Lunar rover experience simulation device

Abstract

The utility model discloses a kind of lunar surface driving experience simulation devices, it is related to popular science education technical field, including: lunar rover simulation driving car includes base, six-degree-of-freedom mechanical platform fixed on base and the cockpit of fixed installation on the dynamic plane of six-degree-of-freedom mechanical platform;Driving cabin is equipped with vibrating seat and operating joystick, vibrating seat is built-in with the vibrating motor of communication connection with host computer;Operating joystick end is equipped with sensor, sensor is connected with host computer communication;VR interactive system includes VR glasses and head tracker, head tracker is located in cockpit, VR glasses and head tracker are connected with host computer communication;Display system is the external display screen independent of lunar rover simulation driving car, external display screen is connected with host computer communication;The utility model not only provides a variety of operating data for lunar surface driving experience simulation device, but also can be according to operating data to carry out corresponding action, provide physical level technical support for lunar surface driving simulation.

Description

Technical Field

[0001] This utility model relates to the field of science popularization and education technology, and more specifically to a lunar surface driving experience simulation device. Background Technology

[0002] Currently, lunar exploration experience exhibits in science museums mainly employ two technical solutions: the first is a static display using physical models, which presents knowledge through scaled-down lunar rover models combined with graphic panels. While this solution presents the physical structure, it has a fundamental flaw: it obscures the actual physical processes of lunar exploration, only demonstrating static results. The second is a pure virtual reality simulation solution, which relies on VR devices to construct a lunar exploration scenario. While this solution enhances visual immersion, it deprives participants of the hands-on experience and lacks a haptic feedback mechanism.

[0003] Although a few lunar driving simulators have emerged in recent years that attempt to integrate physical interaction (such as those using vibrating seats), these devices still have significant technical shortcomings, such as: lack of direction matching (the added vibration motors only increase the vibration of the seat, but the lunar driving simulator cannot match the direction change movements); and lack of group participation (no collaborative observation channel for the audience has been established, resulting in low efficiency of popular science dissemination).

[0004] Therefore, how to develop a lunar exploration experience device that can support the matching of multiple types of actions and realize the sharing of the lunar exploration process is a problem that urgently needs to be solved by those skilled in the art. Utility Model Content

[0005] In view of this, the present invention provides a lunar driving experience simulation device, which overcomes the above-mentioned defects.

[0006] To achieve the above objectives, the present invention adopts the following technical solution:

[0007] A lunar surface driving experience simulation device includes: a lunar rover driving simulator, a VR interactive system, a display system, and a host computer;

[0008] The lunar rover simulation vehicle includes a base, a six-degree-of-freedom mechanical platform fixed on the base, and a cockpit fixed on the dynamic plane of the six-degree-of-freedom mechanical platform. The cockpit is equipped with a vibrating seat and an operating joystick. The vibrating seat has a built-in vibrating motor that is communicatively connected to the host computer. The end of the operating joystick is equipped with a sensor that is communicatively connected to the host computer.

[0009] The VR interaction system includes VR glasses and a head tracker. The head tracker is located in the cockpit, and both the VR glasses and the head tracker are connected to the host computer.

[0010] The display system is an external display screen independent of the lunar rover simulator, and the external display screen is communicatively connected to the host computer.

[0011] Optionally, the lunar rover simulator also includes an emergency stop button, which is located in the cockpit and is communicatively connected to the six-degree-of-freedom mechanical platform.

[0012] Optionally, the operating joystick includes a joystick base and a joystick shaft. The joystick base is fixedly installed in the cockpit, one end of the joystick shaft is movably connected to the joystick base through a universal joint mechanism, and the other end of the joystick shaft is fixedly provided with a joystick handle.

[0013] Optionally, the sensor is one or more combinations of a torque sensor, a displacement sensor, or an angle sensor.

[0014] Optionally, the vibration seat is equipped with a seat belt, which is a multi-point seat belt.

[0015] Optionally, an infrared locator is also fixedly installed in the cockpit, and the infrared locator is connected to the host computer.

[0016] Optionally, the head tracker is a distributed tracking array consisting of multiple tracking sensor units, which are fixedly installed at different locations in the cockpit.

[0017] Optionally, the VR glasses have a built-in orientation tracker, which is connected to the host computer.

[0018] Optionally, the VR interactive system further includes an alarm device, which is communicatively connected to the host computer.

[0019] Optionally, the lunar surface driving experience simulation device also includes a power distribution device fixed in the base. The power distribution device includes a multi-level input interface and multiple output branches that are electrically connected. The multiple output branches supply power to the lunar rover simulation vehicle, the VR interactive system, the display system, and the host computer, respectively.

[0020] As can be seen from the above technical solution, this utility model provides a lunar surface driving experience simulation device, which has the following advantages compared with the prior art:

[0021] 1. This utility model, through a six-degree-of-freedom mechanical platform, a sensor integrated into the end of the operating joystick, and a vibration seat, not only provides a variety of operating data for the lunar surface driving experience simulation device, but also matches corresponding actions for the lunar rover driving simulation vehicle, providing physical-level technical support for lunar surface driving simulation;

[0022] 2. Based on an external display screen, the lunar surface driving simulation process and related parameters are displayed in real time, establishing a collaborative observation channel for the audience and improving the efficiency of popular science dissemination. Attached Figure Description

[0023] To more clearly illustrate the technical solutions in the embodiments of this utility model or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on the provided drawings without creative effort.

[0024] Figure 1 This is a side view diagram provided for this utility model;

[0025] Figure 2 This is a top view diagram of the present invention;

[0026] Figure 3 The structural block diagram provided for this utility model;

[0027] In the diagram, 1-1 is the base; 1-2 is the six-degree-of-freedom mechanical platform; 1-3 is the cockpit; 1-4 is the vibrating seat; 1-5 is the control joystick; 1-6 is the emergency stop button; 1-7 is the infrared locator; 2-1 is the VR glasses; 3-1 is the main display screen; and 3-2 is the auxiliary information display screen. Detailed Implementation

[0028] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0029] This utility model discloses a lunar surface driving experience simulation device, such as... Figure 1 As shown, it includes: a lunar rover simulator, a VR interactive system, a display system, and a host computer;

[0030] The lunar rover simulation vehicle includes a base 1-1, a six-degree-of-freedom mechanical platform 1-2 fixed on the base 1-1, and a cockpit 1-3 fixedly installed on the moving plane of the six-degree-of-freedom mechanical platform 1-2. The cockpit 1-3 is equipped with a vibration seat and an operating joystick 1-5. The vibration seat 1-4 has a built-in vibration motor that communicates with the host computer. The vibration intensity is linked to the virtual road conditions in real time and generates a stepped vibration intensity according to the lunar surface terrain parameters. The end of the operating joystick 1-5 is equipped with a sensor that communicates with the host computer.

[0031] The VR interaction system includes VR glasses 2-1 and a head tracker. The head tracker is fixed inside the cockpit 1-3. Both VR glasses 2-1 and the head tracker are connected to the host computer for communication.

[0032] The display system is an external display screen independent of the lunar rover simulator, and the external display screen is connected to the host computer for communication.

[0033] In one embodiment, the six-degree-of-freedom mechanical platform 1-2 includes a controller, a moving plane, a stationary plane, and six independently controllable telescopic legs. The upper ends of the telescopic legs are connected to the moving plane via ball joints, and the lower ends of the telescopic legs are connected to the stationary plane via Hooke joints. The length of the telescopic legs can be adjusted by the controller on the six-degree-of-freedom mechanical platform 1-2 to provide motion simulation of six degrees of freedom: pitch, roll, yaw, elevation, longitudinal translation, and lateral translation.

[0034] In one embodiment, the lunar rover simulator also includes an emergency stop button 1-6, which is located on the support frame of the VR glasses 2-1 inside the cockpit 1-3 and is communicatively connected to the six-degree-of-freedom mechanical platform 1-2.

[0035] Furthermore, the emergency stop button 1-6 is connected to the controller in the six-degree-of-freedom mechanical platform 1-2. When the controller receives the signal from the emergency stop button 1-6, it controls the telescopic outriggers to stop moving and lock them in the current safe position (or slowly return to zero) to ensure personnel safety and prevent the platform from moving out of control due to unexpected situations.

[0036] In one embodiment, the operating rocker arm 1-5 includes a rocker arm base and a rocker arm shaft. The rocker arm base is fixedly installed in the cockpit 1-3 and located on one side of the vibrating seat 1-4. One end of the rocker arm shaft is movably connected to the rocker arm base through a universal joint mechanism, and the other end of the rocker arm shaft is fixedly provided with a rocker arm handle.

[0037] In one embodiment, the sensor is one or more combinations of a torque sensor, a displacement sensor, or an angle sensor.

[0038] Furthermore, the torque sensor is installed at the root of the rocker shaft near the universal joint mechanism to detect the operating force or torque applied to the handle; the displacement sensor includes a target installed at the bottom end of the rocker shaft or below the universal joint mechanism, and a sensing probe fixedly installed at the bottom of the rocker base to detect the amount of displacement of the rocker shaft in the plane; and the angle sensor is installed on the rotating shaft of the universal joint mechanism to detect the rotation angle of the rocker shaft around each rotating shaft of the universal joint mechanism.

[0039] Furthermore, angle sensors can be selected from rotary encoders, rotary transformers, potentiometers, etc.; displacement sensors can be selected from Hall effect sensors, optical sensors, capacitive sensors, etc.

[0040] In one embodiment, the operating joystick 1-5 further includes a reset mechanism, which is a spring installed at the universal joint mechanism shaft, used to reset the joystick shaft to the center zero position when the user releases the handle.

[0041] In one embodiment, a safety belt is installed on the vibration seats 1-4, and the safety belt is a multi-point safety belt.

[0042] Furthermore, multi-point seat belts can be four-point seat belts, five-point seat belts, six-point seat belts, etc.

[0043] In one embodiment, multiple vibration motors can be provided in the vibration seat 1-4, distributed in different parts of the vibration seat 1-4. Multiple eccentric rotor motors are provided in the middle of the backrest and the front side of the seat cushion of the vibration seat 1-4. Linear resonant actuators are provided in the upper part of the backrest and the rear side of the seat cushion of the vibration seat 1-4 to realize complex vibration simulation in unstructured terrain.

[0044] In one embodiment, an infrared locator 1-7 is also fixedly installed in the cockpit 1-3, and the infrared locator 1-7 is connected to the host computer.

[0045] Furthermore, infrared locators 1-7 are installed at positions directly opposite the vibrating seats 1-4 to transmit the collected approximate driver position information to the host computer, assisting in the rough synchronization of the VR scene with the physical position.

[0046] In one embodiment, the head tracker is a distributed tracking array consisting of multiple tracking sensor units, which are fixedly installed at different locations in the cockpit 1-3.

[0047] Furthermore, multiple tracking sensor units are installed in several key locations in the cockpit 1-3, such as directly in front of the vibration seat 1-4, to the side front of the vibration seat 1-4, and behind the seat. The tracking sensor units can be infrared cameras, lidar sensors, etc.

[0048] In one embodiment, the VR glasses 2-1 have a built-in orientation tracker, which is connected to a host computer for communication.

[0049] Furthermore, the host computer integrates data from the head tracker and orientation tracker to generate precise position and posture information of the user's head; and extracts the user's gaze point information, drives gaze point rendering based on the user's gaze point information, and optimizes the VR scene image sent to VR glasses 2-1.

[0050] In one embodiment, the VR interactive system further includes an alarm device, which is communicatively connected to a host computer.

[0051] Furthermore, when the lunar rover simulates driving a vehicle that crashes into a lunar rock, it triggers the vibration of the 1st to 4th pulses of the vibrating seat and a red light alarm on the VR screen.

[0052] In one embodiment, the display system includes a main display screen 3-1 and an auxiliary information display screen 3-2, both of which are communicatively connected to a host computer. The main display screen 3-1 is used to primarily display a highly immersive, third-person perspective virtual scene of the lunar rover simulation driving vehicle. The auxiliary information display screen 3-2 is used to primarily display system status information, navigation information, and mission information of the lunar rover simulation driving vehicle. The display content combination of the main display screen 3-1 and the auxiliary information display screen 3-2 can also be dynamically configured according to the role permissions of the logged-in user. On the main display screen 3-1, the real-time image of the driver and operating device in the real cockpit 1-3 is processed and then merged and rendered with the virtual scene from the third-person perspective. The first-person perspective image or key instrument data of the VR glasses 2-1 worn by the driver is displayed on the main display screen 3-1 in a picture-in-picture format.

[0053] In one embodiment, a power distribution device fixed in the base 1-1 is also included. The power distribution device includes a multi-level input interface and multiple output branches that are electrically connected. The multiple output branches supply power to the lunar rover simulator, the VR interactive system, the display system, and the host computer, respectively.

[0054] Furthermore, the multi-level input interface is configured to accept both 380V three-phase industrial power and 220V AC mains power, and integrates a switching mechanism; the multi-output branches include six independent output branches: the first to third branches: output 380V AC power, connecting to the drive motors of the six-degree-of-freedom mechanical platform 1-2; the fourth branch: output 220V AC power, connecting to the vibration motors of the vibration seats 1-4; the fifth branch: output 220V AC power, connecting to the external display screen of the display system and the host computer respectively; the sixth branch: outputs 12V / 5V DC power via a DC-DC converter, connecting to the VR interactive system.

[0055] Based on the above structure, the lunar rover's driving state on the rugged lunar surface is simulated through multi-sensory collaborative feedback (visual, tactile, etc.). Its working principle is as follows: user input drives the virtual scene, the virtual scene's state provides real-time feedback that drives the physical devices, and the physical devices stimulate the user's senses to form a closed-loop experience. The specific operating steps are as follows: the driver sits in the vibrating seat 1-4, fastens the multi-point seatbelt, and controls the lunar rover's simulated driving direction and speed by operating the joystick 1-5; the sensors (torque / displacement / angle) at the end of the joystick 1-5 detect the joystick's operating force, displacement, and angle changes in real time, and transmit these operating signals to the host computer via cable or wirelessly; the driver wears VR glasses 2-1, and through the built-in orientation tracker and the head tracker installed in the cockpit 1-3, the precise position and orientation of the driver's head are captured in real time; this head posture data is also transmitted to the host computer in real time. The host computer receives control commands from joysticks 1-5 and pose data from the head tracking system. Based on a pre-set high-precision lunar surface terrain parameter database (including terrain height, slope, rock distribution, etc.), it uses a simulation engine to calculate in real time: the motion state of the lunar rover simulation vehicle: position, speed, acceleration, attitude (pitch, roll, yaw), the interaction between the lunar rover simulation vehicle and the terrain (wheels suspended, bumps, sideslip, rock impacts, etc.), and the virtual environment state (updating the third-person perspective scene based on the lunar rover's position, lighting changes (simulating extreme lighting), and the surrounding environment (craters, lunar rocks, etc.)). Based on the calculated attitude (pitch, roll, yaw) and position changes (lifting, vertical / lateral translation) of the lunar rover simulation vehicle, as well as the specific interaction state between the wheels and the terrain (bump intensity, frequency, impacts, etc.), the host computer generates precise command signals, which are sent to: the six-degree-of-freedom mechanical platform 1-2, the vibration seat 1-4, the VR glasses 2-1, and the display system.

[0056] The six-degree-of-freedom mechanical platform 1-2 operates as follows: After receiving attitude and position commands from the host computer, the controller calculates the required length for each independently controllable telescopic outrigger. The controller then drives the drive motors of each outrigger to quickly and accurately adjust the outrigger length. The change in outrigger length causes the moving plane to move relative to the stationary plane in six degrees of freedom: pitch, roll, yaw, elevation, longitudinal translation, and lateral translation. This motion precisely simulates the changes in vehicle attitude and low-frequency, large-amplitude bumps experienced by the lunar rover as it travels on the rugged lunar surface, providing the driver with the core sense of gravity, tilt, and basic motion.

[0057] The vibration seats 1-4 operate as follows: The built-in vibration motors (eccentric rotor motor and linear resonant actuator) of the vibration seats 1-4 receive commands from the host computer. These commands generate stepped vibration intensities and specific frequency signals based on the virtual terrain (especially details such as minor bumps, high-frequency vibrations, wheel slippage, and impacts) and the lunar rover's status (such as hovering and landing). The vibration motors distributed in different parts of the vibration seats 1-4 (middle / upper backrest, front / rear side of the seat cushion) work together to produce refined vibration patterns. For example, the eccentric rotor motor provides mid-frequency, directional bumps and impacts (such as wheels running over rocks), while the linear resonant actuator provides high-frequency, delicate vibrations and textures (such as the continuous shaking of a gravel road). This vibration simulates the complex high-frequency vibrations and impacts caused by the unstructured terrain of the lunar surface, complementing the low-frequency movements of the mechanical platform and providing a more realistic tactile feel of the road surface texture.

[0058] Multi-sensory collaborative feedback includes: tactile feedback; multi-point seat belts (such as four-point and five-point harnesses) effectively restrain the driver's body during severe bumps or simulated impacts, enhancing the sense of security and immersion. Visual feedback: VR glasses 2-1 receive a first-person perspective virtual lunar scene generated by the host computer and rendered in real time based on the driver's head posture, providing a highly immersive, surround visual experience. The driver can freely observe the virtual lunar environment by turning their head.

[0059] The main display screen 3-1 in the display system (external display screen) primarily displays a highly immersive third-person perspective of the lunar rover's simulated driving scene. The host computer drives it to simulate the high dynamic range (HDR) visual effects of extreme lunar lighting environments (such as strong contrast between light and dark, and lack of atmospheric scattering). It can process and blend the real driver and operating device images from the cameras inside the cockpit 1-3 into the third-person virtual scene (e.g., displaying the driver inside the lunar rover's simulated driving cabin). It displays the first-person perspective view or key instrument data from the driver's VR glasses 2-1 in picture-in-picture (PIP) format for external viewing. The auxiliary information display screen 3-2 primarily displays lunar rover status data (speed, attitude angle, battery level, etc.), system status information (platform status, connection status), navigation information (map, waypoints), and mission information. The host computer dynamically configures the combination of display content on the main and auxiliary screens according to the logged-in user's role and permissions.

[0060] The functions described in this embodiment are all implemented by calling standardized software modules already disclosed in the prior art (such as VR scene image generation and optimization, calculation of the attitude and position changes of the lunar rover simulator, and specific interaction between the wheels and the terrain, and issuance of action commands, etc.). This description is only to illustrate the specific application scenario of the hardware structure of this application. It should be particularly emphasized that the innovation of this application is only reflected in the structural design, physical connection relationship and modular integration method of the hardware device. The software functions involved (including but not limited to VR scene image generation and optimization, calculation of the attitude and position changes of the lunar rover simulator, and specific interaction between the wheels and the terrain, and issuance of action commands, etc.) directly adopt mature existing technical solutions in the market, without making any substantial improvements to the software algorithm, program flow or interaction logic.

[0061] The various embodiments in this specification are described in a progressive manner, with each embodiment focusing on its differences from other embodiments. Similar or identical parts between embodiments can be referred to interchangeably. For the apparatus disclosed in the embodiments, since they correspond to the methods disclosed in the embodiments, the description is relatively simple; relevant parts can be referred to the method section.

[0062] The above description of the disclosed embodiments enables those skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention is not to be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A lunar surface driving experience simulation device, characterized in that, include: Lunar rover simulator, VR interactive system, display system, and host computer; The lunar rover simulator includes a base (1-1), a six-degree-of-freedom mechanical platform (1-2) fixed on the base (1-1), and a cockpit (1-3) fixedly installed on the moving plane of the six-degree-of-freedom mechanical platform (1-2). The cockpit (1-3) is equipped with a vibration seat (1-4) and an operating joystick (1-5). The vibration seat (1-4) has a built-in vibration motor that is communicatively connected to the host computer. The end of the operating joystick (1-5) is equipped with a sensor, which is communicatively connected to the host computer. The VR interaction system includes VR glasses (2-1) and a head tracker. The head tracker is fixed inside the cockpit (1-3). Both the VR glasses (2-1) and the head tracker are connected to the host computer for communication. The display system is an external display screen independent of the lunar rover simulator, and the external display screen is communicatively connected to the host computer.

2. The lunar surface driving experience simulation device according to claim 1, characterized in that, The lunar rover simulator also includes an emergency stop button (1-6), which is located in the cockpit (1-3) and is communicatively connected to the six-degree-of-freedom mechanical platform (1-2).

3. The lunar surface driving experience simulation device according to claim 1, characterized in that, The operating joystick (1-5) includes a joystick base and a joystick shaft. The joystick base is fixedly installed in the cockpit (1-3). One end of the joystick shaft is movably connected to the joystick base through a universal joint mechanism, and the other end of the joystick shaft is fixedly provided with a joystick handle.

4. The lunar surface driving experience simulation device according to claim 1, characterized in that, The sensor is one or more of a torque sensor, a displacement sensor, or an angle sensor.

5. The lunar surface driving experience simulation device according to claim 1, characterized in that, The vibration seat (1-4) is equipped with a safety belt, which is a multi-point safety belt.

6. The lunar surface driving experience simulation device according to claim 1, characterized in that, An infrared locator (1-7) is also fixedly installed inside the cockpit (1-3), and the infrared locator (1-7) is connected to the host computer.

7. The lunar surface driving experience simulation device according to claim 1, characterized in that, The head tracker is a distributed tracking array consisting of multiple tracking sensor units, which are fixedly installed at different locations in the cockpit (1-3).

8. The lunar surface driving experience simulation device according to claim 1, characterized in that, The VR glasses (2-1) have a built-in orientation tracker, which is connected to the host computer.

9. A lunar surface driving experience simulation device according to claim 1, characterized in that, The VR interactive system also includes an alarm device, which is communicatively connected to the host computer.

10. A lunar surface driving experience simulation device according to claim 1, characterized in that, The lunar surface driving experience simulation device also includes a power distribution device fixed in the base (1-1). The power distribution device includes a multi-level input interface and multiple output branches that are electrically connected. The multiple output branches supply power to the lunar rover simulation vehicle, the VR interactive system, the display system and the host computer, respectively.

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