Helicopter cabin for air search and rescue simulation training and simulation method thereof

Abstract

The invention relates to a helicopter cabin for air search and rescue simulation training, and belongs to the technical field of search and rescue training equipment. In order to overcome the defects that an existing helicopter cabin is limited in space, low in training efficiency and high in training cost, the helicopter cabin comprises a cabin and a control device, the cabin is installed above a six-degree-of-freedom control platform, and a winch is installed above the cabin; the control device comprises an independently used console, an integrated controller and a positioner, wherein the integrated controller and the positioner are installed in a six-degree-of-freedom control platform. The helicopter cabin can simulate the attitude of a helicopter in the flight process, and a real helicopter does not need to be adopted for training; more instructors and colleges can be accommodated around the cabin to visit and learn on site, so that the training efficiency is improved, and the training cost is reduced; a plurality of cameras are installed in the cabin, operation and behaviors of the trainee are recorded in real time and in all directions, videos are observed in a training redisk, and redisk guidance is conducted on wrong behaviors and actions of the trainee.

Description

Technical Field

[0001] The present invention relates to a helicopter cockpit for air search and rescue simulation training and a simulation method thereof, belonging to the technical field of search and rescue training equipment. Background Art

[0002] For flight search and rescue, it is currently an essential search and rescue method during the search and rescue process. Lifeguards need to undergo relevant training before conducting flight search and rescue. However, there is currently no relevant simulation training equipment for flight search and rescue. Lifeguards and winch operators need to train on a helicopter, and helicopter flight requires the cooperation of a pilot. The combination of the two results in a relatively high training cost for lifeguards and winch operators.

[0003] In addition, due to the limited space in the helicopter cabin, an instructor also needs to be carried during the training process. As a result, only a few trainees can participate in a relatively costly flight training, further increasing the training cost and reducing the training efficiency. At the same time, during daily training, the instructor needs to constantly pay attention to the safety of the trainees and cannot provide real-time guidance on the operations and behaviors of each trainee inside the cabin, and other trainees cannot observe. Summary of the Invention

[0004] The purpose of the present invention is to solve the deficiencies in the prior art that there is a lack of simulation training equipment and helicopter training is required, the space in the helicopter cabin is limited, the training efficiency is low, and the training cost is high. A helicopter cockpit for air search and rescue simulation training is provided. The helicopter cockpit can simulate the attitude of a helicopter, accommodate multiple trainees for training at the same time, improve the training efficiency, reduce the training cost, and fill the gap in simulation training equipment.

[0005] In order to achieve the above purpose, the present invention adopts the following technical solutions: A helicopter cockpit for air search and rescue simulation training, characterized in that: it includes a cabin and a control device. The cabin is installed above a six-degree-of-freedom control platform, and a winch is installed above the cabin; the control device includes a console for independent use, a centralized controller and a positioner installed in the six-degree-of-freedom control platform; The centralized controller and the positioner are electrically connected to the console. A winch control unit for controlling the winch and an electric push rod control unit for controlling the six-degree-of-freedom platform are installed in the centralized controller. The positioner is used to obtain the attitude information of the cabin and transmit the attitude data to the console; the winch control unit controls the movement of the winch, and the electric push rod control unit controls the movement of the six-degree-of-freedom platform; Preferably, the locator is used in cooperation with a positioning light tower that emits lasers in two directions, horizontal and vertical, in space, and includes a sensor module for acquiring the position and attitude information of a six-degree-of-freedom platform. The output end of the sensor module is electrically connected to a signal receiving and transmitting module, which is installed above the cabin. Both the sensor module and the signal receiving and transmitting module are powered by a power module, and the sensor module is installed on the helmet worn by the training personnel; Preferably, the console includes an electrical cabinet for installing the host computer. Above the electrical cabinet is an operation tabletop. On one side of the operation tabletop is a display, and simulation flight software is installed in the host computer.

[0006] Preferably, an analog collective pitch control lever and an analog cyclic pitch control lever are provided on the operation tabletop; there are two displays; the centralized controller is electrically connected to the host computer; Preferably, the cabin includes a bottom plate, a front panel and a rear panel installed on the bottom plate, a left frame and a right frame installed on the bottom plate and connecting the front panel and the rear panel. Above the front panel, the rear panel, the left frame and the right frame is a top plate frame. There are cabin doors on both the front panel and the rear panel. Inside the cabin is a camera for recording the training process. A seat is installed inside the cabin. The camera is electrically connected to one of the displays; Preferably, it further includes a boarding ladder used in cooperation with the cabin; Preferably, at least two locators are provided and are installed on the top plate frame at intervals; Preferably, the winch is fixedly installed on the top plate frame through a support rod. The winch includes a power machine box. Inside the power machine box is installed a power mechanism. The power mechanism includes a servo motor for providing power. The output end of the servo motor is installed with a reducer. The output end of the reducer is installed with a cable wheel. A cable is wound around the cable wheel, and the other end of the cable is installed with a gondola, a stretcher or a life jacket; Preferably, the winch further includes a winch control handle and a winch control box. The winch control handle includes an indicator light for indicating the operating state of the winch, a dial switch for controlling the winch, a digital tube for indicating the cable length, and a universal joystick for flight control. By operating the buttons on the control handle and processed by the winch control unit, the control of the winch is finally realized; The winch control box includes an emergency cut-off toggle switch for simulating cable cutting, a slow indicator light for indicating the slow speed of the winch, an overheat indicator light for simulating winch overheating, and a take-up and pay-out cable toggle switch for controlling the winch. By operating the buttons on the control box and processed by the winch control unit, the control of the winch is finally realized.

[0007] A simulation method for a helicopter cockpit is characterized in that it includes the following steps: Step 1: Obtain the real data of the helicopter cockpit status: The locator acquires the position and angle data of the training personnel and the helicopter cockpit, and transmits the acquired data to the simulation flight software on the host computer; Step 2: Data conversion: The simulation flight software performs coordinate transformation, scale scaling, and perspective adjustment on the real data of the helicopter cockpit status obtained in Step 1, and then maps it into the virtual reality to ensure that the offset state of the helicopter cockpit in the virtual reality is consistent with the real device; Step 3: Real-time feedback: When the attitude information of the six-degree-of-freedom control platform changes, the locator will detect the position change of the helmet and transmit it to the simulation flight software. The simulation flight software converts the offset data into the offset of the virtual helicopter in the virtual reality scene, realizing the synchronization of the states of the real device and the virtual device.

[0008] Furthermore, in Step 1, the position and angle data of the training personnel and the helicopter cockpit are obtained by the sensors worn on the helmets of the training personnel; Furthermore, Step 2 specifically includes the following steps: Step 2.1: The simulation flight software converts the locator coordinates into the global coordinate system of the virtual visual scene, and then scales them according to the preset scale factor to match the scale of the virtual scene; Step 2.2: The simulation flight software uses the rotation matrix or quaternion to convert the rotation angle of the locator into the viewing direction in the virtual visual scene.

[0009] Compared with the prior art, the present invention provides a helicopter cockpit for air rescue simulation training, which has the following advantages: It can simulate the attitude of the helicopter during flight without using a real helicopter for training; During the training process, the simulation cockpit is placed in a room, and more instructors and students can be accommodated around the cabin for on-site observation and learning, improving the training efficiency; Multiple cameras are installed in the cabin to record the operations and behaviors of the students in real time and comprehensively. Observe the video during the training review to conduct review guidance on the wrong behaviors and actions of the students; At the same time, a virtual simulation is set up, and an experience almost the same as the real operation can be obtained in the virtual environment, greatly improving the realism and effectiveness of the training. BRIEF DESCRIPTION OF THE DRAWINGS

[0010] Figure 1 is a schematic structural diagram of the present invention; Figure 2 is Figure 1 a perspective view of the cabin in Figure 3 is Figure 2 another perspective view of Figure 4 isFigure 3 Right view; Figure 5 Schematic structural diagram of the winch power mechanism; Figure 6 Stereogram of the console; Figure 7 Schematic control diagram; In the figure: 1, engine room, 11, camera, 12, bottom plate, 13, front panel, 14, rear panel, 15, left frame, 16, right frame, 17, top plate frame, 18, hatch, 19, seat, 2, six-degree-of-freedom control platform, 3, winch, 31, servo motor, 32, reducer, 33, cable wheel, 34, crossed eight-shaped lead screw, 35, driving wheel, 36, driven wheel, 4, boarding ladder, 5, support rod, 6, console, 61, electrical cabinet, 62, operation table top, 63, display, 7, positioner. Specific embodiments

[0011] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments of the present invention. All other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0012] Embodiment 1. As Figures 1 to 7 shown, a helicopter cockpit for aerial search and rescue simulation training includes an engine room 1 and a control device. The engine room 1 is installed above the six-degree-of-freedom control platform 2, and a winch 3 is installed above the engine room 1; the control device includes a console 6 for independent use, a centralized controller installed in the six-degree-of-freedom control platform 2, and a positioner 7; The centralized controller and the positioner 7 are electrically connected to the console 6. A winch control unit for controlling the winch and an electric push rod control unit for controlling the six-degree-of-freedom platform are installed in the centralized controller. The positioner 7 is used to obtain the attitude information of the engine room 1 and transmit the attitude data to the console 6; the winch control unit controls the movement of the winch, and the electric push rod control unit controls the movement of the six-degree-of-freedom platform; The six-degree-of-freedom control platform belongs to the prior art and can realize the six degrees of freedom of movement of the engine room, namely, forward and backward movement, left and right movement, up and down movement, pitching movement, rolling movement, and yaw movement, fully simulating various movement states during the flight of the aircraft; Among them, the locator 7 is used in cooperation with a positioning light tower that emits lasers in two directions, horizontal and vertical, into space, and includes a sensor module for obtaining the position and attitude information of the six-degree-of-freedom platform. The output end of the sensor module is electrically connected to a signal receiving and transmitting module. Both the sensor module and the signal receiving and transmitting module are powered by a power module. The signal receiving and transmitting module is installed above the cabin, and the sensor module is installed on the helmet worn by the training personnel; The sensor module in this embodiment is a photosensitive sensor. The positioning light tower is a prior art. The positioning light tower includes an infrared LED array and two vertical rotating shaft motors. The motors rotate rapidly, causing the laser to scan the entire positioning space in two directions, horizontal and vertical.

[0013] During operation, the infrared LEDs of the positioning light tower emit flash synchronization signals at a frequency of 60 times per second. The X-axis rotating laser first sweeps across the space, and at this time, the Y-axis does not emit light; in the next cycle, it flashes again and scans, completing a cycle; when the X-axis and Y-axis lasers sweep across the photosensitive sensor on the helmet, the sensor records the time when the light beam arrives. Since the laser covers the area in a plane, after two scans by the X-axis and Y-axis, the system can determine the angle of the headset; the system calculates the angle difference between the two light beams reaching the positioning object, and then determines the coordinates of the positioning node to be measured. These coordinate data are transmitted to the console in real time; Among them, the console 6 includes an electrical cabinet 61 for installing the host. Above the electrical cabinet 61 is an operation table 62. On one side of the operation table 62 is a display 63. The host is installed with simulation flight software; Among them, the operation table 62 is provided with a simulated collective pitch control lever and a simulated cyclic pitch control lever; the operator controls the entire helicopter cockpit through the simulated collective pitch control lever and the simulated cyclic pitch control lever; There are two displays 63; the centralized controller is electrically connected to the host; Among them, the cabin 1 includes a bottom plate 12, a front panel 13 and a rear panel 14 installed on the bottom plate 12, a left frame 15 and a right frame 16 installed on the bottom plate and connecting the front panel 13 and the rear panel 14. Above the front panel 13, the rear panel 14, the left frame 15 and the right frame 16 is a top plate frame 17. The front panel 13 and the rear panel 14 are both provided with cabin doors 18. Inside the cabin 1 is a camera 11 for recording the training process. A seat 19 is installed inside the cabin 1. The camera 11 is electrically connected to one of the displays 63, and the training process can be clearly seen on the display 63; Among them, it also includes a boarding ladder 4 used in cooperation with the cabin 1 to facilitate the boarding of training personnel; Among them, at least 2 locators 7 are provided and are installed on the top plate frame at intervals. In this embodiment, 4 locators are provided; Among them, the winch 3 is fixedly installed on the top plate frame 17 through a support rod 5. The winch 3 includes a power machine box, and a power mechanism is installed inside the power machine box. The power mechanism includes a servo motor 31 that provides power. The output end of the servo motor 31 is installed with a reducer 32. The output end of the reducer is installed with a cable wheel 33. A cable is wound around the cable wheel. The other end of the cable is installed with a gondola, a stretcher or a life jacket; it can carry out rescues for different situations. For people who cannot move, a gondola or a stretcher is used, and for people who can walk, a life jacket is used.

[0014] Among them, the winch 3 further includes a cross-shaped lead screw 34 for arranging the cable. Among them, the output end of the reducer 32 is installed with a driving wheel 35. The other end of the driving wheel 35 is installed with a cable wheel 33. A driven wheel 36 meshing with the driving wheel 35 is arranged below the driving wheel 35. The driven wheel 36 is installed on the cross-shaped lead screw 34. In this embodiment, when the servo motor 31 rotates, it drives the cable wheel 33 to rotate after being decelerated by the reducer 32, and at the same time drives the driving wheel 35 to rotate. The driving wheel 35 drives the driven wheel 36 to rotate, and the driven wheel 36 drives the cross-shaped lead screw 34 to rotate. The cable is wound around the cable wheel 33, passes through the cross-shaped lead screw 34, and a gondola, a stretcher or a life jacket is installed below. The cable is lifted or lowered by the servo motor. The cross-shaped lead screw 34 can arrange the cable to prevent the cable from being wound and affecting the use.

[0015] Among them, the winch 3 further includes a winch control handle and a winch control box. The winch control handle includes an indicator light for indicating the running state of the winch, a dial switch for controlling the winch, a digital tube for indicating the cable length, and a universal rocker for flight control. By operating the buttons on the control handle and being processed by the winch control unit, the control of the winch is finally realized; The winch control box includes an emergency cut-off toggle switch for simulating cable cutting, a slow indicator light for indicating the slow speed of the winch, an overheat indicator light for simulating winch overheating, and a take-up and pay-out cable toggle switch for controlling the winch. By operating the buttons on the control box and being processed by the winch control unit, the control of the winch is finally realized.

[0016] Embodiment 2. The simulation method of the helicopter cockpit for aerial search and rescue simulation training described in the embodiment includes the following steps: Step 1, obtain the real data of the helicopter cockpit state: The locator obtains the position and angle data of the training personnel and the helicopter cockpit, and transmits the obtained data to the simulation flight software on the host. Step 2. Data Conversion: The simulation flight software performs coordinate conversion, scale scaling, and perspective adjustment on the real data of the helicopter cockpit status obtained in Step 1, and then maps it into the virtual reality to ensure that the offset state of the helicopter cockpit in the virtual reality is consistent with the real device. Step 3. Real-time Feedback: When the attitude information of the six-degree-of-freedom control platform changes, the positioner detects the position change of the helmet and transmits it to the simulation flight software. The simulation flight software converts the offset data into the offset of the virtual helicopter in the virtual scene, realizing the synchronization of the states of the real device and the virtual device.

[0017] Among them, in Step 1, the position and angle data of the trainer and the helicopter cockpit are obtained by the sensors worn on the helmet by the trainer. Among them, Step 2 specifically includes the following steps: Step 2.1. The simulation flight software converts the positioner coordinates into the global coordinate system of the virtual view, and then scales them according to the preset scale factor to match the scale of the virtual scene. Step 2.2. The simulation flight software uses the rotation matrix or quaternion to convert the rotation angle of the positioner into the viewing direction in the virtual view.

[0018] In flight simulation training, the six-degree-of-freedom platform simulates various motion states during flight, such as pitching, yawing, rolling, etc. The positioner tracks the pilot's operation actions in real time to ensure that the flight state in the virtual view is highly consistent with the real operation.

[0019] Through this combination, users can obtain an experience almost the same as the real operation in the virtual environment, greatly improving the realism and effectiveness of the training.

[0020] In a multi-person complex space positioning system, multiple users can train simultaneously. The positioner can accurately track the position and actions of each user, realizing the synchronization of multi-person collaborative operations.

[0021] Finally, it should be noted that the above are only the preferred embodiments of the present invention and are not used to limit the present invention. Although the present invention has been described in detail with reference to the foregoing embodiments, for those skilled in the art, they can still modify the technical solutions recorded in the foregoing embodiments, or perform equivalent replacements on some of the technical features. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A helicopter cockpit for aerial search and rescue simulation training, characterized in that: It includes a cabin (1) and a control device. The cabin (1) is installed above a six-degree-of-freedom control platform (2), and a winch (3) is installed above the cabin (1); the control device includes a console (6) for independent use, a centralized controller and a locator (7) installed in the six-degree-of-freedom control platform (2); The centralized controller, the locator (7) are electrically connected to the console (6). A winch control unit for controlling the winch and an electric push rod control unit for controlling the six-degree-of-freedom platform are installed in the centralized controller. The locator (7) is used to obtain the attitude information of the cabin (1) and transmit the attitude data to the console (6); the winch control unit controls the movement of the winch, and the electric push rod control unit controls the movement of the six-degree-of-freedom platform.

2. The helicopter cockpit for aerial search and rescue simulation training according to claim 1, wherein: The locator (7) is used in cooperation with a positioning light tower that emits lasers in two directions, horizontal and vertical, in space. It includes a sensor module for obtaining the position and attitude information of the six-degree-of-freedom platform. The output end of the sensor module is electrically connected to a signal receiving and transmitting module. The signal receiving and transmitting module is installed above the cabin (1). Both the sensor module and the signal receiving and transmitting module are powered by a power supply module. The sensor module is installed on the helmet worn by the training personnel.

3. A helicopter cockpit for aerial search and rescue simulation training according to claim 1 or 2, characterized in that: The console (6) includes an electrical cabinet (61) for installing the host. Above the electrical cabinet (61) is an operation tabletop (62). On one side of the operation tabletop (62) is a display (63). Simulation flight software is installed in the host.

4. A helicopter cockpit for aerial search and rescue simulation training according to claim 3, characterized in that: On the operation tabletop (62) are provided a simulated collective pitch control lever and a simulated cyclic pitch control lever; there are two displays (63); the centralized controller is electrically connected to the host.

5. A helicopter cockpit for aerial search and rescue simulation training according to claim 3, characterized in that: The cabin (1) includes a bottom plate (12), a front panel (13) and a rear panel (14) installed on the bottom plate (12), a left frame (15) and a right frame (16) installed on the bottom plate and connecting the front panel (13) and the rear panel (14). Above the front panel (13), the rear panel (14), the left frame (15) and the right frame (16) is a top plate frame (17). On both the front panel (13) and the rear panel (14) are provided cabin doors (18). Inside the cabin (1) is installed a camera (11) for recording the training process. Inside the cabin (1) is installed a seat (19). The camera (11) is electrically connected to one of the displays (63).

6. The helicopter cockpit for aerial search and rescue simulation training according to claim 3, characterized in that: It also includes a boarding ladder (4) used in cooperation with the cabin (1).

7. A helicopter cockpit for aerial search and rescue simulation training according to claim 3, characterized in that: At least two locators (7) are provided and are installed on the top plate frame at intervals.

8. The helicopter cockpit for aerial search and rescue simulation training according to claim 3, characterized in that: The winch (3) is fixedly installed on the top plate frame (17) through a support rod (5). The winch (3) includes a power machine box. Inside the power machine box is installed a power mechanism. The power mechanism includes a servo motor (31) for providing power. The output end of the servo motor (31) is installed with a speed reducer (32). The output end of the speed reducer is installed with a cable wheel (33). A cable is wound around the cable wheel. The other end of the cable is installed with a gondola, a stretcher or a life jacket.

9. The simulation method of a helicopter cockpit for aerial search and rescue simulation training according to any one of claims 1-8, characterized in that: It includes the following steps: Step 1: Obtain the real data of the helicopter cockpit status: The locator obtains the position and angle data of the training personnel and the helicopter cockpit, and transmits the obtained data to the simulation flight software on the host computer; Step 2: Data conversion: The simulation flight software maps the real data of the helicopter cockpit status obtained in Step 1 to the virtual reality after coordinate conversion, scale scaling and perspective adjustment, ensuring the same offset state of the helicopter cockpit in the virtual reality as that of the real equipment; Step 3: Real-time feedback: When the attitude information of the six-degree-of-freedom control platform changes, the locator will detect the position change of the helmet and transmit it to the simulation flight software. The simulation flight software converts the offset data into the offset of the virtual helicopter in the virtual reality scene, realizing the synchronization of the states of the real equipment and the virtual equipment.

10. The simulation method of a helicopter cockpit according to claim 9, characterized in that: In Step 1, the position and angle data of the training personnel and the helicopter cockpit are obtained through the sensors on the helmet worn by the training personnel; Step 2 specifically includes the following steps: Step 2.1: The simulation flight software converts the locator coordinates into the global coordinate system of the virtual view, and then scales them according to the preset scale factor to match the scale of the virtual scene; Step 2.2: The simulation flight software uses the rotation matrix or quaternion to convert the rotation angle of the locator into the viewing direction in the virtual view.

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