Multi-degree-of-freedom driving simulation device

Abstract

The invention relates to a multi-degree-of-freedom driving simulation device, which is characterized by comprising a base, a first motion platform and a second motion platform, the first motion platform is movably arranged on the base, and the moving direction of the first motion platform is perpendicular to the advancing direction of the simulated driving; the second motion platform is arranged on the first motion platform in a pitching manner; more than two pitching driving devices are arranged between the second motion platform and the first motion platform, the pushing ends of the more than two pitching driving devices are connected with the bottom surface of the second motion platform, and the pitching driving devices are suitable for driving the second motion platform to generate pitching motion; the top surface of the second motion platform is suitable for placing a driving simulation in-vehicle assembly. Under the driving action of more than two pitching driving devices, the second motion platform can be lifted and descended in multiple directions, so that the automobile body state of an automobile driving on various roads such as uphill, downhill or deceleration strips can be simulated.

Description

Technical Field

[0001] The present application relates to the technical field of simulated driving, and in particular to a multi-degree-of-freedom driving simulation device. Background Art

[0002] A driving simulator is a device that simulates a real driving environment, which allows users to practice driving skills under safe conditions and helps drivers improve their skills and confidence in various situations. With the advancement of technology, these simulators are becoming more and more advanced and practical. Existing simulated driving technology can refer to a simulated driving instrument with a publication number of CN105844994A; including a chassis, an instrument panel assembly arranged at the front of the chassis, a steering wheel arranged on the instrument panel assembly, a seat arranged at the rear of the chassis, a gearbox located on the right side of the seat, and a clutch pedal, a foot brake pedal and an accelerator pedal arranged on the chassis and in front of the seat. This technology highly restores the real car cab in structure, but the chassis is fixed during the simulated driving process. For example, in the driving scenario of uphill or downhill, the driver will not produce changes in the corresponding position or posture, which leads to a low degree of authenticity of the simulated driving effect. Summary of the invention

[0003] In view of this, the present application proposes a multi-degree-of-freedom driving simulation device.

[0004] According to one aspect of the present application, a multi-degree-of-freedom driving simulation device is provided, characterized in that it includes: a base, a first motion platform, and a second motion platform;

[0005] The first motion platform is movably arranged on the base, and the moving direction of the first motion platform is perpendicular to the forward direction of the simulated driving;

[0006] The second motion platform can be arranged on the first motion platform in a pitching manner; more than two pitch driving devices are arranged between the second motion platform and the first motion platform, and the driving ends of the more than two pitch driving devices are connected to the bottom surface of the second motion platform, and are suitable for driving the second motion platform to perform pitching motion;

[0007] The top surface of the second motion platform is suitable for placing components inside the simulated driving vehicle.

[0008] In a possible implementation, a connection portion is provided at the bottom of the first motion platform, a first drive motor is provided on the top surface of the base, and the first motion platform is connected to the first drive motor via the connection portion.

[0009] In a possible implementation, the first motion platform includes: a first support frame and a second support frame;

[0010] The first support frame is movably arranged above the base; the second support frame is arranged on the first support frame and more than two pitch driving devices are arranged on the second support frame.

[0011] In a possible implementation, the first support frame includes: four support beams, and the four support beams are arranged in an "X" shape.

[0012] In a possible implementation, the second support frame includes: four support plates and a flat plate;

[0013] One end of the four support plates is respectively connected to one end of the four support beams that are away from each other, and a preset angle is set between the plane where the support plates are located and the plane where the four support beams are located;

[0014] The other ends of the four support plates are connected to the four corners of the flat plate; the flat plate is suspended above the first support frame through the four support plates.

[0015] In a possible implementation, the pitch drive device includes: a second drive motor and a connecting rod;

[0016] The second driving motor is arranged on the second supporting frame, the driving end of the second driving motor is hinged to one end of the connecting rod, and the other end of the connecting rod is hinged to the second moving platform.

[0017] In a possible implementation, four pitch drive devices are provided;

[0018] The four pitch driving devices are respectively arranged on the four supporting plates, and the connecting rods of the four pitch driving devices are respectively hinged to the four corners of the second motion platform.

[0019] In a possible implementation, the second drive motor is a linear motor.

[0020] In a possible implementation, each pitch drive device is provided with an auxiliary support device;

[0021] The auxiliary supporting device passes through the flat plate and is connected with the connecting rod.

[0022] In a possible implementation, a side plate, a bottom plate and two or more reinforcement plates are further provided between the first support frame and the second support frame;

[0023] The bottom plate covers the top of the four support beams, and the bottom plate is fixedly connected to the four support beams; the left and right sides of the four side plates are respectively connected to two adjacent support plates, and the upper and lower sides of the four side plates are respectively connected to the flat plate and the bottom plate.

[0024] Beneficial effects: The base is suitable for providing an installation foundation for the first motion platform and the second motion platform, and ensuring the placement stability of the overall device. At the same time, the activity direction of the first motion platform is perpendicular to the forward direction of the simulated driving, that is, the first motion platform can move in a straight line on the base. When the car is driving, the left and right positions of the first motion platform can be changed to simulate the lane changing effect; under the driving action of more than two pitch drive devices, the second motion platform can be lifted and lowered in multiple directions to achieve the pitching activity of the second motion platform on the first motion platform, thereby simulating the body state of the car driving on various roads such as uphill, downhill or passing through speed bumps. This application is divided into two layers of upper and lower motion mechanisms, creating a richer and more realistic real-time driving condition; simulating the driving body feeling, integrating the three factors of ground, vehicle, and person, so that it has a higher degree of driving effect authenticity; it is not only a modern means of training, but also provides a powerful tool for scientific research.

[0025] Other features and aspects of the present application will become apparent from the following detailed description of exemplary embodiments with reference to the attached drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] The accompanying drawings, which are incorporated in and constitute a part of the specification, illustrate exemplary embodiments, features, and aspects of the present application and, together with the description, serve to explain the principles of the present application.

[0027] Figure 1 A main structure diagram of a multi-degree-of-freedom driving simulation device according to an embodiment of the present application is shown;

[0028] Figure 2 A partial structural diagram of a multi-degree-of-freedom driving simulation device according to an embodiment of the present application is shown;

[0029] Figure 3 Show Figure 2 A top view of

[0030] Figure 4 A partial structural diagram of a first motion platform according to an embodiment of the present application is shown;

[0031] Figure 5 A main structure diagram of the first motion platform and the second motion platform of an embodiment of the present application is shown;

[0032] Figure 6 Show Figure 5 A front view of

[0033] Figure 7 Show Figure 5 Side view of

[0034] Figure 8 A partial structural diagram of a first motion platform according to an embodiment of the present application is shown;

[0035] Fig. 9 A partial structural diagram of a first motion platform according to an embodiment of the present application is shown;

[0036] Fig.10 Show Figure 5 A partial enlarged view of;

[0037] Fig.11 A partial structural diagram of a multi-degree-of-freedom driving simulation device according to an embodiment of the present application is shown;

[0038] Fig.12 A main structural diagram of the first motion platform of an embodiment of the present application is shown;

[0039] Fig.13 Show Fig.11 A partial enlarged view of

[0040] Fig.14 A partial structural diagram of a multi-degree-of-freedom driving simulation device according to an embodiment of the present application is shown;

[0041] Fig.15 Show Fig.14 A partial enlarged view of

[0042] Fig.16 A driving principle diagram of a linear motor according to an embodiment of the present application is shown;

[0043] Fig.17 A driving principle diagram of the second driving motor according to an embodiment of the present application is shown. DETAILED DESCRIPTION

[0044] Various exemplary embodiments, features and aspects of the present application will be described in detail below with reference to the accompanying drawings. The same reference numerals in the accompanying drawings represent elements with the same or similar functions. Although various aspects of the embodiments are shown in the accompanying drawings, the drawings are not necessarily drawn to scale unless otherwise specified.

[0045] Among them, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention or simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation to the present invention.

[0046] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features. In the description of the present invention, the meaning of "plurality" is two or more, unless otherwise clearly and specifically defined.

[0047] The word “exemplary” is used exclusively herein to mean “serving as an example, example, or illustration.” Any embodiment described herein as “exemplary” is not necessarily to be construed as preferred or advantageous over other embodiments.

[0048] In addition, in order to better illustrate the present application, numerous specific details are given in the following specific embodiments. It should be understood by those skilled in the art that the present application can also be implemented without certain specific details. In some examples, methods, means, components and circuits well known to those skilled in the art are not described in detail in order to highlight the subject matter of the present application.

[0049] Figure 1 The main structure diagram of the multi-degree-of-freedom driving simulation device of the embodiment of the present application is shown. Figure 1 As shown, the multi-degree-of-freedom driving simulation device includes: a base 100, a first motion platform 200, and a second motion platform; the first motion platform 200 is movably arranged on the base 100, and the movement direction of the first motion platform 200 is perpendicular to the forward direction of the simulated driving; the second motion platform can be pitched on the first motion platform 200; more than two pitch driving devices are arranged between the second motion platform and the first base 100, and the driving ends of the more than two pitch driving devices are connected to the bottom surface of the second motion platform, which are suitable for driving the second motion platform to pitch; the top surface of the second motion platform is suitable for placing the simulated driving vehicle components.

[0050] Here, it should be noted that the base 100 is suitable for providing an installation foundation for the first motion platform 200 and the second motion platform, and ensuring the placement stability of the overall device. At the same time, the activity direction of the first motion platform 200 is perpendicular to the forward direction of the simulated driving, that is, the first motion platform 200 can move in a straight line on the base 100. When the car is driving, the left and right positions of the first motion platform 200 can be changed to simulate the lane changing effect; under the driving action of more than two pitch drive devices, the second motion platform can be lifted and lowered in multiple directions to achieve the pitching activity of the second motion platform on the first motion platform 200, thereby simulating the physical state of the driver driving the car on various roads. This application is divided into two layers of upper and lower motion mechanisms, creating a richer and more realistic real-time driving condition; simulating the driving body feeling, integrating the three factors of the ground, vehicle, and person, so that it has a higher degree of driving effect authenticity; it is not only a modern means of training, but also provides a powerful tool for scientific research.

[0051] In one possible implementation, the main body of the base 100 is a rectangular plate-like structure, the movement direction of the first motion platform 200 is parallel to the body length direction of the base 100, and the base 100 is suitable for being placed horizontally in front of a display screen. When the first motion platform 200 moves left and right on the base 100, it can simulate the real-time situation of a car changing lanes left and right.

[0052] In a possible implementation, as shown in the figure, a connection portion 210 is provided at the bottom of the first motion platform 200, and the first motion platform 200 is connected to the base 100 through the connection portion 210; Figure 4 As shown, the connecting portion 210 includes: a rotating shaft 213, a rotating drum 212, and a connecting plate 214; the top surface of the connecting plate 214 is movably connected to the first support frame of the first motion platform 200 through a slider 211, one end of the rotating shaft 213 is fixedly connected to the connecting plate 214, and the other end of the rotating shaft 213 is inserted into the cavity of the rotating drum 212, the rotating shaft 213 can rotate in the rotating drum 212, and the rotating drum 212 is movably connected to the base 100.

[0053] In a possible implementation, the first motion platform 200 is movably connected to the base 100 via the first drive motor 400; further, the first drive motor 400 is a linear motor; the first drive motor 400 is fixed on the base 100, and the rotating drum 212 of the connecting part 210 is fixed on the slider of the first drive motor 400. When the slider of the first drive motor 400 moves linearly, it can drive the connecting part 210 and the first motion platform 200 to move.

[0054] In a possible implementation, the first motion platform 200 includes: a first support frame and a second support frame; the first support frame is movably arranged above the base 100; the second support frame is arranged on the first support frame and two or more pitch drive devices are arranged on the second support frame. The first support frame of the first motion platform 200 is suitable for connecting with the base 100, and the second support frame is suitable for installing and placing the pitch drive device.

[0055] In a possible implementation, the first support frame includes: four support beams 220, and the four support beams 220 are arranged in an "X" shape. Figure 3 and Figure 4 As shown, each support beam 220 is composed of two slide bars arranged parallel to each other. The two slide bars of the support beam 220 are embedded in the top surface of the four sliders 211. The sliders 211 can move along the length direction of the slide bars; the bottom of the slider 211 is fixedly connected to the connecting plate 214. The structures of the four support beams 220 are the same. The two opposing support beams 220 are located on the same straight line, so that the four support beams 220 form an "X"-shaped layout mode, wherein the angle between two adjacent support beams 220 is 30 degrees.

[0056] In a possible implementation, a connection portion 210 is provided at the bottom of each support beam 220, and two first drive motors 400 are provided in total. The two first drive motors 400 are adjacently arranged on the base 100, and the two first drive motors 400 are both linear motors; and two sliders are provided on the track of each first drive motor 400; the connection portions 210 under the four support beams 220 are respectively fixedly mounted on the two sliders of the two first drive motors 400, and are movably connected to the base 100 through the sliders of the first drive motors 400. Specifically, the rotating cylinders 212 of the four connection portions 210 are respectively connected to the four sliders, and under the action of the four connection portions 210, the overall movement stability of the first support frame can be ensured to drive the second support frame and the second motion platform above to move smoothly.

[0057] Furthermore, the model of the first driving motor 400 is: Akribis, AKM200-B4.

[0058] In a possible implementation, the second support frame includes: four support plates 260 and a flat plate 230; Figure 5 As shown, one end of the four support plates 260 is respectively connected to one end of the four support beams 220 that are away from each other, and a preset angle is set between the plane where the support plates 260 are located and the plane where the four support beams 220 are located; the other ends of the four support plates 260 are connected to the four corners of the flat plate 230; the flat plate 230 is suspended above the first support frame through the four support plates 260, and the plane where the flat plate 230 is located is parallel to the horizontal plane; Figure 5 and Figure 8As shown, the main body of each support plate 260 is a rectangular plate-like structure, the support plate 260 is arranged above the support beam 220, and one end of the support plate 260 is fixedly connected to the top corner of the support beam 220, and the other end of the support plate 260 is tilted, so that a preset angle is formed between the plane where the support plate 260 is located and the plane where the support beam 220 (or the bottom plate 250) is located, and the value range of the preset angle is 15°-25°; preferably, the preset angle is 20°. Further, the main body of the flat plate 230 is a rectangular plate-like structure, and the four corners of the flat plate 230 are connected to the tilted ends of the four support plates 260. Under the support of the four support plates 260, the flat plate 230 is located above the first support frame, and the plane where the flat plate 230 is located is parallel to the plane where the first support frame is located.

[0059] In a possible implementation, four side plates 240, a bottom plate 250 and two or more reinforcement plates 270 are further provided between the first support frame and the second support frame. Figure 8 As shown, four side plates 240, a bottom plate 250, two or more reinforcing plates 270, a flat plate 230, and four supporting plates 260 are integrally designed; Fig. 9 As shown, the bottom plate 250 covers the top of the four support beams 220, and the bottom plate 250 is fixedly connected to the four support beams 220; the left and right sides of the four side plates 240 are respectively connected to two adjacent support plates 260, and the upper and lower sides of the four side plates 240 are respectively connected to the flat plate 230 and the bottom plate 250; under the setting of the side plates 240, the four support plates 260 can be connected as a whole to improve the installation stability and structural strength of the four support beams 220 and the flat plate 230; more than two reinforcement plates 270 are provided between the bottom plate 250 and the flat plate 230, which are suitable for improving the support stability of the flat plate 230.

[0060] In a possible implementation, the pitch drive device includes: a second drive motor 500 and a connecting rod 510; the second drive motor 500 is arranged on the second support frame, the driving end of the second drive motor 500 is hinged to one end of the connecting rod 510, and the other end of the connecting rod 510 is hinged to the second motion platform. Further, there are four pitch drive devices in total; the four pitch drive devices are respectively arranged on four support plates 260. Fig.10 As shown, the second driving motor 500 is disposed on the supporting plate 260 , one end of the second driving motor 500 facing the flat plate 230 is hinged to one end of a connecting rod 510 , and the other end of the connecting rod 510 is hinged to the bottom of the second motion platform.

[0061] Preferably, the second drive motor 500 is a linear motor. Fig.10As shown, a first connecting shaft 512 is fixedly disposed on one side of the slider of the second driving motor 500, and a hanging ring 514 at one end of the connecting rod 510 is sleeved on the first connecting shaft 512. The model of the second driving motor 500 is an iron core linear motor AKM150-B4.

[0062] In one possible implementation, Figure 7 As shown, the second drive motor 500 is provided with a motor cover 530 , which is buckled on the support plate 260 and covers the second drive motor 500 , and a connecting rod clearance hole is provided on the top surface of the motor cover 530 , which is suitable for making way for the movement of the connecting rod 510 .

[0063] In one possible implementation, Figure 7 and Fig.10 As shown, each support beam 220 is composed of two sliding bars arranged parallel to each other, and baffles 540 are arranged on both sides of each support beam 220 (the sides where the two sliding bars are facing away from each other).

[0064] In a possible implementation, the second motion platform includes: a frame 310 and a top plate 300; the top plate 300 is buckled on the frame 310; Fig.12 and Fig.13 As shown, connecting blocks 320 are provided at the four corners of the frame 310, and a second connecting shaft 511 is fixedly provided on one side of the connecting block 320. The other end of the connecting rod 510 is suitable for being mounted on the second connecting shaft 511. The connecting rods 510 of the four pitch driving devices are respectively hinged to the second connecting shafts 511 at the four corners of the frame 310, so that when the second driving motor 500 is working, the four corners of the second motion platform are driven to pitch up and down respectively. The main body of the top plate 300 is a rectangular plate structure. When one of the second drive motors 500 drives the connecting rod 510 to move toward the second motion platform, a corner of the second motion platform where the second drive motor 500 is located is lifted upward; when two adjacent second drive motors 500 drive the connecting rod 510 to move toward the second motion platform, one side of the second motion platform where the two second drive motors 500 are located is lifted upward. With the various coordinated operations of the four second drive motors 500, the second motion platform can achieve pitching motion in multiple directions and angles. During driving, when the car is going uphill, the human body will lean backward, and when the car is going downhill, the human body will lean forward, or when passing through uneven roads, the human body will experience ups and downs to varying degrees. Therefore, different driving conditions can be simulated by the operation of the four second drive motors 500 (when going uphill, the two second drive motors 500 on the front side drive the second motion platform to lift; when going downhill, the two second drive motors 500 on the rear side drive the second motion platform to lift).

[0065] In a possible implementation, each pitch driving device is provided with an auxiliary supporting device 520; the auxiliary supporting device 520 passes through the flat plate 230 and is connected to the connecting rod 510. Fig.10 As shown, one end of the auxiliary support device 520 is hinged to the first motion platform 200, and through holes 231 are provided at the four corners of the flat plate 230. The auxiliary support device 520 penetrates the through holes 231 and is connected to the connecting rod 510. When the second drive motor 500 drives the connecting rod 510 to move toward the second motion platform, the auxiliary support device 520 can effectively improve the smooth movement of the connecting rod 510. When the second drive motor 500 drives the connecting rod 510 to move away from the second motion platform, the auxiliary support device 520 can prevent the connecting rod 510 from moving excessively. The setting of the auxiliary support device 520 can increase the service life of the overall equipment and prevent the connecting rod 510 from being broken due to excessive force during movement.

[0066] Furthermore, the auxiliary support device 520 is a cylinder. Fig.13 As shown, a through hole is provided on the side wall of the connecting rod 510, and a third connecting shaft 513 is disposed in the through hole; the push rod of the cylinder is inserted into the through hole of the connecting rod 510 and is hinged to the third connecting shaft 513. Fig.10 As shown, a shaft is provided on the connecting seat 521 , the bottom of the shell of the auxiliary supporting device 520 is hinged to the shaft of the connecting seat 521 , and the connecting seat 521 is fixed on the bottom plate 250 of the first motion platform 200 .

[0067] In a possible implementation, it further includes: a lateral restraint device 700, which is disposed between the first motion platform 200 and the second motion platform. Fig.10 As shown, the lateral restraint device 700 includes: a first folding plate 710 and a second folding plate 720; one side of the first folding plate 710 is rotatably connected to the side of the second motion platform, the opposite side of the first folding plate 710 is hinged to one side of the second folding plate 720, and the other side of the second folding plate 720 is hinged to the flat plate 230 of the first motion platform 200. Further, as Fig.15 As shown, the main body of the first folding plate 710 is a triangular plate structure, and the main body of the second folding plate 720 is a rectangular plate structure. A hanging ring 713 is fixedly provided at the top corner of the first folding plate 710. Fig.13 As shown, a fourth connecting shaft 711 is provided on the side of the frame 310 of the second motion platform, and the hanging ring 713 of the first folding plate 710 is sleeved on the fourth connecting shaft 711, thereby realizing the hinge connection between the first folding plate 710 and the frame 310.

[0068] In one possible implementation, Fig.15As shown, two restraining rods 721 are provided at both ends of the second folding plate 720, and hooks 723 are provided at both ends of the two restraining rods 721; two fifth connecting shafts 722 are provided on one side of the first folding plate 710 connected to the second folding plate 720; the hooks 723 at one end of the two restraining rods 721 are sleeved on the two fifth connecting shafts 722, thereby realizing the hinge connection between the first folding plate 710 and the second folding plate 720; Fig.15 As shown, two sixth connecting shafts 724 are provided on one side of the flat plate 230 , and the hooks 723 at the other ends of the two restraining rods 721 are sleeved on the two sixth connecting shafts 724 , thereby realizing the hinge connection between the flat plate 230 and the second folding plate 720 .

[0069] In one possible implementation, two lateral restraint devices 700 are provided, and the two lateral restraint devices 700 are respectively arranged on opposite sides of the second motion platform. It should be noted that the second motion platform generates a forward tendency when braking, and generates a backward tendency when starting. The setting of the two lateral restraint devices 700 can prevent the second motion platform from excessive movement and play a role of limit restraint.

[0070] In a possible implementation, a limiting rod 800 is provided between the first motion platform 200 and the second motion platform; one end of the limiting rod 800 is hinged to the bottom surface of the second motion platform, and the other end of the limiting rod 800 is movably connected to the top surface of the flat plate 230. Further, one end of the limiting rod 800 is fixedly connected to the hanging ring 713 at the top corner end of the first folding plate 710, and the other end of the limiting rod 800 is movably connected to the top surface of the flat plate 230 via the third driving motor 810.

[0071] Furthermore, the third drive motor 810 is a linear motor, and the third drive motor 810 is arranged on the top surface of the flat plate 230 . A seventh connecting shaft 830 is fixedly provided on one side of the slider of the third drive motor 810 ; the hook 820 at the other end of the limiting rod 800 is sleeved on the seventh connecting shaft 830 .

[0072] In a possible implementation, it also includes more than two limit blocks 811; the more than two limit blocks 811 are respectively located on the track of the third drive motor 810, and are suitable for limiting the movement of the slider of the third drive motor 810, ensuring that the slider of the third drive motor 810 can only slide between the two limit blocks 811 on the track.

[0073] Here, it should be noted that there are four limit blocks 811; the four limit blocks 811 are respectively arranged on two tracks of the third drive motor 810, and the distance between two limit blocks 810 is 760 mm; the slider stroke of the third drive motor 810 is set to 300 mm.

[0074] In a possible implementation, the components in the simulated driving vehicle include: a driving seat 600, a steering wheel 610, and a brake, a clutch, and an accelerator. Figure 1 As shown, the driving seat 600, the steering wheel 610, the brake, the clutch, and the accelerator are all arranged on the top plate 300. A support rod 620 is provided on the second motion platform, which is suitable for placing the steering wheel 610; the brake, the clutch, and the accelerator are installed according to the placement position in the car; a support platform is provided under the driving seat 600 to increase the height of the driving seat 600. All human-machine interfaces of the steering wheel 610, the brake, the clutch, and the accelerator are physically connected to the controller (simulation machine). The controller collects the input signal and performs model calculation, converts the corresponding result into a physical signal, and then drives the various linear motors of the driving simulator to move, simulating the real driving reaction. The above content is repeated.

[0075] like Fig.17 As shown, the acceleration sensor is arranged on the second motion platform. The ultimate goal of the device is to simulate the motion of a real vehicle during driving. The acceleration sensor is used to monitor the actual motion of the second motion platform during the control process of the controller and to feed back the signal to the controller. The controller sends the command to the four drivers, which execute the motion of the four second drive motors 500.

[0076] In summary, there are several driving states during car driving:

[0077] 1. Driving at a constant speed on a flat road, the controller controls the first drive motor 400, the second drive motor 500, and the third drive motor 810 to stop working; so that the second motion platform is located in a horizontal plane without displacement.

[0078] 2. When the car accelerates (the driver steps on the accelerator), the controller collects the signal transmitted by the accelerator and controls the third drive motor 810 to push the second motion platform backward, so that the second motion platform is located in the horizontal plane and produces a backward displacement.

[0079] 3. When the car brakes or slows down (the driver steps on the brake), the controller collects the signal transmitted by the brake and controls the third drive motor 810 to push the second motion platform forward, so that the second motion platform is located in the horizontal plane and generates a forward displacement.

[0080] 4. When the car is traveling uphill, the controller controls the two second drive motors 500 located at the front side to push the second motion platform forward, so that the front side of the second motion platform tilts up.

[0081] 5. When the car travels downhill, the controller controls the two second drive motors 500 located at the rear side to push the second motion platform forward, so that the rear side of the second motion platform tilts up.

[0082] 6. When the car passes over a speed bump, the controller first controls the two second drive motors 500 on the front side to push the second motion platform forward, so that the front side of the second motion platform tilts up first, and then controls the two second drive motors 500 on the front side to reset; then controls the two second drive motors 500 on the rear side to push the second motion platform forward, so that the rear side of the second motion platform tilts up, and finally controls the two second drive motors 500 on the rear side to reset.

[0083] 7. The car changes lanes to the left or right (the driver rotates the steering wheel 610 ), and the controller collects the signal transmitted from the steering wheel 610 and controls all the first drive motors 400 to propel the first motion platform 200 to the left or right.

[0084] The embodiments of the present application have been described above, and the above description is exemplary, not exhaustive, and is not limited to the disclosed embodiments. Many modifications and changes will be apparent to those of ordinary skill in the art without departing from the scope and spirit of the described embodiments. The selection of terms used herein is intended to best explain the principles of the embodiments, practical applications, or improvements to the technology in the market, or to enable other persons of ordinary skill in the art to understand the embodiments disclosed herein.

Claims

1. A multi-degree-of-freedom driving simulation device, characterized in that: include: Base, first motion platform, second motion platform; The first motion platform is movably arranged on the base, and the movement direction of the first motion platform is perpendicular to the forward direction of the simulated driving; The second motion platform can be arranged on the first motion platform in a pitching manner; more than two pitch driving devices are arranged between the second motion platform and the first motion platform, and the driving ends of the more than two pitch driving devices are connected to the bottom surface of the second motion platform, and are suitable for driving the second motion platform to perform pitch motion; The top surface of the second motion platform is suitable for placing components inside the simulated driving vehicle.

2. The multi-degree-of-freedom driving simulation device according to claim 1, characterized in that: A connecting portion is provided at the bottom of the first motion platform, a first driving motor is provided on the top surface of the base, and the first motion platform is connected to the first driving motor via the connecting portion.

3. The multi-degree-of-freedom driving simulation device according to claim 1, characterized in that: The first motion platform comprises: a first support frame and a second support frame; The first support frame is movably arranged above the base; the second support frame is arranged on the first support frame and more than two pitch driving devices are arranged on the second support frame.

4. The multi-degree-of-freedom driving simulation device according to claim 3, characterized in that: The first support frame includes: four support beams, and the four support beams are arranged in an "X" shape structure.

5. The multi-degree-of-freedom driving simulation device according to claim 4, characterized in that: The second support frame includes: four support plates and a flat plate; One end of the four support plates is respectively connected to one end of the four support beams that are away from each other, and a preset angle is set between the plane where the support plates are located and the plane where the four support beams are located; The other ends of the four support plates are connected to the four corners of the flat plate; the flat plate is suspended above the first support frame through the four support plates.

6. The multi-degree-of-freedom driving simulation device according to claim 5, characterized in that: The pitch drive device comprises: a second drive motor and a connecting rod; The second driving motor is arranged on the second supporting frame, the driving end of the second driving motor is hinged to one end of the connecting rod, and the other end of the connecting rod is hinged to the second motion platform.

7. The multi-degree-of-freedom driving simulation device according to claim 6, characterized in that: The pitch drive devices are provided with four; The four pitch drive devices are respectively arranged on the four support plates, and the connecting rods of the four pitch drive devices are respectively hinged to the four corners of the second motion platform.

8. The multi-degree-of-freedom driving simulation device according to claim 6, characterized in that: The second driving motor is a linear motor.

9. The multi-degree-of-freedom driving simulation device according to claim 6, characterized in that: Each of the pitch drive devices is provided with an auxiliary support device; The auxiliary supporting device passes through the flat plate and is connected with the connecting rod.

10. The multi-degree-of-freedom driving simulation device according to claim 5, characterized in that: A side plate and a bottom plate are also provided between the first support frame and the second support frame; The bottom plate covers the top of the four support beams, and the bottom plate is fixedly connected to the four support beams; the left and right sides of the four side plates are respectively connected to two adjacent support plates, and the upper and lower sides of the four side plates are respectively connected to the flat plate and the bottom plate.

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