Multi-environment simulation helicopter training system

Abstract

The utility model relates to a multi-environment simulation helicopter training system. The training system is arranged in a training space and comprises a simulation helicopter cabin, a position simulation assembly, a posture simulation assembly and an environment simulation device. The position simulation assembly is configured to change the position of the simulation helicopter cabin in the training space. The attitude simulation assembly is configured to change the attitude of the simulated helicopter cabin. The environment simulation device comprises a land environment facility, a water surface environment facility, a sound environment device, a light environment device and a touch environment device. The terrestrial environment facility is configured to simulate at least one terrestrial environment. The surface environment facility is configured to simulate at least one surface environment. The sound environment device is configured to simulate a sound environment. The light environment device is configured to simulate a light environment. The tactile environment device is configured to simulate at least one of a shake environment and an airflow environment. The training system can simulate various lifelike environments, improve the multi-scene operation proficiency level of trainees, and meet the training requirements.

Description

Technical Field

[0001] The utility model relates to the technical field of helicopter simulation training, in particular to a multi-environment simulation helicopter training system. Background Art

[0002] With the development of society and technological advancement, the application areas of helicopters are constantly expanding. Their scope of operation not only includes helicopter firefighting, material delivery, earthquake rescue, etc., but also extends to water / sea rescue, night rescue, rescue in extreme weather conditions, and power facility maintenance.

[0003] Helicopter operators typically use simulation training systems to learn professional skills, accumulate multi-disciplinary experience, and improve their proficiency, thereby increasing the success rate of actual missions and reducing safety risks. However, existing helicopter training systems often simulate relatively simple environments with low fidelity and limited realism, making them difficult to meet the training needs of helicopter operators. Utility Model Content

[0004] In view of the above problems, the present invention is proposed to provide a multi-environment simulation helicopter training system that overcomes the above problems or at least partially solves the above problems. It aims to solve the problem that the simulation environment of the existing helicopter training system has low realism and is relatively single, which is difficult to meet the training needs of helicopter operators.

[0005] Specifically, the present invention provides the following technical solutions:

[0006] A multi-environment simulated helicopter training system is arranged in a training space and comprises a simulated helicopter cockpit, a position simulation component, a posture simulation component and an environment simulation device.

[0007] The position simulation component is configured to change the position of the simulated helicopter cockpit in the training space. The attitude simulation component is configured to change the attitude of the simulated helicopter cockpit.

[0008] The environment simulation device includes land environment facilities, water environment facilities, sound environment devices, light environment devices and tactile environment devices.

[0009] The land environment facility is located at the bottom of the training space and is configured to simulate at least one land environment. The water environment facility is located at the bottom of the training space and is configured to simulate at least one water environment. The sound environment device is configured to simulate a sound environment. The light environment device is configured to simulate a light environment. The tactile environment device is configured to simulate at least one of a shaking environment and an airflow environment.

[0010] Optionally, the position simulation component includes a trolley mechanism, a small trolley mechanism and a lifting mechanism.

[0011] The trolley mechanism is located above the simulated helicopter cockpit and is configured to move along the length of the training space. The trolley mechanism includes a main beam extending along the width of the training space. The trolley mechanism is slidably connected to the main beam along the width of the training space. The lifting mechanism is mounted on the trolley mechanism and is configured to suspend the simulated helicopter cockpit via a plurality of ropes to adjust the height of the simulated helicopter cockpit.

[0012] Optionally, the posture simulation component includes a rotation mechanism and a multi-degree-of-freedom mechanism.

[0013] The slewing mechanism is connected to the trolley mechanism so as to rotate about a vertical axis. The lifting mechanism is fixedly connected to the slewing mechanism. The multi-degree-of-freedom mechanism is connected to the lower ends of the plurality of ropes, and the lower end of the multi-degree-of-freedom mechanism is fixedly connected to the simulated helicopter cockpit to change the pitch and roll angles of the simulated helicopter cockpit.

[0014] Optionally, the multi-degree-of-freedom mechanism includes an upper frame, a lower frame, a Hooke's hinge and a telescopic mechanism.

[0015] The upper frame is horizontally disposed, with the lower ends of the plurality of ropes connected to the upper frame. The simulated helicopter cockpit is fixedly connected to the underside of the lower frame. The Hooke's hinge is hinged between the upper and lower frames and is located on the vertical center axis of the upper frame. The upper end of the telescopic mechanism is hinged to the upper frame, and the lower end is hinged to the lower frame. There are at least three telescopic mechanisms, evenly spaced circumferentially along the vertical center axis.

[0016] Optionally, the training system further comprises a rotor simulation disk, which is arranged horizontally and is located on the upper side of the lower frame, or the upper frame forms the rotor simulation disk.

[0017] The rotor simulation discs are arranged at a first preset distance above the cockpit of the simulated helicopter.

[0018] Optionally, the tactile environment device includes a fan, which is mounted on the rotor simulation disc and configured to blow air at least downward to simulate the airflow environment.

[0019] The fans are multiple and spaced apart along the disk surface of the rotor simulation disk.

[0020] Optionally, a plurality of fans are evenly spaced along the circumference of the rotor simulation disk. Each fan is hinged to the rotor simulation disk around a radial axis of the rotor simulation disk to controllably change the blowing direction.

[0021] Optionally, the centers of gravity of the lower frame, the rotor simulation disk and the simulated helicopter cockpit are all located on the vertical central axis.

[0022] Optionally, the training system further includes a controller comprising a memory, a processor, and a computer program stored in the memory and executed on the processor. The computer program includes at least one land training program and at least one water training program. The controller is configured to control the states of the position simulation component, the posture simulation component, the sound environment device, the light environment device, and the tactile environment device according to the computer program.

[0023] The multi-environment simulated helicopter training system of the present invention changes the position and attitude of the simulated helicopter cockpit through position simulation components and attitude simulation components. The environmental simulation device can simulate one or more land environments and water environments, and can simulate the sound environment, light environment, shaking environment and / or airflow environment corresponding to the training environment. On the one hand, trainees can conduct multi-environment training in this training system, improve their technical capabilities in various scenarios, accumulate multi-scenario business experience, and achieve the effect of improving their proficiency in multi-scenario operations. On the other hand, trainees can also experience realistic auditory, visual and tactile experiences during training, making the training more realistic, thereby achieving the effect of improving the success rate of actual operation tasks and reducing the safety risks of actual operations.

[0024] Based on the following detailed description of specific embodiments of the present invention in conjunction with the accompanying drawings, those skilled in the art will become more aware of the above and other objects, advantages and features of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Hereinafter, some specific embodiments of the present invention will be described in detail in an exemplary and non-limiting manner with reference to the accompanying drawings. The same reference numerals in the accompanying drawings indicate the same or similar components or parts. It should be understood by those skilled in the art that these drawings are not necessarily drawn to scale. In the accompanying drawings:

[0026] Figure 1 is a schematic front view of a training system according to one embodiment of the present invention;

[0027] Figure 2 is a schematic side view of a training system according to one embodiment of the present invention;

[0028] Figure 3 is a schematic partial front view of a training system according to one embodiment of the present invention;

[0029] Figure 4is a schematic front view of a multi-degree-of-freedom mechanism of a training system according to one embodiment of the present utility model;

[0030] Figure 5 is a schematic partial bottom view of a training system according to one embodiment of the present invention;

[0031] Figure 6 is a schematic block diagram of a training system according to one embodiment of the present invention;

[0032] Figure 7 is a schematic block diagram of a training system according to one embodiment of the present invention;

[0033] Figure 8 It is a schematic flow chart of a control method of a training system according to an embodiment of the present invention.

[0034] List of reference numerals:

[0035] 100. Training system; 200. Simulated helicopter cockpit; 300. Position simulation component; 310. Carriage mechanism; 320. Main beam; 330. Carriage mechanism; 340. Lifting mechanism; 350. Rope; 400. Rotor simulation disc; 410. Vertical center axis; 500. Attitude simulation component; 510. Rotation mechanism; 520. Multi-degree-of-freedom mechanism; 522. Upper frame; 524. Lower frame; 526. Hooke's hinge; 528. Telescopic mechanism; 600. Environmental simulation device; 610. Land environment facilities; 620. Water environment facilities; 630. Sound environment device; 640. Light environment device; 650. Tactile environment device; 651. Fan; 710. Controller; 711. Memory; 712. Processor; 713. Computer program; 714. First control cabinet; 715. Second control cabinet; 716. Third control cabinet; 900. Training space. DETAILED DESCRIPTION

[0036] Refer to the following Figures 1 to 8 The following describes a multi-environmental simulated helicopter training system according to an embodiment of the present invention. The terms "front," "back," "up," "down," "top," "bottom," "inside," "outside," and "lateral" indicate positions or relationships based on those shown in the accompanying drawings. These terms are intended solely to facilitate and simplify the description of the present invention and do not indicate or imply that the devices or components referred to must have, be constructed, or operate in a specific orientation. Therefore, they should not be construed as limitations on the present invention.

[0037] 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, a feature defined as "first" or "second" may explicitly or implicitly include at least one of the features, that is, include one or more of the features. In the description of the present utility model, the meaning of "plurality" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined. When a feature "includes or contains" one or more of the features it covers, unless otherwise specifically described, this indicates that other features are not excluded and may further include other features.

[0038] Unless otherwise expressly specified or limited, terms such as "disposed," "installed," "connected," "connected," "fixed," and "coupled" should be interpreted broadly. For example, they may refer to fixed or detachable connections, or integration; mechanical or electrical connections; direct or indirect connections through an intermediate medium; and internal communication between two elements or interaction between two elements, unless otherwise expressly limited. A person of ordinary skill in the art should be able to understand the specific meanings of the above terms in this utility model based on the specific circumstances.

[0039] In addition, in the description of this embodiment, the first feature being "above" or "below" the second feature may include the first and second features being in direct contact, or may include the first and second features not being in direct contact but being in contact via another feature between them. That is, in the description of this embodiment, the first feature being "above," "above," and "above" the second feature includes the first feature being directly above or diagonally above the second feature, or simply indicates that the first feature is higher in level than the second feature. The first feature being "below," "below," or "below" the second feature may mean that the first feature is directly below or diagonally below the second feature, or simply indicates that the first feature is lower in level than the second feature.

[0040] In the description of the present embodiment, reference to the terms "one embodiment," "some embodiments," "illustrative embodiments," "examples," "specific examples," or "some examples" means that the specific features, structures, materials, or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials, or characteristics described may be combined in any appropriate manner in any one or more embodiments or examples.

[0041] Figure 1 This is a schematic front view of a training system according to an embodiment of the present invention, with reference to Figure 1 , and combined with Figure 2-8An embodiment of the present invention provides a multi-environment simulated helicopter training system 100, which is arranged in a training space 900 and includes a simulated helicopter cockpit 200, a position simulation component 300, a posture simulation component 500 and an environment simulation device 600.

[0042] The position simulation component 300 is configured to change the position of the simulated helicopter cockpit 200 in the training space 900. The attitude simulation component 500 is configured to change the attitude of the simulated helicopter cockpit 200.

[0043] The environment simulation device 600 includes a land environment facility 610 , a water environment facility 620 , a sound environment device 630 , a light environment device 640 and a tactile environment device 650 .

[0044] Land environment facility 610 is located at the bottom of training space 900 and is configured to simulate at least one land environment. Water environment facility 620 is located at the bottom of training space 900 and is configured to simulate at least one water environment. Sound environment device 630 is configured to simulate a sound environment. Light environment device 640 is configured to simulate a light environment. Tactile environment device 650 is configured to simulate at least one of a shaking environment and an airflow environment.

[0045] The training space 900 can be a confined space, such as an indoor space, or an open space. The training space 900 is preferably an indoor space to reduce or avoid being restricted by external lighting, weather conditions, and the like (for example, a nighttime water rescue can be simulated during the day).

[0046] The simulated helicopter cockpit 200 can be a training model of a certain type of helicopter, and the cockpit can be designed in a 1:1 ratio. Generally, the simulated helicopter cockpit 200 may not be provided with rotors and tail wings.

[0047] The position simulation component 300 is used to change the position of the simulated helicopter cockpit 200 in the training space 900. Specifically, the three-dimensional coordinate position of the simulated helicopter cockpit 200 can be changed. Figure 1 , Figure 1 The y-axis may be the length of training space 900, the x-axis may be the width, and the z-axis may be the height. Position simulation component 300 may be a crane, such as a bridge crane, gantry crane, tower crane, mobile crane, portal crane, etc., without limitation. It should be understood that position simulation component 300 can not only change the position coordinates of simulated helicopter cockpit 200, but also its speed, acceleration, and other parameters to realistically reproduce the real-world scenario.

[0048] The attitude simulation component 500 is used to change the attitude of the simulated helicopter cockpit 200, including one or more of the following: pitch angle, roll angle, yaw angle, and sideslip angle. The attitude simulation component 500 can be provided with a set of motion / rotation mechanisms (e.g., a six-degree-of-freedom parallel mechanism) or multiple sets of motion / rotation mechanisms, without limitation. The attitude simulation component 500 can be mounted on the position simulation component 300, i.e., the position simulation component 300 drives the attitude simulation component 500 and the simulated helicopter cockpit 200 to move within the training space 900, while the attitude simulation component 500 independently changes the attitude of the simulated helicopter cockpit 200.

[0049] Land environment facilities 610 can simulate one or more of the following: plains, mountains, coasts, deserts, residential areas, building rooftops, etc., and can be configured based on the training subject. It should be understood that land environment facilities 610 can be static or dynamic (e.g., simulating earthquake scenarios or aircraft carrier deck scenarios) to further improve the fidelity of the scene.

[0050] Water surface environment facilities can simulate one or more of the following: river, lake, and sea surfaces, and can be set according to the training subject. It should be understood that water surface environment facilities can be static facilities or dynamic facilities (such as simulating wave scenes, flood scenes, etc.) to further improve the restoration of the scene.

[0051] The sound environment device 630 can be an audio device or other device that generates an auditory environment, such as sounds and background noise, that corresponds to the training scenario, further enhancing the fidelity of the scenario. The sound environment device 630 can be installed at a preset location within the training space 900, or it can be installed on the simulated helicopter cockpit 200, the position simulation component 300, or the attitude simulation component 500.

[0052] Lighting environment device 640 can be a light, sunshade, or other device used to create a visual environment corresponding to the training scene, including lighting, brightness, and color, to further enhance the fidelity of the scene. Sound environment device 630 can be installed at a preset location within training space 900, or on simulated helicopter cockpit 200, position simulation component 300, or attitude simulation component 500.

[0053] The tactile environment device 650 can be a vibrator, fan 651, etc., used to simulate the vibration, shaking, airflow (primarily generated by the rotors) and other environments of a real helicopter during flight, further improving the fidelity of the scene. The sound environment device 630 can be installed on the position simulation component 300, the attitude simulation component 500, or the simulated helicopter cockpit 200.

[0054] The training system 100 of this embodiment uses the position simulation component 300 and the attitude simulation component 500 to change the position and attitude of the simulated helicopter cockpit 200. The environmental simulation device 600 can simulate one or more land and water environments, as well as the sound, lighting, vibration, and / or airflow conditions corresponding to the training environment. On the one hand, trainees can conduct training in multiple environments within the training system 100, improving their technical skills in various scenarios and accumulating multi-scenario operational experience, thereby increasing their proficiency in multi-scenario operations. On the other hand, trainees can also experience realistic auditory, visual, and tactile experiences during training, making the training more realistic, thereby increasing the success rate of actual operational tasks and reducing safety risks.

[0055] In some embodiments of the training system of the present invention, Figure 1-3 As shown, the position simulation assembly 300 includes a carriage mechanism 310 , a trolley mechanism 330 and a lifting mechanism 340 .

[0056] The trolley mechanism 310 is located above the simulated helicopter cockpit 200 and is configured to move along the length of the training space 900. The trolley mechanism 310 includes a main beam 320 extending along the width of the training space 900. The trolley mechanism 330 is slidably connected to the main beam 320 along the width of the training space 900. A lifting mechanism 340 is mounted on the trolley mechanism 330 and is configured to suspend the simulated helicopter cockpit 200 via a plurality of ropes 350 to adjust the height of the simulated helicopter cockpit 200.

[0057] For indoor spaces, the position simulation component 300 can be in the form of a bridge crane. Support columns, longitudinal support beams and guide rails can be set up in the building, or the longitudinal guide rails can be set up on the building itself to support the trolley mechanism 310. Figure 1 , Figure 1 The y-axis can be the length direction of the training space 900, the x-axis can be the width direction, and the z-axis can be the height direction. The trolley mechanism 310 can reciprocate along the y-axis direction to change the y-axis coordinate. The trolley mechanism 330 can reciprocate along the x-axis direction on the main beam 320 of the trolley mechanism 310 to change the x-axis coordinate. The lifting mechanism 340 is fixedly mounted on the trolley mechanism 330 and can raise and lower the simulated helicopter cabin 200 via a rope 350, i.e., change the z-axis coordinate. The lifting mechanism 340 can be equipped with a pulley, a drum, etc., and can be driven by a motor, without limitation here. Bridge cranes are widely used, have relatively mature technology, and are highly reliable, which can reduce the cost of the training system 100 and improve the reliability of the training system 100.

[0058] For outdoor spaces, the position simulation component 300 can be in the form of a gantry crane or a jib crane and can be set up as needed.

[0059] In some embodiments of the training system of the present invention, Figure 1-3 As shown, the posture simulation assembly 500 includes a rotation mechanism 510 and a multi-degree-of-freedom mechanism 520 .

[0060] The slewing mechanism 510 is connected to the trolley mechanism 330 and rotates about a vertical axis. The lifting mechanism 340 is fixedly connected to the slewing mechanism 510. The multi-degree-of-freedom mechanism 520 is connected to the lower ends of the multiple ropes 350. The lower end of the multi-degree-of-freedom mechanism 520 is fixedly connected to the simulated helicopter cockpit 200 to change the pitch and roll angles of the simulated helicopter cockpit 200.

[0061] The trolley mechanism 330 is preferably slidably connected to the upper side of the main beam 320. The main beam 320 includes two beam bodies spaced apart along the y-axis and provided with tracks. There is an avoidance space between the two beam bodies to avoid the rope 350 hanging from the trolley mechanism 330. The slewing mechanism 510 is also arranged between the two beam bodies, and the lifting mechanism 340 is installed on the slewing mechanism 510, so that when the slewing mechanism 510 rotates, the lifting mechanism 340 and the rope 350 rotate accordingly, thereby changing the yaw angle / sideslip angle of the simulated helicopter cockpit 200 below. Compared with the six-degree-of-freedom parallel mechanism, the slewing mechanism 510 of this embodiment can achieve 360-degree rotation, and can also achieve continuous rotation, so that it can simulate more flight postures and expand the range of training subjects and training scenarios.

[0062] In this embodiment, the multi-degree-of-freedom mechanism 520 is provided with at least two rotational degrees of freedom to change the pitch angle and the roll angle, which can be set as needed.

[0063] In some embodiments of the training system of the present invention, Figure 4 As shown, the multi-degree-of-freedom mechanism 520 includes an upper frame 522 , a lower frame 524 , a Hooke's hinge 526 and a telescopic mechanism 528 .

[0064] The upper frame 522 is arranged horizontally, and the lower ends of the multiple ropes 350 are connected to the upper frame 522. The simulated helicopter cockpit 200 is fixedly connected to the underside of the lower frame 524. A Hook hinge 526 is hinged between the upper frame 522 and the lower frame 524 and is located on the vertical central axis 410 of the upper frame 522. The upper end of the telescopic mechanism 528 is hinged to the upper frame 522, and the lower end is hinged to the lower frame 524. There are at least three telescopic mechanisms 528, and they are evenly spaced along the circumference of the vertical central axis 410.

[0065] A pulley, a hanging ring, etc. may be provided at the upper end of the upper frame 522 to connect the rope 350. The Hook hinge 526 may be a T-type Hook hinge, a cross-type Hook hinge, etc., which are not limited here. One of the rotating shafts of the Hook hinge 526 may be in the x-axis direction, and the other rotating shaft may be in the y-axis direction. The telescopic mechanism 528 may be an electric cylinder, a hydraulic push rod, etc. By controlling the telescopic length of each telescopic mechanism 528, the angle of the lower frame 524 relative to the upper frame 522 is changed, thereby changing the pitch angle and roll angle of the simulated helicopter cockpit 200. The Hook hinge 526 has a large range of motion and relatively accurate positioning accuracy, and can accurately realize a wide range of pitch angle and roll angle swings, thereby being able to simulate more flight attitudes and expand the range of training subjects and training scenarios.

[0066] In some embodiments of the training system of the present invention, Figure 2-3 As shown, the training system 100 further includes a rotor simulation disk 400 , which is disposed horizontally and is located on the upper side of the lower frame 524 , or the upper frame 522 forms the rotor simulation disk 400 .

[0067] The rotor simulation discs 400 are spaced apart at a first preset distance L above the simulated helicopter cockpit 200 .

[0068] In this embodiment, the rotor simulation disc 400 can simulate the rotor of a helicopter. The diameter of the rotor simulation disc 400 can be set to be the same as the diameter of a real rotor, and the first preset distance L is the actual distance between the real rotor and the helicopter cockpit. The lower frame 524 can be fixedly connected to the simulated helicopter cockpit 200 via a bracket with adjustable length. In this way, when training for different types of helicopters, the first preset distance L can be easily adjusted so that the distance matches the corresponding distance of the helicopter of that model. The rotor simulation disc 400 defines the boundaries of the upper space during training to restore the real scene. In particular, a safety / limit sensor (such as a safety light curtain or a safety light grid) can be set on the lower surface of the rotor simulation disc 400 to sound an alarm when the trainee touches it, indicating a safety risk.

[0069] In some embodiments of the training system of the present invention, Figure 5 As shown, the tactile environment device 650 includes a fan 651, which is installed on the rotor simulation disc 400. The fan 651 is configured to blow air at least downward to simulate an airflow environment.

[0070] There are multiple fans 651 arranged at intervals along the surface of the rotor simulation disk 400 .

[0071] In this embodiment, fan 651 can blow air downward to simulate the downward airflow generated by the rotation of the rotor. Of course, fan 651 can also produce a sound similar to the rotation of the rotor. The speed of fan 651 should be adapted to the speed of the rotor in the simulated scene to provide a roughly similar airflow and sound environment, thereby improving the scene's fidelity.

[0072] There can be multiple fans 651. For example, two fans above the left and right doors of the simulated helicopter cabin 200 can blow air downward to simulate the downward airflow of the rotor. Other fans 651 can blow air at an angle or horizontally to simulate a strong wind environment in the weather environment to improve the scene reproduction.

[0073] In some embodiments of the training system of the present invention, the lifting mechanism 340 and / or the multi-degree-of-freedom mechanism 520 can produce regular or irregular micro-movements to create a tactile environment such as vibration and shaking in the simulated helicopter cockpit 200, thereby improving the scene restoration.

[0074] In some embodiments of the training system of the present invention, Figure 5 As shown, a plurality of fans 651 are evenly spaced apart along the circumference of the rotor simulation disk 400. Each fan 651 is hinged to the rotor simulation disk 400 around the radial axis of the rotor simulation disk 400 to controllably change the blowing direction.

[0075] In this embodiment, the fan 651 can be controlled to change the blowing direction so that it blows downward when the rotor needs to be simulated. When a strong wind environment needs to be simulated, the fan 651 can be tilted to blow. In particular, since the rotating mechanism 510 is connected to the simulated helicopter cockpit 200 via a rope 350, the rope 350 has a certain degree of flexibility, there will be a certain amount of hysteresis during rotation, and the rotation speed is relatively slow. In this case, the fan 651 can be controlled to blow in the opposite direction of the rotation to increase the rotation speed and responsiveness of the simulated helicopter cockpit 200, thereby improving the scene reproduction. When the rotation stops, the simulated helicopter cockpit 200 will continue to rotate due to inertia. In this case, the fan 651 can be controlled to blow in the direction of the rotation so that the simulated helicopter cockpit 200 stops rotating quickly, thereby improving the scene reproduction.

[0076] In some embodiments of the training system of the present invention, Figure 2-3 As shown, the centers of gravity of the lower frame 524, the rotor simulation disk 400, and the simulated helicopter cockpit 200 are all located on the vertical central axis 410. In this way, when the flight attitude of the simulated helicopter cockpit 200 is changed, the rotor simulation disk 400 / upper frame 522 can be kept horizontal, thereby preventing or reducing the swing of the simulated helicopter cockpit 200 and the rope 350.

[0077] In some embodiments of the training system of the present invention, Figure 6-7 As shown, training system 100 further includes a controller 710, which includes a memory 711, a processor 712, and a computer program 713 stored in memory 711 and executed on processor 712. Computer program 713 includes at least one land training program and at least one surface training program. Controller 710 is configured to control the states of position simulation component 300, posture simulation component 500, sound environment device 630, light environment device 640, and tactile environment device 650 according to computer program 713.

[0078] The computer program 713 for performing the operations of the present invention may be assembly instructions, instruction set architecture (ISA) instructions, machine instructions, machine-dependent instructions, microcode, firmware instructions, state setting data, configuration data for an integrated circuit, or source code or object code written in any combination of one or more programming languages and procedural programming languages. The computer program 713 may be executed entirely on the user's computer, partially on the user's computer, as a stand-alone software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In the latter case, the remote computer can be connected to the user's computer via any type of network, including a local area network (LAN) or a wide area network (WAN), or can be connected to an external computer (e.g., via the Internet using an Internet service provider). In some embodiments, to perform various aspects of the present invention, electronic circuits including, for example, programmable logic circuits, field-programmable gate arrays (FPGAs), or programmable logic arrays (PLAs) can execute computer program 713 instructions by utilizing state information of the computer program 713 instructions to personalize the electronic circuits.

[0079] The controller 710 can be electrically connected to each component or connected via signals (e.g., Wi-Fi, Bluetooth, etc.), depending on actual needs. The controller 710 can include a main controller located within the simulated helicopter cockpit 200 and sub-controllers located at each component. Specifically, a first control cabinet 714 can be installed on the main beam 320. This first control cabinet 714 is electrically connected to the trolley mechanism 310, the trolley mechanism 330, the lifting mechanism 340, and the slewing mechanism 510 to control the position and rotation of the simulated helicopter cockpit 200. A second control cabinet 715 can be installed on the rotor simulation disk 400 / upper frame 522. This second control cabinet 715 is electrically connected to the sound environment device 630 and the light environment device 640 to simulate the relevant environment. A third control cabinet 716 can be installed on the rotor simulation disk 400 / upper frame 522. This third control cabinet 716 is electrically connected to the multi-degree-of-freedom mechanism 520 to control the pitch and roll of the simulated helicopter cockpit 200. A plurality of position and angle sensors may also be provided on the multi-degree-of-freedom mechanism 520 to achieve precise positioning. The sensors may also be electrically connected to the third control cabinet 716 to provide real-time feedback on the relevant motion status.

[0080] In this embodiment, each training program corresponds to a training environment simulation condition. Different environmental simulation conditions correspond to different sound, lighting, and wind effects, as well as different motion amplitudes simulated by the motion mechanism. Through the preset training programs, the status of each component and module can be systematically controlled, supporting and working together to create a highly realistic training scene. By pre-setting multiple training programs, a variety of scenarios and training subjects can be created to meet training needs.

[0081] In some embodiments of the training system of the present invention, Figure 8 As shown, the training system 100 may adopt the following control method, which includes:

[0082] S111, obtaining training subjects.

[0083] S112, moving the simulated helicopter cockpit 200 to a preset position and a preset posture according to the training subject.

[0084] S113, controlling the state of the posture simulation component 500 according to the training subject.

[0085] S114 , controlling the states of the sound environment device 630 , the light environment device 640 , and the tactile environment device 650 according to the training subject.

[0086] In this embodiment, the trainee can input instructions related to the training subject into the controller 710, and the controller 710 will be controlled according to the training subject. Specifically, during the training preparation, the trainee controls the position simulation component 300 and the attitude simulation component 500 to move to the designated position and initial attitude in the simulated cabin through the controller 710, and then the training begins. After the training starts, the controller 710 simulates the sound, lighting, blowing, motion simulation effects, etc. according to the preset training program to provide the trainee with a realistic training environment, including realistic training environments such as shaking, airflow, and noise in the guided hovering state. The trainee completes the relevant subject training through training tools such as winches, cables, and dummies on the water surface. After the training is completed, the operator turns off the environmental simulation, controls the position simulation component 300 and the attitude simulation component 500 to park on the ground, and the entire training process ends.

[0087] At this point, those skilled in the art should recognize that, although multiple exemplary embodiments of the present invention have been shown and described in detail herein, many other variations or modifications consistent with the principles of the present invention can be directly determined or deduced from the contents disclosed herein without departing from the spirit and scope of the present invention. Therefore, the scope of the present invention should be understood and deemed to cover all such other variations or modifications.

Claims

1. A multi-environment simulated helicopter training system, arranged in a training space, characterized in that: include: Simulated helicopter cockpit; a position simulation component configured to change the position of the simulated helicopter cockpit in the training space; an attitude simulation component configured to change the attitude of the simulated helicopter cockpit; An environmental simulation device, comprising: a land environment facility, located at the bottom of the training space and configured to simulate at least one land environment; a water surface environment facility, located at the bottom of the training space and configured to simulate at least one water surface environment; a sound environment device configured to simulate a sound environment; a light environment device configured to simulate a light environment; The tactile environment device is configured to simulate at least one of a shaking environment and an airflow environment.

2. The training system according to claim 1, characterized in that The position simulation component includes: A trolley mechanism is located above the simulated helicopter cockpit and is configured to move along the length of the training space. The trolley mechanism is provided with a main beam extending along the width of the training space. A trolley mechanism is slidably connected to the main beam along the width direction of the training space; The lifting mechanism is installed on the trolley mechanism and is configured to suspend the simulated helicopter cockpit through a plurality of ropes to change the height of the simulated helicopter cockpit.

3. The training system according to claim 2, characterized in that The posture simulation component includes: A slewing mechanism, the slewing mechanism is rotatably connected to the trolley mechanism around a vertical axis; the lifting mechanism is fixedly connected to the slewing mechanism; A multi-degree-of-freedom mechanism is connected to the lower ends of the plurality of ropes, and the lower end of the multi-degree-of-freedom mechanism is fixedly connected to the simulated helicopter cockpit to change the pitch angle and roll angle of the simulated helicopter cockpit.

4. The training system according to claim 3, characterized in that The multi-degree-of-freedom mechanism comprises: an upper frame disposed horizontally, wherein the lower ends of the plurality of ropes are connected to the upper frame; a lower frame, the simulated helicopter cockpit being fixedly connected to the lower side of the lower frame; A Hooke's hinge is hinged between the upper frame and the lower frame and is located on the vertical center axis of the upper frame; The telescopic mechanism has an upper end hinged to the upper frame and a lower end hinged to the lower frame; there are at least three telescopic mechanisms, which are evenly spaced and arranged along the circumference of the vertical central axis.

5. The training system according to claim 4, characterized in that The training system further includes a rotor simulation disc, which is arranged horizontally; the rotor simulation disc is located on the upper side of the lower frame, or the upper frame forms the rotor simulation disc; The rotor simulation discs are arranged at a first preset distance above the cockpit of the simulated helicopter.

6. The training system according to claim 5, characterized in that The tactile environment device includes a fan, which is installed on the rotor simulation disc; the fan is configured to blow air at least downward to simulate the airflow environment; The fans are multiple and spaced apart along the disk surface of the rotor simulation disk.

7. The training system according to claim 6, characterized in that The plurality of fans are evenly spaced along the circumference of the rotor simulation disk; Each of the fans is hinged to the rotor simulation disk around the radial axis of the rotor simulation disk so as to change the blowing direction in a controlled manner.

8. The training system according to claim 5, characterized in that The centers of gravity of the lower frame, the rotor simulation disk and the simulated helicopter cockpit are all located on the vertical central axis.

9. The training system according to claim 1, wherein: The training system also includes a controller, which includes a memory, a processor, and a computer program stored in the memory and running on the processor; the computer program includes at least one land training program and at least one water training program; the controller is configured to control the states of the position simulation component, the posture simulation component, the sound environment device, the light environment device, and the tactile environment device according to the computer program.

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