment will be briefly introduced below. The following drawings are used to explain the present invention, but do not constitute an improper limitation on the present invention.

[0023] Figure 1 This is a schematic diagram of the overall structure of the present invention.

[0024] Figure 2 This is a structural diagram of the control system of the present invention.

[0025] Figure 3 This is a flowchart of the dynamic simulation method in this invention.

[0026] Figure 4 This is a flowchart of the dynamic parameter calculation method in this invention.

[0027] The above figures include the following reference numerals:

[0028] 1. Platform base plate; 2. Platform geared motor; 3. Platform connecting rod; 4. Slide rail; 5. Platform ring; 6. Platform crankshaft assembly; 7. Platform ring; 8. Platform connecting rod; 9. Slide rail; 10. Platform shaft; 11. Platform shaft; 12. Base plate; 13. Base plate protruding ring; 14. Base shaft; 15. Base plate protruding ring; 16. Base geared motor; 17. Base ring; 18. Base crankshaft assembly; 19. Base connecting rod; 20. Base ring; 21. Base sleeve; 22. Base connecting rod; 23. Base shaft; 24. Base 25. Base angle sensor; 26. Chair angle sensor; 27. Chair sleeve; 28. Chair protruding ring; 29. ​​Chair protruding ring; 30. Chest seat belt locking motor; 31. Chest seat belt pulley; 32. Chest seat belt; 33. Chest seat belt buckle; 34. Leg seat belt pulley; 35. Leg seat belt; 36. Leg seat belt locking motor; 37. Leg seat belt buckle; 38. Leg seat belt tension sensor; 39. Chest seat belt tension sensor; 40. Chair sleeve; 41. Chair body; 42. Chair backrest. Detailed Implementation

[0029] To enable those skilled in the art to better understand the technical solutions of the present invention, the embodiments of the present invention will be described in more detail below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of the present invention, and not all of them. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0030] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "fixed," "set," etc., should be interpreted broadly. For example, "fixed" can mean fixed by welding, fixed by bearings, or fixed by screws. "Set" can mean installed, fixed, or other mechanical connections. Those skilled in the art will readily understand the specific meanings of the above terms in this invention.

[0031] Figure 1 This is a schematic diagram of a driving simulator's dynamic seat layering. The platform base plate 1 is used to support the entire seat. The slide rails 4 and 9 located under the platform base plate 1 have screw holes, which facilitates fixing the seat to the corresponding driving simulator with screws. In this way, the entire seat can be adjusted by sliding back and forth along the slide rails.

[0032] A platform crankshaft 6, a platform ring 5, and a platform ring 7 are provided on one side of the platform base plate 1. The platform crankshaft can rotate within the platform rings. The platform rings 5 ​​and 7 are at a certain height from the platform base plate 1, preferably 11-12 cm. A platform geared motor 2 is connected to the platform crankshaft 6 and drives it to rotate. A preferred embodiment of the platform geared motor 2 is a geared stepper motor with a brake, which facilitates control of the rotation angle and position. The leads of the platform geared motor 2 are connected to the platform geared motor driver 45. The platform crankshaft 6 has two grooves, which connect to the platform connecting rod 3 and the platform connecting rod 8, respectively. The other end of the platform connecting rod 3 is connected to the base plate protrusion ring 15. The other end of the platform connecting rod 8 is connected to the base plate protrusion ring 13.

[0033] On the platform base plate 1, on the other side corresponding to the platform crankshaft 6, platform pivots 10 and 11 are provided. The platform pivots are generally higher than the platform base plate, with a preferred height of 11-12 cm. Platform pivot 10 is connected to base sleeve 21. Platform pivot 11 is connected to base sleeve 24.

[0034] In this structure, the rotation of the platform reduction motor 2 will drive the platform crankshaft 6 to rotate, thereby driving the platform connecting rod 3 and platform connecting rod 8 to move up and down, thereby driving one side of the base plate 12 to move up and down, causing the chair body 41 set on the base plate 12 to tilt left and right.

[0035] A base crankshaft 18, a base ring 17, and a base ring 20 are disposed on the rear side of the base plate 12. The base crankshaft can rotate within the base rings. The base rings 17 and 20 are at a certain height from the base plate 12, preferably 11-12 cm. A base geared motor 16 is connected to the base crankshaft 18 and drives the base crankshaft 18 to rotate. A preferred embodiment of the base geared motor 16 is a geared stepper motor with brake, which facilitates control of the rotation angle and position. The leads of the base geared motor 16 are connected to the base geared motor driver 46. The base crankshaft 18 has two grooves, which are respectively connected to the base connecting rod 19 and the base connecting rod 22. The other end of the base connecting rod 19 is connected to the chair protrusion ring 28. The other end of the base connecting rod 22 is connected to the chair protrusion ring 29.

[0036] A base pivot 14 and a base pivot 23 are provided on the front side of the base plate 12. The base pivots are generally higher than the base plate, preferably 11-12cm higher. The base pivot 14 is connected to the chair sleeve 27. The base pivot 23 is connected to the chair sleeve 40.

[0037] In the above structure, the rotation of the base reduction motor 16 will drive the base crankshaft 18 to rotate, thereby driving the base connecting rod 19 and the base connecting rod 22 to move up and down, thereby driving the rear side of the chair body 41 to move up and down, causing the chair body 41 to tilt back and forth.

[0038] The base angle sensor 25 is mounted above the base plate 12 and is used to detect the left and right tilt angle of the base. The lead wire of the base angle sensor 25 is connected to the base angle sensor interface 50. The base angle sensor 25 can use an MPU6050 type angle sensor.

[0039] A base sleeve 21 and a base sleeve 24 are provided on one side of the base plate 12. The base sleeve 21 is connected to the platform shaft 10, and the base sleeve 24 is connected to the platform shaft 11.

[0040] A chair sleeve 27 and a chair sleeve 40 are provided on the lower front of the chair body 41. The chair sleeve 27 is connected to the base pivot 14, and the chair sleeve 40 is connected to the base pivot 23.

[0041] A chair angle sensor 26 is installed on the underside of the chair body 41 to detect the angle of the chair's forward and backward tilt. The lead wire of the chair angle sensor 26 is connected to the chair angle sensor interface 51. The chair angle sensor 26 can use an MPU6050 type angle sensor.

[0042] A leg belt pulley 34 is located on the right rear side of the chair body 41, and the leg belt 35 is wrapped around the leg belt pulley 34. A leg belt locking motor 36 is connected to the leg belt pulley 34 and can drive the pulley to rotate, thereby generating a locking force on the seat belt. A preferred embodiment of the leg belt locking motor 36 is a DC motor with a self-locking function.

[0043] A leg belt tension sensor 38 is located on the left rear side of the chair body 41. One end of the sensor is connected to the side of the chair body 41, and the other end is connected to the leg belt buckle 37. When the leg belt 35 is inserted into the leg belt buckle 37, the leg belt tension sensor 38 can measure the corresponding tension, facilitating adjustment of the tension by the seat belt locking motor 36. The leg belt tension sensor 38 can be a GJBLY type tension / compression integrated sensor. The lead wire of the leg belt tension sensor 38 is connected to the leg belt tension sensor interface 55. The signal wire of the leg belt buckle 37 is connected to the leg belt buckle signal interface 53.

[0044] The lower rear side of the chair body 41 is provided with a chair protrusion ring 28 and a chair protrusion ring 29, wherein the chair protrusion ring 28 is connected to the base connecting rod 19, and the chair protrusion ring 29 is connected to the base connecting rod 22.

[0045] A chest belt pulley 31 is located on the upper right side of the chair back 42, and the chest belt 32 is wrapped around the chest belt pulley 31. A chest belt locking motor 30 is connected to the chest belt pulley 31 and can drive the pulley to rotate, thereby generating a locking force on the chest belt 32. A preferred embodiment of the chest belt locking motor 30 is a DC motor with a self-locking function.

[0046] A chest seatbelt tension sensor 39 is installed on the upper left side of the chair back 42. One end of the sensor is connected to the side of the chair back 42, and the other end is connected to the chest seatbelt buckle 33. When the chest seatbelt 32 is inserted into the chest seatbelt buckle 33, the chest seatbelt tension sensor 39 can measure the corresponding tension, allowing the chest seatbelt locking motor 30 to adjust the tension. The chest seatbelt tension sensor 39 can be a GJBLY type tension / compression integrated sensor. The lead wire of the chest seatbelt tension sensor 39 is connected to the chest seatbelt tension sensor interface 54. The signal wire of the chest seatbelt buckle 33 is connected to the chest seatbelt buckle signal interface 52.

[0047] Figure 2This is a structural diagram of the control system for a driving simulator's dynamic seat. The microcontroller 49, as the core of the control system, deploys embedded software to perform various motor controls, angle readings, force readings, seatbelt insertion detections, etc., and communicates with the driving simulator in real time. The microcontroller 49 can be an STM32F103VCT6.

[0048] The motor drive terminal of the leg belt locking motor driver 43 is connected to the leg belt locking motor 36, and the control terminal of the leg belt locking motor driver 43 is connected to the microcontroller 49 so that the microcontroller 49 can easily control the locking of the leg belt 35. The model of the leg belt locking motor driver 43 can be an AQMD6008NS-TBE type DC motor driver.

[0049] The motor drive end of the chest seat belt locking motor driver 44 is connected to the chest seat belt locking motor 30, and the control end of the chest seat belt locking motor driver 44 is connected to the microcontroller 49 so that the microcontroller 49 can easily control the locking and unlocking of the chest seat belt 32. The model of the chest seat belt locking motor driver 44 can be selected as the AQMD6008NS-TBE DC motor driver.

[0050] The platform geared motor driver 45 has its motor drive end connected to the platform geared motor 2, and its control end connected to the microcontroller 49, allowing the microcontroller 49 to easily control the rotation and stopping of the platform geared motor 2. The platform geared motor driver 45 can be a DM860H model.

[0051] The motor drive end of the base geared motor driver 46 is connected to the base geared motor 16, and the control end of the base geared motor driver 46 is connected to the microcontroller 49 so that the microcontroller 49 can easily control the rotation and stopping of the base geared motor 16. The model of the base geared motor driver 46 can be a DM860H driver.

[0052] The power supply system 47 is used to supply power to the various components of the control system, such as providing a 3.3V or 5V operating voltage to the microcontroller 49, and providing the platform geared motor driver 45 with the rated voltage required by the platform geared motor 2, etc.

[0053] The communication interface 48 is externally connected to the simulator's communication port, and internally connected to the microcontroller 49. This allows the microcontroller 49 to receive various necessary signals from the driving simulator in real time, such as brake, accelerator, steering wheel angle, and vehicle speed. The communication interface 48 preferably uses RS485 communication.

[0054] The base angle sensor interface 50 is externally connected to the base angle sensor 25, and internally connected to the microcontroller 49 so that the microcontroller 49 can read the left and right tilt angles of the base in real time.

[0055] The chair angle sensor interface 51 is externally connected to the chair angle sensor 26, and internally connected to the microcontroller 49 so that the microcontroller 49 can read the forward and backward tilt angle of the chair in real time.

[0056] The chest seatbelt buckle signal interface 52 is externally connected to the lead wire of the chest seatbelt buckle 33, and internally connected to the microcontroller 49 so that the microcontroller 49 can detect in real time whether the chest seatbelt 32 is fastened. The chest seatbelt buckle signal interface 52 should preferably use opto-isolation.

[0057] The leg belt buckle signal interface 53 is externally connected to the lead wire of the leg belt buckle 37, and internally connected to the microcontroller 49 so that the microcontroller 49 can detect in real time whether the leg belt 35 is fastened. The leg belt buckle signal interface 53 should preferably be opto-isolated.

[0058] The chest seat belt tension sensor interface 54 is externally connected to the lead wire of the chest seat belt tension sensor 39, and internally connected to the microcontroller 49 so that the microcontroller 49 can calculate the tension of the chest seat belt 32 in real time.

[0059] The leg belt tension sensor interface 55 is externally connected to the lead wire of the leg belt tension sensor 38, and internally connected to the microcontroller 49 so that the microcontroller 49 can calculate the tension of the leg belt 35 in real time.

[0060] Figure 3 This is a flowchart of control methods 100 for obtaining various dynamic sensations. The software embedded in the microcontroller 49 must include the algorithm described in this flowchart. For example... Figure 3 As shown, the control method 100 for various dynamic sensing includes the following steps.

[0061] In step S110, the microcontroller 49 detects the signal status of the leg seat belt buckle 37 and determines whether the leg seat belt 35 is fastened. If it is fastened, it controls the leg locking motor 36 to rotate and lock the leg seat belt 35, and continuously reads the tension value of the leg seat belt tension sensor 38. When the tension value reaches the preset value, the leg locking motor 36 is stopped.

[0062] In step S120, the microcontroller 49 detects the signal status of the chest seat belt buckle 33 and determines whether the chest seat belt 32 is fastened. If it is fastened, it controls the chest locking motor 30 to rotate and lock the chest seat belt 32, and continuously reads the tension value of the chest seat belt tension sensor 39. When the tension value reaches the preset value, the chest locking motor 30 is stopped.

[0063] In step S130, the tilt angle and speed of the seat are calculated based on the current state of the simulator. Figure 4 A flowchart of step S130 is provided, which may include the following steps: In step S131, the microcontroller 49 reads various real-time parameters from the driving simulator through the communication interface 48. The main parameters are throttle, brake, steering wheel angle, and vehicle speed, and calculates the vehicle's acceleration based on the change in vehicle speed. In step S132, when the steering wheel angle is 0, if the throttle signal increases and the vehicle speed increases, the seat tilt angle and speed are calculated based on the vehicle's acceleration. In step S133, when the steering wheel angle is 0, if the brake signal increases and the vehicle speed decreases, the seat tilt angle and speed are calculated based on the vehicle's acceleration.

[0064] In one possible implementation, the angle and speed of the chair's forward and backward tilt can be calculated based on the following two formulas:

[0065] θ1=k1a 2 v1=k2a

[0066] Where θ1 is the angle of the chair's forward and backward tilt; k1 is the proportionality coefficient, which can be obtained through actual testing; a is the acceleration of the car; v1 is the velocity of the chair's forward and backward tilt; and k2 is the proportionality coefficient, which can be obtained through actual testing.

[0067] In step S134, when a leftward rotation of the steering wheel is detected, the angle and speed of the base plate 12 tilting to the right are calculated based on the current vehicle speed and steering wheel angle. In step S135, when a rightward rotation of the steering wheel is detected, the angle and speed of the base plate 12 tilting to the left are calculated based on the current vehicle speed and steering wheel angle.

[0068] In one possible implementation, the angle and speed of the base plate 12 tilting left and right can be calculated based on the following two formulas:

[0069]

[0070] Where θ2 is the angle of inclination of the base plate 12; k3 is the proportional coefficient, which can be obtained through actual testing; v is the vehicle's speed. v1 is the steering wheel angle; v2 is the speed at which the base plate tilts approximately 12 degrees; k4 is the proportional coefficient, which can be obtained through actual testing.

[0071] In step S136, when the steering wheel is detected to be rotating to the left or right, and the accelerator or brake is activated, and the vehicle accelerates, the angle and speed of the left and right tilt of the base plate 12 and the angle and speed of the front and back tilt of the chair body 41 are calculated based on the current vehicle speed, the vehicle's acceleration and the steering wheel angle.

[0072] Return to Figure 3 In step 140, based on the left and right tilt angle and speed of the base calculated in step 130, the microcontroller 49 controls the platform geared motor 2 to rotate at the required speed via the platform geared motor driver 45. Simultaneously, the microcontroller 49 continuously reads the angle value output by the base angle sensor 25. When the angle value reaches the required angle, the microcontroller 49 controls the platform geared motor 2 to stop via the platform geared motor driver 45. Simultaneously, based on the front and back tilt angle and speed of the chair calculated in step 130, the microcontroller 49 controls the base geared motor 16 to rotate at the required speed via the base geared motor driver 46. Simultaneously, the microcontroller 49 continuously reads the angle value output by the chair angle sensor 26. When the angle value reaches the required angle, the microcontroller 49 controls the base geared motor 16 to stop via the base geared motor driver 46.

[0073] In step 150, the microcontroller 49 detects the status of the leg belt buckle 37. If the leg belt 35 is pulled out, the microcontroller 49 controls the leg belt locking motor 36 to reverse via the leg belt locking motor driver 43, thus loosening the leg belt 35. Simultaneously, the microcontroller 49 detects the status of the chest belt buckle 33. If the chest belt 32 is pulled out, the microcontroller 49 controls the chest belt locking motor 30 to reverse via the chest belt locking motor driver 44, thus loosening the chest belt 32.

[0074] The software running in the microcontroller 49 continuously repeats the actions of steps S110-S150, thereby realizing the dynamic feeling of the seat.

[0075] While the present invention has been disclosed with reference to the above embodiments, it should be understood that the embodiments are for illustrative purposes only and are not intended to limit the invention to the scope of the described embodiments. Furthermore, those skilled in the art can make many variations and modifications based on the description of the present invention, and these non-inventive variations and modifications all fall within the scope of protection claimed by the present invention. The scope of protection of the present invention is defined by the appended claims and their equivalents.

Claims

1. A control method for a driving simulator dynamic seat, characterized in that, Applied to a driving simulator dynamics seat, the driving simulator dynamics seat: Installed in the car driving simulator, it includes: a driver's seat and a control system; The driver's seat includes a platform, a base, and a chair. The platform is fixed on the driving simulator, the base is mounted on the platform, and the chair is mounted on the base. The platform includes a platform base plate, slide rails, a platform geared motor, a platform crankshaft assembly, a platform connecting rod, and a platform rotating shaft; The slide rail is located below the platform base plate and has fixing holes, which can be fixed to the car driving simulator body by screws. The platform geared motor is mounted on the platform base plate and is connected to the platform crankshaft device, which can drive the platform crankshaft device to rotate. The lead wire of the platform geared motor is electrically connected to the control system. The shafts at both ends of the platform crankshaft device are respectively fixed in a platform ring. Each platform ring is fixed to the platform base plate at a certain height. The platform crankshaft device has two grooves, and a platform connecting rod is installed in each groove. The upper end of the platform connecting rod is connected to the protruding ring of the base plate. The platform crankshaft rotates to drive the platform connecting rod to move up and down, thereby controlling the up and down movement of one end of the base, so that the chair body set on the base plate will tilt left and right. The platform pivot is fixed to the platform base plate and is a certain distance above the platform base plate. The base sleeve is inserted into the pivot to fix the base. The base includes a base plate, a base reduction motor, a base crankshaft device, a base rotating shaft, a base angle sensor, and a base sleeve; The base plate includes two base plate protruding rings and a base plate circular ring. The base plate protruding rings are connected to the platform connecting rod, and the base plate circular ring is sleeved on the platform rotating shaft. The base geared motor is mounted on the base plate and is connected to the base crankshaft device to drive the base crankshaft device to rotate. The lead wire of the base geared motor is electrically connected to the control system. The shafts at both ends of the base crankshaft device are respectively fixed in a base ring. Each base ring is fixed to the base plate at a certain height. The base crankshaft device has two grooves, and a base connecting rod is installed in each groove. The upper end of the base connecting rod is fixed to the chair protrusion ring. The base crankshaft rotates to drive the base connecting rod to move up and down, thereby controlling the up and down movement of one end of the chair, so that the chair body produces a forward and backward tilting movement. The base pivot is fixed to the base plate and is a certain distance above the base plate. The chair sleeve is inserted into the base pivot. The base angle sensor is installed above the base plate, and the lead wire of the base angle sensor is electrically connected to the control system. The control system includes a platform geared motor driver, a base geared motor driver, a leg seat belt locking motor driver, a chest seat belt locking motor driver, a microcontroller, a power supply system, a base angle sensor interface, a chair angle sensor interface, and a communication interface. The communication interface is connected to the simulator and receives various necessary signals from the simulator; the control method for realizing dynamic sensing includes the following steps: Detect the buckle status of the leg seat belt, determine whether the leg seat belt is fastened, and if it is fastened, lock the leg seat belt; Check the buckle status of the chest seat belt to determine whether the chest seat belt is fastened. If it is fastened, lock the chest seat belt. The microcontroller reads the real-time parameters of the simulator through the communication interface and calculates the required amplitude and speed of the driver's seat movement based on the real-time parameters. The corresponding geared motor is rotated according to the required range of motion and speed, while the angle values ​​of each angle sensor are continuously detected to calculate whether the tilt angle is in place. Check the buckle status of the leg belt and chest belt. If the belt is pulled out, loosen the corresponding belt.

2. The control method according to claim 1, characterized in that, The chair includes a chair body, a chair back, a chair ring, a chair sleeve, a leg safety belt, a chest safety belt, a chair angle sensor, a leg safety belt locking device, a leg safety belt tension sensor, a chest safety belt locking device, and a chest safety belt tension sensor. The chair protrusion is installed at the lower rear of the chair body, and the chair protrusion is connected to the base connecting rod; The chair sleeve is installed at the lower front of the chair body and is fixed on the base pivot. The leg belt locking device includes a leg belt locking motor and a leg belt groove wheel. The leg belt locking device is installed on the side of the chair. The leg belt locking motor is connected to the leg belt groove wheel. The lead wire of the leg belt locking motor is electrically connected to the control system. The leg strap is wrapped around the leg strap groove pulley; The leg belt tension sensor is fixed to the other side of the chair, and the signal terminal of the leg belt tension sensor is electrically connected to the control system. The buckle of the leg harness is connected to the leg harness tension sensor; The chest seat belt locking device includes a chest seat belt locking motor and a chest seat belt groove wheel. The chest seat belt locking motor is installed on the side of the chair back and is connected to the chest seat belt groove wheel. The lead wire of the chest seat belt locking motor is electrically connected to the control system. The chest safety belt is wrapped around the chest safety belt groove pulley; The chest seat belt tension sensor is installed on the other side of the chair back, and the signal terminal of the chest seat belt tension sensor is electrically connected to the control system. The buckle of the chest seat belt is connected to the chest seat belt tension sensor; The chair angle sensor is installed under the chair and is electrically connected to the control system.

3. The control method according to claim 1, characterized in that, The simulator's real-time parameters, including brake, accelerator, steering wheel angle, and vehicle speed, are read through the communication interface.

4. The control method according to claim 1, characterized in that, The calculation of the required range and speed of movement of the driver's seat based on real-time parameters includes the following steps: If the steering wheel angle is 0, the angle and speed of the chair tilting forward and backward are calculated based on the throttle depth and acceleration. If the steering wheel is turned to the left or right, the angle and speed of the base tilting to the left or right are calculated based on the current vehicle speed and the steering wheel angle. If braking or acceleration occurs simultaneously with steering wheel rotation, the angle and speed of left and right tilt, as well as the angle and speed of forward and backward tilt, are calculated by combining braking depth, accelerator depth, vehicle speed, steering wheel angle, and vehicle acceleration.

5. The control method according to claim 4, characterized in that, Calculating the angle and speed of the chair's forward and backward tilt, including: The angle and speed of the chair's forward and backward tilt are calculated based on the following two formulas: in, The angle at which the chair tilts forward or backward; is the proportionality constant; a is the vehicle's acceleration; The speed at which the chair tilts forward or backward; This is the proportionality coefficient.

6. The control method according to claim 4, characterized in that, Calculate the angle and speed of the base's left and right tilt, including: The angle and speed of the base's left and right tilt are calculated based on the following two formulas: in, The angle at which the base plate is tilted left and right; is the proportionality coefficient; v is the vehicle's speed; Steering wheel angle; The speed at which the base plate tilts left and right; This is the proportionality coefficient.

7. The control method according to claim 1, characterized in that, The simulator parameters are read through the communication interface, the tilt angles and speeds of the driver's seat (left, right, front, and back) are calculated, and the geared motor is controlled to achieve the desired dynamic feel.

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