A VR-based simulation training system

Abstract

The present invention relates to the field of computer simulation technology, and in particular to a VR-based simulation training system. The experience module of the present invention obtains the movement direction, movement amplitude, and movement amplitude of the head and hands, and the foot, the simulation module constructs a plurality of pre-stored simulation training scenes, the sensing unit determines whether the action area of ​​the simulation training scene has been reached, calculates the action matching parameters in the action area, and determines whether the action is accurate, and the issuing unit issues corresponding instructions to the simulation module, including, according to the action matching parameters stored in the storage unit, selecting to issue a control instruction for the next simulation training scene, or identifying a characteristic movement stage, and selecting to issue a corresponding control instruction according to the position of the characteristic movement stage in the entire movement process. The present invention comprehensively considers the action completion accuracy, and comprehensively considers the current action completion accuracy and the historical action completion accuracy, thereby improving the accuracy of the issued control instructions.

Description

Technical Field

[0001] The present invention relates to the field of computer simulation technology, and in particular to a VR-based simulation training system. Background Art

[0002] The simulation training system based on virtual reality (VR) can simulate real scenes in a virtual environment, providing users with an immersive learning and practice experience. Users can wear VR headsets and use interactive devices such as handles or hand trackers to interact with objects, devices or other virtual characters in real time in a virtual environment. This interactivity can enhance the sense of participation and effectiveness of learning.

[0003] Chinese patent publication number: CN108961893A, discloses a virtual reality interactive simulation training system based on VR equipment, including VR interactive equipment, a PC for building a simulation training module and a host body for data conversion and transmission, the VR interactive equipment includes a head display device and a sensor module, and the training method is as follows: step one, the construction of the virtual training module is completed by the PC in combination with the three-dimensional interactive function in VR technology, and the trainee selects the corresponding virtual training module that needs simulation training; step two, the trainee completes the wearing of the VR interactive equipment, and the PC completes the startup of the corresponding virtual training module; step three, the trainee obtains the position and situation in the virtual application scene through the head display device, and completes the corresponding operation through the sensor module according to the training operation steps. The present invention improves the convenience and quality of simulation teaching by constructing different virtual training modules, and is suitable for teaching exercises and simulation training.

[0004] However, there are still the following problems in the prior art:

[0005] In the prior art, the accuracy of action completion is not comprehensively considered, the accuracy judgment of the action is not accurate enough, and the current action completion accuracy and historical action completion accuracy are not comprehensively considered, resulting in low accuracy in issuing control instructions. Summary of the invention

[0006] To this end, the present invention provides a VR-based simulation training system to overcome the problems in the prior art that the accuracy of action completion is not comprehensively considered, the accuracy judgment of the action is not accurate enough, and the accuracy of current action completion and historical action completion accuracy are not comprehensively considered, resulting in low accuracy in issuing control instructions.

[0007] To achieve the above object, the present invention provides a VR-based simulation training system, comprising:

[0008] The experience module includes a head movement detection unit for obtaining the direction and amplitude of head movement, a hand movement detection unit for obtaining the direction and amplitude of hand movement, and a foot movement detection unit for obtaining the amplitude of foot movement;

[0009] A simulation module is used to construct a plurality of pre-stored simulation training scenes, each of which has an action area, and each action area is correspondingly set with a plurality of head movement action instructions and hand movement action instructions;

[0010] The instruction module is connected to the experience module and the simulation module, and includes a sensing unit, a storage unit and an issuing unit.

[0011] The sensing unit is used to determine whether the action area of ​​the simulation training scene is reached according to the amplitude of the foot movement, respectively obtain the duration of the head movement and the duration of the hand movement, and calculate the action matching parameters in the action area in combination with the standard fitting degree of the head movement and the standard fitting degree of the hand movement, and determine whether the action is accurate according to the action matching parameters;

[0012] The storage unit is used to store the action matching parameters in each action area;

[0013] The issuing unit is used to issue corresponding instructions to the simulation module according to the determination result of the sensing unit, so that the simulation module controls the switching of the simulation training scene, including:

[0014] According to the action matching parameters stored in the storage unit, a control instruction for the next simulation training scenario is selected and issued;

[0015] Alternatively, the head movement and the hand movement are divided into several movement stages, the characteristic movement stages are identified, and corresponding control instructions are selected and issued according to the positions of the characteristic movement stages in the entire movement process.

[0016] Furthermore, the sensing unit determines whether the action area of ​​the simulation training scene has been reached, including:

[0017] The sensing unit obtains the foot movement amplitude, and when the foot movement amplitude is less than a preset foot movement amplitude threshold, it is determined that the action area of ​​the simulation training scene has been reached.

[0018] Furthermore, the sensing unit is used to obtain the duration of movement of each part, including:

[0019] Used to obtain the start time and end time of the hand movement, and calculate the duration of the hand movement through the start time and end time of the hand movement;

[0020] Used to obtain the start time and end time of the head movement, and calculate the duration of the head movement based on the start time and end time of the head movement.

[0021] Furthermore, the sensing unit is used to obtain the standard fitness of the corresponding motion of each part, including:

[0022] To obtain the head movement trajectory, compare it with the preset head movement trajectory corresponding to the action area, and obtain the head movement standard fit;

[0023] It is used to obtain the hand movement trajectory, compare it with the preset hand movement trajectory corresponding to the action area, and obtain the hand movement standard fit.

[0024] Furthermore, the sensing unit calculates the action matching parameter according to formula (1):

[0025]

[0026] In formula (1), E is the action matching parameter, ts is the hand movement duration, ts0 is the preset hand movement duration threshold, tt is the head movement duration, tt0 is the preset head movement duration threshold, Rs is the hand movement standard fit, Rs0 is the preset hand movement fit threshold, Rt is the head movement standard fit, and Rt0 is the preset head movement fit threshold.

[0027] Furthermore, the sensing unit is used to compare the action matching parameter with a preset action matching parameter comparison threshold to determine whether the action is accurate, including:

[0028] If the action matching parameter is greater than or equal to the preset action matching parameter comparison threshold, the action is determined to be accurate;

[0029] If the action matching parameter is less than the preset action matching parameter comparison threshold, the action is determined to be inaccurate.

[0030] Furthermore, the issuing unit issues corresponding instructions according to the determination result, including:

[0031] If the movement is inaccurate, the head movement and hand movement are divided into several movement stages, the characteristic movement stage is identified, and the corresponding control instruction is selected and issued according to the position of the characteristic movement stage in the whole movement process;

[0032] If the action is accurate, a control instruction for the next simulation training scenario is selected and issued according to the action matching parameters stored in the storage unit.

[0033] Furthermore, the issuing unit is used to obtain the characteristic action stage including:

[0034] To obtain the standard fit of head movement and hand movement in each movement stage;

[0035] To obtain the duration of each movement stage, compare the head movement standard fitting degree and the hand movement standard fitting degree with the preset fitting degree comparison threshold, and compare the duration of the head movement and hand movement stages with the preset duration comparison threshold, wherein,

[0036] If the first preset condition is met, identifying the movement phase as a characteristic action phase;

[0037] The first preset condition is that the standard fit of the head movement or hand movement in the movement phase is less than a preset fit comparison threshold, or the duration of the head movement or hand movement phase is less than a preset duration comparison threshold.

[0038] Furthermore, the issuing unit obtains the position of the characteristic action stage in the entire motion stage, wherein the position includes a starting position, an intermediate position and an ending position.

[0039] If the characteristic action stage belongs to the starting position or the ending position, a control instruction for maintaining the current simulation training scene is sent to the simulation module to repeat the head movement action instruction and the hand movement action instruction in the action area;

[0040] If the characteristic action stage belongs to the middle position, a simulation training scene of the same type of action is obtained, and a control instruction for switching to the simulation training scene corresponding to the same type of action is issued.

[0041] Furthermore, the issuing unit is used to select and issue a control instruction for the next simulation training scenario, including:

[0042] To obtain the action matching parameters in each action area stored in the storage unit;

[0043] To determine the number of action areas that meet the matching criteria and obtain the matching ratio;

[0044] for comparing the compliance ratio with a predetermined ratio threshold, and if the compliance ratio is greater than the predetermined ratio threshold, randomly selecting a target simulation training scene from a number of simulation training scenes that meet the difficulty standard;

[0045] Used to generate control instructions for target simulation training scenarios;

[0046] Among them, the matching standard is that the action matching parameter is greater than a predetermined action matching parameter comparison threshold, the difficulty standard is that the difficulty level is higher than the current simulation training scene, and the control instruction is the simulation training scene that needs to be switched.

[0047] Compared with the prior art, the experience module of the present invention obtains the movement direction, movement amplitude, and movement amplitude of the head and hands, the simulation module constructs a plurality of pre-stored simulation training scenes, the sensing unit determines whether the simulation training scene action area is reached, calculates the action matching parameters in the action area, and determines whether the action is accurate, the storage unit stores the action matching parameters in each action area, and the issuing unit issues corresponding instructions to the simulation module, including, according to the action matching parameters stored in the storage unit, selecting to issue a control instruction for the next simulation training scene, or identifying a characteristic motion stage, and selecting to issue a corresponding control instruction according to the position of the characteristic motion stage in the entire motion process. The present invention comprehensively considers the action completion accuracy, and comprehensively considers the current action completion accuracy and the historical action completion accuracy, thereby improving the accuracy of the issued control instructions.

[0048] In particular, the sensing unit of the present invention respectively obtains the duration of head movement and the duration of hand movement, and combines the standard fit of head movement and the standard fit of hand movement to calculate the action matching parameters in the action area. The duration of head movement and hand movement and the standard fit of head movement and hand movement are the main judgment parameters for judging whether the action meets the standard. Since only the standard fit of the movement can only obtain the standard degree of the movement trajectory, the degree of completion of the action is not only determined by the movement trajectory, but also needs to comprehensively consider the duration of the movement. By comprehensively considering the standard fit of the movement and the duration of the movement, the degree of completion of the action can be analyzed more accurately, providing data support for subsequent analysis.

[0049] In particular, the sensing unit of the present invention determines whether the action is accurate based on the action matching parameters. When the standard fit of the head movement and the standard fit of the hand movement are high, the completion degree of the action is high, but it should also be considered whether the duration of the action meets the standard. When the action trajectory and the duration of the action are both high, the action can be determined to be accurate. The action matching parameters can be used to more accurately judge whether the action is standard, thereby improving the accuracy of the control instructions issued.

[0050] In particular, the issuing unit of the present invention selects to issue a control instruction for the next simulation training scenario based on the action matching parameters stored in the storage unit. When considering issuing a control instruction for the next simulation training scenario, the current action matching parameters and the historical action matching parameters should be comprehensively considered. By calling the action matching parameters corresponding to different action areas, a more accurate judgment of the degree of action completion can be obtained. By issuing a control instruction for the next simulation training scenario based on the completion status of the actions in each action area, the accuracy of issuing the control instruction can be improved.

[0051] In particular, the issuing unit of the present invention divides head movement and hand movement into several movement stages, identifies the characteristic movement stage, and selects and issues corresponding control instructions according to the position of the characteristic movement stage in the whole movement process. By dividing the head movement and hand movement, the action completion status can be classified, and the position of the movement stage can be divided into a starting position, an intermediate position and an ending position. The reason for the low action completion degree can be judged by the position of the characteristic movement stage. By further analyzing the reason for the low action completion degree, the accuracy of issuing control instructions can be improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0052] Figure 1 It is a structural diagram of a VR-based simulation training system according to an embodiment of the invention;

[0053] Figure 2 It is a structural diagram of the instruction module of an embodiment of the invention;

[0054] Figure 3 A logic determination diagram for determining whether to reach the action area of ​​a simulation training scene according to an embodiment of the invention;

[0055] Figure 4 This is a logic decision diagram for determining whether an action is accurate according to an embodiment of the present invention. DETAILED DESCRIPTION

[0056] In order to make the objects and advantages of the present invention more clearly understood, the present invention is further described below in conjunction with embodiments; it should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention.

[0057] The preferred embodiments of the present invention are described below with reference to the accompanying drawings. It should be understood by those skilled in the art that these embodiments are only used to explain the technical principles of the present invention and are not intended to limit the protection scope of the present invention.

[0058] In addition, it should be noted that in the description of the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For those skilled in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0059] See also Figure 1-Figure 4 As shown, Figure 1 This is a structural diagram of a VR-based simulation training system according to an embodiment of the invention. Figure 2 The structure diagram of the instruction module of the embodiment of the invention is shown in FIG. Figure 3This is a logic determination diagram for determining whether to reach the action area of ​​the simulation training scene according to an embodiment of the invention. Figure 4 The VR-based simulation training system of the present invention includes:

[0060] The experience module includes a head movement detection unit for obtaining the direction and amplitude of head movement, a hand movement detection unit for obtaining the direction and amplitude of hand movement, and a foot movement detection unit for obtaining the amplitude of foot movement;

[0061] A simulation module is used to construct a plurality of pre-stored simulation training scenes, each of which has an action area, and each action area is correspondingly set with a plurality of head movement action instructions and hand movement action instructions;

[0062] The instruction module is connected to the experience module and the simulation module, and includes a sensing unit, a storage unit and an issuing unit.

[0063] The sensing unit is used to determine whether the action area of ​​the simulation training scene is reached according to the amplitude of the foot movement, respectively obtain the duration of the head movement and the duration of the hand movement, and calculate the action matching parameters in the action area in combination with the standard fitting degree of the head movement and the standard fitting degree of the hand movement, and determine whether the action is accurate according to the action matching parameters;

[0064] The storage unit is used to store the action matching parameters in each action area;

[0065] The issuing unit is used to issue corresponding instructions to the simulation module according to the determination result of the sensing unit, so that the simulation module controls the switching of the simulation training scene, including:

[0066] According to the action matching parameters stored in the storage unit, a control instruction for the next simulation training scenario is selected and issued;

[0067] Alternatively, the head movement and the hand movement are divided into several movement stages, the characteristic movement stages are identified, and corresponding control instructions are selected and issued according to the positions of the characteristic movement stages in the entire movement process.

[0068] Specifically, the present invention does not limit the specific structure of the experience module. The head motion detection unit may be a VR headset, the hand motion detection unit may be a handle, and the foot motion detection unit may be a footstep tracker. This is the prior art and will not be described in detail.

[0069] Specifically, the present invention does not limit the specific structure of the instruction module. The sensing unit and the issuing unit can be composed of logical components or a combination of logical components. The logical components include a field programmable processor, a computer or a microprocessor in a computer. The storage unit is a cloud storage with sufficient storage space. This is a prior art and will not be repeated here.

[0070] Specifically, there is no limitation on the specific method of constructing a simulation training scene by the simulation module. The simulation training scene can be a virtual space. The required head movement instructions and hand movement instructions can be prompted through demonstration pictures. Of course, it can also be in other forms, which will not be elaborated here.

[0071] Specifically, those skilled in the art can divide the required training into different difficulty levels according to the difficulty of the content to meet the training needs, such as basic difficulty, advanced difficulty, of course, it can be in any form, which will not be elaborated here.

[0072] Specifically, the sensing unit determines whether the action area of ​​the simulation training scene has been reached, including:

[0073] The sensing unit obtains the foot movement amplitude, and when the foot movement amplitude is less than a preset foot movement amplitude threshold, it is determined that the action area of ​​the simulation training scene has been reached.

[0074] In this embodiment, the preset foot movement amplitude threshold D0 is measured in advance by experiments. The foot movement amplitudes of several stopping foot movements are obtained in advance, and the average value De is calculated. It is assumed that D0=a×De, 0.9<a<1.1, and a is the foot movement amplitude coefficient.

[0075] Specifically, the sensing unit is used to obtain the duration of movement of each part, including:

[0076] Used to obtain the start time and end time of the hand movement, and calculate the duration of the hand movement through the start time and end time of the hand movement;

[0077] Used to obtain the start time and end time of the head movement, and calculate the duration of the head movement based on the start time and end time of the head movement.

[0078] Specifically, the sensing unit is used to obtain the standard fitness of the corresponding motion of each part, including:

[0079] To obtain the head movement trajectory, compare it with the preset head movement trajectory corresponding to the action area, and obtain the head movement standard fit;

[0080] It is used to obtain the hand movement trajectory, compare it with the preset hand movement trajectory corresponding to the action area, and obtain the hand movement standard fit.

[0081] In this embodiment, the data of head movement and hand movement are obtained through analysis software, and visual analysis is performed based on the data to obtain the motion trajectories of the head movement and hand movement. The analysis software can also obtain the motion trajectory and the preset motion trajectory of the corresponding action for fitting analysis. The analysis software can be Matlab, which is a prior art and will not be elaborated on.

[0082] Specifically, the sensing unit calculates the action matching parameter according to formula (1):

[0083]

[0084] In formula (1), E is the action matching parameter, ts is the hand movement duration, ts0 is the preset hand movement duration threshold, tt is the head movement duration, tt0 is the preset head movement duration threshold, Rs is the hand movement standard fit, Rs0 is the preset hand movement fit threshold, Rt is the head movement standard fit, and Rt0 is the preset head movement fit threshold.

[0085] In this embodiment, each action is set with a different movement duration threshold. The preset head movement duration threshold is selected within the range of [10s, 20s], the preset hand movement duration threshold is selected within the range of [10s, 20s], the preset head movement fit threshold is selected within the range of [90%, 95%], and the preset hand movement fit threshold is selected within the range of [90%, 95%].

[0086] Specifically, the sensing unit of the present invention respectively obtains the duration of head movement and the duration of hand movement, and combines the standard fit of head movement and the standard fit of hand movement to calculate the action matching parameters in the action area. The duration of head movement and hand movement and the standard fit of head movement and hand movement are the main judgment parameters for judging whether the action meets the standard. Since only the standard fit of the movement can only obtain the standard degree of the movement trajectory, the degree of completion of the action is not only determined by the movement trajectory, but also needs to comprehensively consider the duration of the movement. By comprehensively considering the standard fit of the movement and the duration of the movement, the degree of completion of the action can be analyzed more accurately, providing data support for subsequent analysis.

[0087] Specifically, the sensing unit is used to compare the action matching parameter with a preset action matching parameter comparison threshold to determine whether the action is accurate, including:

[0088] If the action matching parameter is greater than or equal to the preset action matching parameter comparison threshold, the action is determined to be accurate;

[0089] If the action matching parameter is less than the preset action matching parameter comparison threshold, the action is determined to be inaccurate.

[0090] In this embodiment, the preset action matching parameter comparison threshold is selected within the range of [1.9, 1.95].

[0091] Specifically, the sensing unit of the present invention determines whether the action is accurate based on the action matching parameters. When the standard fit of the head movement and the standard fit of the hand movement are high, the completion degree of the action is high, but it should also be considered whether the duration of the action meets the standard. When the action trajectory and the duration of the action are both high, the action can be determined to be accurate. The action matching parameters can be used to more accurately judge whether the action is standard, thereby improving the accuracy of the control instructions issued.

[0092] Specifically, the issuing unit issues corresponding instructions according to the determination result, including:

[0093] If the movement is inaccurate, the head movement and hand movement are divided into several movement stages, the characteristic movement stage is identified, and the corresponding control instruction is selected and issued according to the position of the characteristic movement stage in the whole movement process;

[0094] If the action is accurate, a control instruction for the next simulation training scenario is selected and issued according to the action matching parameters stored in the storage unit.

[0095] Specifically, the issuing unit is used to obtain the characteristic action stage including:

[0096] To obtain the standard fit of head movement and hand movement in each movement stage;

[0097] To obtain the duration of each movement stage, compare the head movement standard fitting degree and the hand movement standard fitting degree with the preset fitting degree comparison threshold, and compare the duration of the head movement and hand movement stages with the preset duration comparison threshold, wherein,

[0098] If the first preset condition is met, identifying the movement phase as a characteristic action phase;

[0099] The first preset condition is that the standard fit of the head movement or hand movement in the movement phase is less than a preset fit comparison threshold, or the duration of the head movement or hand movement phase is less than a preset duration comparison threshold.

[0100] In this embodiment, the preset duration comparison threshold is selected within the range of [10s, 20s], and the preset fit comparison threshold is selected within the range of [90%, 95%].

[0101] Specifically, the issuing unit obtains the position of the characteristic action stage in the entire motion stage, and the position includes a starting position, an intermediate position and an ending position.

[0102] If the characteristic action stage belongs to the starting position or the ending position, a control instruction for maintaining the current simulation training scene is sent to the simulation module to repeat the head movement action instruction and the hand movement action instruction in the action area;

[0103] If the characteristic action stage belongs to the middle position, a simulation training scene of the same type of action is obtained, and a control instruction for switching to the simulation training scene corresponding to the same type of action is issued.

[0104] In this embodiment, according to the duration of the entire exercise, the exercise duration is evenly divided into three time periods, the position corresponding to the first time period is the starting position, the position corresponding to the second time period is the middle position, and the position corresponding to the third time period is the ending position.

[0105] Specifically, the process of determining the same type of action simulation training scenarios includes:

[0106] Extracting corresponding head movement instructions and hand movement instructions in the current simulation training scene and several pre-stored simulation training scenes;

[0107] Generate head movement trajectories and hand movement trajectories for each simulation training scenario;

[0108] Obtain the head motion trajectory fitting degree and the hand motion trajectory fitting degree corresponding to the current simulation training scene and the remaining simulation training scenes;

[0109] If there is a simulation training scene and the current simulation training scene corresponding to the head movement trajectory fitting degree greater than the preset head movement fitting degree threshold and the hand movement trajectory fitting degree greater than the preset hand movement fitting degree threshold, then it is determined that the simulation training scene and the current simulation training scene are the same type of action.

[0110] Specifically, the issuing unit of the present invention divides the head movement and the hand movement into several movement stages, identifies the characteristic movement stage, and selects and issues the corresponding control instruction according to the position of the characteristic movement stage in the whole movement process. By dividing the head movement and the hand movement, the action completion status can be classified, and the position of the movement stage can be divided into the starting position, the middle position and the ending position. The reason for the low action completion degree can be judged by the position of the characteristic movement stage, and the accuracy of the control instruction issuance can be improved by further analyzing the reason for the low action completion degree.

[0111] Specifically, the issuing unit is used to select and issue a control instruction for the next simulation training scenario, including:

[0112] To obtain the action matching parameters in each action area stored in the storage unit;

[0113] To determine the number of action areas that meet the matching criteria and obtain the matching ratio;

[0114] for comparing the compliance ratio with a predetermined ratio threshold, and if the compliance ratio is greater than the predetermined ratio threshold, randomly selecting a target simulation training scene from a number of simulation training scenes that meet the difficulty standard;

[0115] Used to generate control instructions for target simulation training scenarios;

[0116] Among them, the matching standard is that the action matching parameter is greater than a predetermined action matching parameter comparison threshold, the difficulty standard is that the difficulty level is higher than the current simulation training scene, and the control instruction is the simulation training scene that needs to be switched.

[0117] In this embodiment, the predetermined ratio threshold is selected within the range of [70%, 80%].

[0118] Specifically, the issuing unit of the present invention selects to issue a control instruction for the next simulation training scene according to the action matching parameters stored in the storage unit. When considering issuing a control instruction for the next simulation training scene, the current action matching parameters and the historical action matching parameters should be comprehensively considered. By calling the action matching parameters corresponding to different action areas, a more accurate judgment of the action completion degree can be obtained. By issuing a control instruction for the next simulation training scene according to the completion status of the actions in each action area, the accuracy of issuing the control instruction can be improved.

[0119] So far, the technical solutions of the present invention have been described in conjunction with the preferred embodiments shown in the accompanying drawings. However, it is easy for those skilled in the art to understand that the protection scope of the present invention is obviously not limited to these specific embodiments. Without departing from the principle of the present invention, those skilled in the art can make equivalent changes or substitutions to the relevant technical features, and the technical solutions after these changes or substitutions will fall within the protection scope of the present invention.

Claims

1. A VR-based simulation training system, characterized in that: include: The experience module includes a head movement detection unit for obtaining the direction and amplitude of head movement, a hand movement detection unit for obtaining the direction and amplitude of hand movement, and a foot movement detection unit for obtaining the amplitude of foot movement; A simulation module is used to construct a plurality of pre-stored simulation training scenes, each of which has an action area, and each action area is correspondingly set with a plurality of head movement action instructions and hand movement action instructions; The instruction module is connected to the experience module and the simulation module, and includes a sensing unit, a storage unit and an issuing unit. The sensing unit is used to determine whether the action area of ​​the simulation training scene is reached according to the amplitude of the foot movement, respectively obtain the duration of the head movement and the duration of the hand movement, and calculate the action matching parameters in the action area in combination with the standard fitting degree of the head movement and the standard fitting degree of the hand movement, and determine whether the action is accurate according to the action matching parameters; The storage unit is used to store the action matching parameters in each action area; The issuing unit is used to issue corresponding instructions to the simulation module according to the determination result of the sensing unit, so that the simulation module controls the switching of the simulation training scene, including: According to the action matching parameters stored in the storage unit, a control instruction for the next simulation training scenario is selected and issued; Or, the head movement and the hand movement are divided into several movement stages, the characteristic movement stage is identified, and the corresponding control instruction is selected and issued according to the position of the characteristic movement stage in the whole movement process; The sensing unit is used to obtain the standard fitness of the corresponding motion of each part, including: To obtain the head movement trajectory, compare it with the preset head movement trajectory corresponding to the action area, and obtain the head movement standard fit; To obtain the hand motion trajectory, compare it with the preset hand motion trajectory corresponding to the action area, and obtain the hand motion standard fitting degree; The sensing unit calculates the action matching parameters according to formula (1): （1） In formula (1), E is the action matching parameter, ts is the hand movement duration, ts0 is the preset hand movement duration threshold, tt is the head movement duration, tt0 is the preset head movement duration threshold, Rs is the hand movement standard fit, Rs0 is the preset hand movement fit threshold, Rt is the head movement standard fit, and Rt0 is the preset head movement fit threshold; The sensing unit is used to compare the action matching parameter with a preset action matching parameter comparison threshold to determine whether the action is accurate, including: If the action matching parameter is greater than or equal to the preset action matching parameter comparison threshold, the action is determined to be accurate; If the action matching parameter is less than the preset action matching parameter comparison threshold, the action is judged to be inaccurate; The issuing unit is used to obtain the characteristic action stage, including: To obtain the standard fit of head movement and hand movement at each movement stage; To obtain the duration of each movement stage, compare the head movement standard fitting degree and the hand movement standard fitting degree with the preset fitting degree comparison threshold, and compare the duration of the head movement and hand movement stages with the preset duration comparison threshold, wherein, If the first preset condition is met, identifying the movement phase as a characteristic action phase; The first preset condition is that the standard fit of the head movement or hand movement in the movement phase is less than a preset fit comparison threshold, or the duration of the head movement or hand movement phase is less than a preset duration comparison threshold.

2. The VR-based simulation training system according to claim 1, characterized in that: The sensing unit determines whether the action area of ​​the simulation training scene has been reached, including: The sensing unit obtains the foot movement amplitude, and when the foot movement amplitude is less than a preset foot movement amplitude threshold, it is determined that the action area of ​​the simulation training scene has been reached.

3. The VR-based simulation training system according to claim 2 is characterized in that: The sensing unit is used to obtain the duration of movement of each part. include, Used to obtain the start time and end time of the hand movement, and calculate the duration of the hand movement through the start time and end time of the hand movement; Used to obtain the start time and end time of the head movement, and calculate the duration of the head movement based on the start time and end time of the head movement.

4. The VR-based simulation training system according to claim 1, characterized in that: The issuing unit issues corresponding instructions according to the determination result. include, If the movement is inaccurate, the head movement and hand movement are divided into several movement stages, the characteristic movement stage is identified, and the corresponding control instruction is selected and issued according to the position of the characteristic movement stage in the whole movement process; If the action is accurate, a control instruction for the next simulation training scenario is selected and issued according to the action matching parameters stored in the storage unit.

5. The VR-based simulation training system according to claim 1, characterized in that: The issuing unit obtains the position of the characteristic action phase in the entire motion phase, wherein the position includes a starting position, an intermediate position, and an ending position. If the characteristic action stage belongs to the starting position or the ending position, a control instruction for maintaining the current simulation training scene is sent to the simulation module to repeat the head movement action instruction and the hand movement action instruction in the action area; If the characteristic action stage belongs to the middle position, a simulation training scene of the same type of action is obtained, and a control instruction for switching to the simulation training scene corresponding to the same type of action is issued.

6. The VR-based simulation training system according to claim 1, characterized in that: The issuing unit is used to select and issue a control instruction for the next simulation training scenario, including: To obtain the action matching parameters in each action area stored in the storage unit; To determine the number of action areas that meet the matching criteria and obtain the matching ratio; for comparing the compliance ratio with a predetermined ratio threshold, and if the compliance ratio is greater than the predetermined ratio threshold, randomly selecting a target simulation training scene from a number of simulation training scenes that meet the difficulty standard; Used to generate control instructions for target simulation training scenarios; Among them, the matching standard is that the action matching parameter is greater than a predetermined action matching parameter comparison threshold, the difficulty standard is that the difficulty level is higher than the current simulation training scene, and the control instruction is the simulation training scene that needs to be switched.

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