Virtual reality multicopter drone flight simulation method applying dynamics and fluid dynamics, and virtual reality multicopter drone flight simulation system using same

Abstract

The present invention relates to a virtual reality multicopter drone flight simulation system applying dynamics and fluid dynamics, and more specifically to a virtual reality multicopter drone flight simulation method which enables the simulation of control and flight movements of a multicopter-type aerial vehicle (an aerial vehicle having multiple thrust positions) by applying dynamics and fluid dynamics, which is a major development item for a virtual reality-based simulator for multicopter drone control training. According to one embodiment of the present invention, by enabling the simulation of control and flight movements of a multicopter-type aerial vehicle (an aerial vehicle having multiple thrust points) by applying dynamics and fluid dynamics, which is a major development item for a virtual reality-based simulator for drone control training, a basic educational effect of enabling the controlling and managing of a drone reacting in a very similar way to changes in a real environment may be expected to be achieved at an excellent level.

Description

A method for simulating a virtual reality multicopter drone flight using dynamics and fluid mechanics and a virtual reality multicopter drone flight simulation system using the same.

[0001] The present invention relates to a virtual reality multicopter drone flight simulation system applying dynamics and fluid dynamics, and more particularly, to a virtual reality multicopter drone flight simulation method capable of simulating the control and flight movements of a multicopter-type aircraft (a aircraft having multiple thrust positions), which is a major development item among virtual reality-based simulators for multicopter drone pilot training, by applying dynamics and fluid dynamics.

[0002] As is commonly known, VR multicopter drone simulators consist of technological devices and content services that provide indirect experiences, ranging from experiential ones to high-level experiences for education and training. The technology behind these simulators aims to replicate real-world phenomena in a virtual world that closely resembles or matches reality. To achieve this goal, not only software but also hardware controllers and wearable devices are being developed and serviced to enhance the user experience.

[0003] Previous aircraft flight simulators were primarily developed to provide general pilot training for a variety of model aircraft. Even within this field, multicopter drone simulators struggle to deliver the training and educational benefits users expect due to a lack of technology and understanding of virtual piloting and control, as well as real-world physics. Consequently, current multicopter drone simulators tend to prioritize versatility and market leadership, making it difficult to achieve the realistic training and educational outcomes users expect. Specifically, they lack realistic piloting techniques and fail to replicate various real-world phenomena.

[0004] As the number of multicopter drone users increases, simulator technology for multicopter pilot training is in dire need of advancement. While existing technologies offer basic functionality while incorporating advanced features, the current challenge lies in the fact that drone control in virtual space is simply proportional to the operator's input, resulting in coordinate movement of the aircraft and rendering of rotations between modeled axes. This simple control approach is limited to game-level techniques. To achieve effective training, drone simulators must not only incorporate aircraft control technology but also incorporate real-world physics to enable more realistic flight.

[0005] The purpose of the present invention is to provide a virtual reality multicopter drone flight simulation method capable of simulating the control and flight movements of a multicopter-type aircraft (a aircraft having multiple thrust positions), which is a major development item among virtual reality-based simulators for drone pilot training, by applying dynamics and fluid dynamics.

[0006] The problems to be solved by the present invention are not limited to those mentioned above, and other problems to be solved that are not mentioned can be clearly understood by a person having ordinary skill in the art to which the present invention pertains from the description below.

[0007] The present invention is to solve the above-mentioned objects and needs,

[0008] A controller operation information unit (110) for obtaining information according to the operation of the controller,

[0009] A virtual reality multicopter drone flight simulation implementation system using dynamics and fluid dynamics is provided, which is comprised of a virtual reality device unit (120) that implements a virtual reality multicopter drone flight simulation by utilizing information obtained from the above-mentioned controller operation information unit (110).

[0010] In addition, the present invention relates to a virtual reality multicopter drone flight simulation method using dynamics and fluid mechanics,

[0011] A step (S110) of identifying the steering information consisting of throttle, yaw, pitch, and roll for controlling a virtual multicopter drone (200) through the controller operation information unit (110) and the switch operation information such as the flight mode; and

[0012] The present invention provides a method for simulating a flight of a virtual reality multicopter drone using dynamics and fluid mechanics, characterized in that the steering information provided by the above-mentioned controller operation information unit (110), including throttle, yaw, pitch, and roll, and switch operation information such as flight mode are transmitted to the virtual reality device unit (120) and a virtual reality device operation step (S120) for operating the virtual reality device is provided.

[0013] In addition, the present invention includes a virtual reality device operation step (S120) that collects status information of a virtual multicopter drone (200) from a virtual multicopter drone status information module (121) so that an operator can visually check the status information of the virtual multicopter drone (200), a virtual multicopter drone status information collection step (S121),

[0014] Flight controller simulation control step (S122) that performs virtual flight control through the flight controller simulation module (122),

[0015] A particle generation step (S123) that generates a virtual collider particle through a particle generation module (123),

[0016] A particle collision detection step (S124) that detects collision with a virtual collider particle through a particle collision detection module (124).

[0017] A particle collision size and direction calculation step (S125) that calculates the collision size and direction of a virtual collider particle using a particle collision size and direction calculation module (125).

[0018] A virtual multicopter thrust application step (S126) that applies the thrust of a virtual aircraft multicopter by calculating the collision size and direction of particles using a virtual multicopter thrust application module (126).

[0019] A method for simulating a virtual reality multicopter drone flight using dynamics and fluid dynamics is provided, characterized by including a virtual multicopter visualization step (S127) for visualizing a virtual multicopter after applying thrust of the virtual multicopter using a virtual multicopter visualization module (127).

[0020] In addition, the present invention is a virtual multicopter drone status information collection step (S121) is a step in which status information of a virtual multicopter drone (200) is collected, and information including the weight of the virtual multicopter drone, center of gravity, propeller size, thrust coefficient which is a thrust value, number of power sources, location of power sources, battery voltage / current / remaining capacity, flight status (landing status, starting status, takeoff status, flight disabled status), flight mode (Acro mode, Angle mode, Attitude mode, Horizon mode, etc.), air pressure information, virtual multicopter drone (200) status information (location information, azimuth, pitch angle, roll angle, yaw angle, pitch acceleration, roll acceleration, yaw speed, thrust by thrust application point (including thrust at center of gravity position), rotation speed by propeller, rate, exponent, P rate, I rate, D rate, minimum throttle, middle throttle, maximum throttle, brake, brake damping, angle damping) is collected, and such information A method for simulating a virtual reality multicopter drone flight using dynamics and fluid dynamics is provided, characterized by the fact that a function is performed that allows the operator to visually confirm the operation.

[0021] In addition, the present invention provides a virtual reality multicopter drone flight simulation method using dynamics and fluid mechanics, characterized in that particles (250) are generated within a rotation radius of a propeller (220) determined by the size of the propeller (220) of the virtual multicopter drone (200) in the step (S121), the propeller (220) provided in the virtual multicopter drone (200) applies a force equal to the thrust coefficient of the step (S121) vertically downward, and the generation cycle of the particles (250) is determined according to the rotation speed of each propeller (220) of the virtual multicopter drone (200) calculated through the step (S122).

[0022] In addition, the present invention provides a virtual reality multicopter drone flight simulation method using dynamics and fluid mechanics, characterized in that the particle (250) is similarly implemented to implement the movement of airflow generated by the rotation of the propeller (220) by applying mass, air resistance, friction, and elasticity that can be set in a 3D graphic engine such as Unity or Unreal, and even the minute flow changes of airflow due to environmental factors such as wind direction in a virtual space can be similarly implemented.

[0023] In addition, the present invention includes the particle collision inspection step (S124)

[0024] A method for simulating a virtual reality multicopter drone flight using dynamics and fluid mechanics is provided, characterized in that a particle collision test is performed to apply propeller (220) thrust and airflow collision thrust to the thrust application point (240) of each propeller (220) and the center of gravity point (230) of the virtual multicopter drone (200).

[0025] In addition, the present invention provides a virtual reality multicopter drone flight simulation method that applies dynamics and fluid mechanics, characterized in that a virtual pressure control plate (260) is used to increase the altitude of a virtual multicopter drone (200) in a virtual space or to adjust the strength of thrust based on already secured pressure information in order to simulate the force that presses down on the atmosphere according to pressure, and the frame (210) of the virtual multicopter drone (200) maintains a distance from the ground or an obstacle according to the horizontal and pressure.

[0026] In addition, the present invention includes a particle collision size and direction calculation step (S125).

[0027] A method for simulating a virtual reality multicopter drone flight using dynamics and fluid mechanics is provided, characterized in that only the particles (250) that are first determined to have collided with a pressure control plate (260) and a terrain feature (270) are used for calculating the thrust of the propeller (220) for each propeller thrust application point (240), the calculated information is transmitted to the flight controller simulation stage (S122), and the particles (250) that are determined to have collided with the virtual multicopter drone (200) based on the above information are used for calculating the size and direction of airflow collision with respect to the center of gravity point (230) of the virtual multicopter drone (200).

[0028] In addition, the thrust value of the propeller of the present invention is

[0029] Here, a method for simulating a virtual reality multicopter drone flight using dynamics and fluid mechanics is provided, characterized in that one propeller is defined as P1, and the thrust value of the propeller (220) applied to P1 is the sum of the accelerations of p1(1) to p1(n), and another propeller is defined as P2, and the thrust value of the propeller (220) applied to P2 can be calculated as the sum of the accelerations of p2(1) to p2(n).

[0030] According to an embodiment of the present invention, by enabling the control and flight movement of a multicopter-type aircraft (a aircraft having multiple thrust points), which is a major development item among virtual reality-based simulators for drone pilot training, to be simulated by applying dynamics and fluid dynamics, it is expected that the basic educational effect of being able to pilot and cope with a drone that reacts very similarly to changes in an actual environment can be excellent.

[0031] FIG. 1 is a schematic diagram of a system for implementing a virtual reality multicopter drone simulation applying dynamics and fluid dynamics according to an embodiment of the present invention.

[0032] FIG. 1b is a schematic diagram of another embodiment of a system for implementing a virtual reality multicopter drone simulation applying dynamics and fluid dynamics according to an embodiment of the present invention.

[0033] FIG. 2 is a schematic flowchart showing the driving process of a virtual reality multicopter drone simulation method applying dynamics and fluid dynamics according to an embodiment of the present invention.

[0034] FIG. 3 is a drawing illustrating a configuration for implementing a virtual reality multicopter drone simulation method applying dynamics and fluid dynamics according to an embodiment of the present invention.

[0035] Figure 4 is an example diagram for explaining the simulation situation of Figure 3.

[0036] Fig. 5 is an exemplary diagram for explaining a method for generating particles (collision bodies) based on the propeller of Fig. 3.

[0037] Figure 5b is a specific example diagram for explaining the method for generating particles (collision bodies) and the position structure according to the present invention.

[0038] Figure 6 is an example diagram for explaining the thrust application point of the virtual multicopter drone of Figure 3.

[0039] Fig. 7 is an example diagram for explaining the calculation of thrust by particle collision acceleration applied to the propeller thrust application point of Fig. 3.

[0040] Fig. 8 is an example diagram for explaining the calculation of thrust by particle collision acceleration applied to the virtual drone center of gravity of Figs. 3 and 6.

[0041] Figure 9 is an example diagram implementing the simulation situation of Figure 4.

[0042] Figure 10 is another example of the simulation situation of Figure 9.

[0043] First, the advantages and features of the present invention, and the methods for achieving them, will become clearer with reference to the embodiments described in detail below together with the accompanying drawings. Here, the present invention is not limited to the embodiments disclosed below, but can be implemented in various different forms. The present embodiments are provided merely as examples to ensure that the disclosure of the present invention is complete and to enable those skilled in the art to clearly understand the scope of the invention. Therefore, the technical scope of the present invention should be defined by the claims.

[0044] Furthermore, in the following description of the present invention, detailed descriptions of flight control configurations, methods, etc. will be omitted if they are deemed to unnecessarily obscure the gist of the present invention. Furthermore, the terms described below are defined based on their functions in the present invention, and these terms may, of course, vary depending on the intentions or practices of users, operators, etc. Therefore, their definitions should be based on the technical concepts described throughout the description of the present invention.

[0045] Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the attached drawings.

[0046] FIG. 1 is a schematic diagram of a system for implementing a virtual reality multicopter drone simulation applying dynamics and fluid dynamics according to an embodiment of the present invention, and FIG. 2 is a schematic flowchart illustrating the operation process of a virtual reality multicopter drone simulation method applying dynamics and fluid dynamics according to an embodiment of the present invention.

[0047] Briefly described with reference to FIGS. 1 and 2, a system for implementing a virtual reality multicopter drone flight simulation applying dynamics and fluid dynamics according to the present invention is composed of a controller operation information unit (110) for obtaining information according to the operation of a controller, and a virtual reality device unit (120) for implementing a virtual reality multicopter drone flight simulation by utilizing the information obtained from the controller operation information unit (110).

[0048] The above-mentioned virtual reality device unit (120) is equipped with a case unit, a central information processing unit such as a CPU or MCU, a memory device such as RAM and ROM, hardware such as an information input / output means, and an application program for a virtual reality multicopter drone flight simulation.

[0049] The virtual reality device unit (120) as described above includes a virtual multicopter drone status information module (121) that allows an operator to visually check status information of a virtual multicopter drone (200), a flight controller simulation module (122) that performs virtual flight control, a particle generation module (123) that generates particles as virtual collision bodies, a particle collision detection module (124) that checks collisions with particles as virtual collision bodies, a particle collision size and direction calculation module (125) that calculates collision sizes and directions of particles as virtual collision bodies, a virtual multicopter thrust application module (126) that applies thrust to a multicopter as a virtual aircraft body through calculation of collision sizes and directions of particles, and a virtual multicopter visualization module (127) that visualizes the virtual multicopter after applying thrust to the virtual multicopter.

[0050] The virtual reality multicopter drone flight simulation method applying dynamics and fluid dynamics of the present invention is composed of a step of identifying controller operation information (S110) and a virtual reality device operation step of operating a virtual reality device (S120).

[0051] The step of identifying the controller operation information (S110) is a step of identifying the operation information for controlling the virtual multicopter drone (200), and basically means the process of inputting the steering information consisting of throttle, yaw, pitch, and roll and other switch operation information such as flight mode.

[0052] The virtual reality device operation step (S120) refers to a step of receiving steering information consisting of throttle, yaw, pitch, and roll and other switch operation information such as flight mode provided in the step of identifying the above-mentioned controller operation information (S110) and transmitting it to a visually judgeable virtual reality device and operating the virtual reality device.

[0053] The above virtual reality device operation step (S120) includes a virtual multicopter drone status information collection step (S121) for collecting status information of a virtual multicopter drone so that an operator can visually check the status information of the virtual multicopter drone (200), a flight controller simulation control step (S122) for performing virtual flight control, a particle generation step (S123) for generating a virtual collision body particle, a particle collision inspection step (S124) for checking collision with a virtual collision body particle, a particle collision size and direction calculation step (S125) for calculating the collision size and direction of the virtual collision body particle, a virtual multicopter thrust application step (S126) for applying thrust of the virtual flight body multicopter through calculation of the collision size and direction of the particle, and a virtual multicopter visualization step (S127) for visualizing the virtual multicopter after applying the thrust of the virtual multicopter.

[0054] That is, the above-described virtual reality device unit (120) of the present invention performs the virtual reality device operation step (S120) as follows:

[0055] The virtual multicopter drone status information module (121) performs the virtual multicopter drone status information collection step (S121),

[0056] The flight controller simulation module (122) that performs virtual flight control performs a flight controller simulation control step (S122) that performs virtual flight control.

[0057] The particle generation module (123) that generates a particle that is a virtual collider performs a particle generation step (S123) that generates a particle that is a virtual collider.

[0058] The particle collision detection module (124) that detects collision with a virtual collider particle performs a particle collision detection step (S124) that detects collision with a virtual collider particle.

[0059] The particle collision size and direction calculation module (125) that calculates the collision size and direction of the virtual collision body particle performs the virtual multicopter thrust application step (S126) that applies the thrust of the virtual aircraft multicopter through the calculation of the collision size and direction of the particle,

[0060] The virtual multicopter thrust application module (126) that applies the thrust of a virtual aircraft multicopter by calculating the collision size and direction of particles performs a virtual multicopter thrust application step (S126) that applies the thrust of a virtual aircraft multicopter by calculating the collision size and direction of particles.

[0061] A virtual multicopter visualization module (127) that visualizes a virtual multicopter after applying the thrust of the virtual multicopter performs a virtual multicopter visualization step (S127) that visualizes a virtual multicopter after applying the thrust of the virtual multicopter.

[0062] In addition, after the virtual multicopter visualization step (S127), a virtual obstacle mapping step (S128) may be further included, which generates terrain features or ground objects such as ground buildings and trees that are similar to the conditions of virtual obstacles that can be provided for simulations such as pilot training of the virtual multicopter generated in the virtual multicopter visualization, stores them in a database and stores them in a memory included within the virtual reality device unit (120) or an external memory, and then transmits and provides them when implementing the simulation. This virtual obstacle mapping step is performed in the virtual obstacle mapping module (125).

[0063] At this time, the virtual obstacle mapping step implements a mapping function through matching with real objects using data such as maps containing contour lines, topographic features, photographs, videos, or measured maps of ground objects such as buildings and trees, thereby providing a more realistic virtual obstacle when implementing a simulation.

[0064] This can be used to improve the driving ability of users or learners who have trained through virtual reality simulations when operating a multicopter in an area where real-world obstacles such as real-world terrain features, real-world buildings, and real-world objects are located, enabling them to better respond to safety accidents and unexpected events.

[0065] In the above virtual reality device operation step (S120), the following information is collected and experimented with, and calculations are made according to the experiment. The first step to be performed is the virtual drone status information collection step (S121).

[0066] The above step (S121) is a step in which the status information of the virtual multicopter drone (200) is collected, and the information includes the weight of the virtual multicopter drone, the center of gravity, the size of the propeller, the thrust coefficient which is the thrust value, the number of power sources, the location of the power sources, the battery voltage / current / remaining capacity, the flight status (landing status, starting status, takeoff status, flight failure status), the flight mode (Acro mode, Angle mode, Attitude mode, Horizon mode, etc.), the air pressure information, the virtual multicopter drone (200) status information (location information, azimuth, pitch angle, roll angle, yaw angle, pitch acceleration, roll acceleration, yaw speed, thrust by thrust application point (including thrust at the center of gravity position), rotation speed by propeller, rate, exponent, P rate, I rate, D rate, minimum throttle, middle throttle, maximum throttle, brake, brake damping, angle damping), and such information has a function that allows the operator to visually confirm it. It is performed.

[0067] If the process of the above step (S121) is completed, the next step is flight controller simulation (S122), and this step (S122) calculates the rotational speed of multiple power sources (motors) mounted on the virtual multicopter drone (200) as in the flight of an actual multicopter drone through the virtual multicopter drone status information collection step (S121).

[0068] At this time, the rotational speed of the power source is calculated using the rotational speed of the propeller and the rotational speed of the motor, and is calculated based on the rotational speed of the motor. Here, additional calculations are performed using the rotational speed of the propeller along with the rotational speed of the motor, and this information is compared and analyzed to enable more precise rotational speed calculations.

[0069] The above power source (motor) is located at the center point of the rotation radius of the propeller (220) in the virtual multicopter drone (200) at the thrust application point (240) of the propeller (220) in Fig. 3 (see Fig. 5).

[0070] The above step (S122) can be explained as being identical to the control logic of a multicopter drone operating in reality, and the following description of this embodiment allows for realistic operation and flight performance pursued in the simulator.

[0071] The above particle generation module (123) checks the size and thrust coefficient of the propeller (220) of the virtual multicopter drone (200) using the information collected in the above step (S121) and proceeds with the particle (collision body) generation step (S123) that can be utilized by applying the rotational speed of each power source (motor) calculated through the above step (S122).

[0072] The particle (250) illustrated in FIG. 3 is generated within the rotation radius of the propeller (220) determined by the size of the propeller (220) of the virtual multicopter drone (200) in the step (S121) with reference to FIG. 5, and the propeller (220) provided in the virtual multicopter drone (200) applies a force equal to the thrust coefficient of the step (S121) vertically downward, and determines the generation cycle of the particle (250) according to the rotation speed of each propeller (220) of the virtual multicopter drone (200) calculated through the step (S122).

[0073] That is, the particle generation module (123) performs a particle generation step (S123) that generates particles that are virtual colliders.

[0074] The above particle generation step (S123) is performed through the steps of a step (S123-1) of setting a propeller rotation radius (Cr), a step (S123-2) of setting a radius of particles that can be placed at the maximum density within the propeller rotation area, and a step (S123-3) of calculating the number (n) of particles of the above radius (Pr).

[0075] As shown in Fig. 5b, the step (S123-1) of setting the above-described propeller rotation radius (Cr) is determined by the size of the propeller (220) of the virtual multicopter drone (200), and is set as the rotation radius (Cr), which is the distance from the center point (X) of the propeller to the external line where the propeller rotates.

[0076] The step (S123-2) of setting the radius of the particles that can be placed at the maximum density within the above propeller rotation area is the area (πCr) of the above rotation radius (Cr). 2 ) means a step of setting the radius (Kr) of the particles corresponding to the number of particles corresponding to the optimal density (ρ) when a number of particles are included in the particle.

[0077] The meaning of the above optimal density (ρ) corresponds to the appropriate number of particles for calculating thrust due to collisions of multiple particles.

[0078] The optimal density (ρ) is the area of ​​the total area of ​​a number (n) of particles (K) with a radius of gyration (Cr) of πCr 2 ) is defined as the case where it is divided into

[0079] Optimal density (ρ) = [n×πKr 2 ] / [Area of ​​radius of rotation (Cr) (πCr) 2 )] ---(Formula 1)

[0080] can be obtained by

[0081] The above optimal density (ρ) is empirically derived to be a number between 0.8 and 0.9, which is suitable for proper real-time simulation for calculating thrust due to particle collisions.

[0082] When the above-mentioned optimal density (ρ) approaches 0.8, the number of particles is too small, making it inaccurate to perform an appropriate real-time simulation for calculating the thrust due to particle collisions. When it approaches 0.9, the number of particles is too large, making it impossible to perform an appropriate real-time simulation for calculating the thrust due to particle collisions.

[0083] Therefore, the optimal density (ρ) that is best suited for a proper real-time simulation for calculating thrust due to particle collision is preferably 0.8034, and the radius (Pr) of the particle (P) is obtained by the following equation.

[0084] Kr=Cr / [1+ + ] ---(Formula 2)

[0085] will be saved.

[0086] Next, the step (S123-3) of obtaining the number (n) of particles of the above radius (Pr) is obtained by the following equation.

[0087] Optimal density (ρ) = [n×πKr 2 ] / [Area of ​​radius of rotation (Cr) (πCr) 2 )]

[0088] n = [Optimal density (ρ) × {Area of ​​radius of gyration (Cr) (πCr) 2 )}] / [πKr 2 ] --- (Equation 3.1)

[0089] If we substitute (Equation 2) into (Equation 3.1),

[0090] n = [Optimal density (ρ) × {Area of ​​radius of gyration (Cr) (πCr) 2 )}] / [π(Cr / [1+ + ] ) 2 ] -----(Formula 3)

[0091] According to (Equation 3), when the optimal density (ρ) is 0.8034, n = 19.

[0092] If the optimal density (ρ) is calculated as 0.8157, n = 55, which makes real-time simulation for calculating thrust due to particle collisions very difficult and causes a problem in that the calculation takes a lot of time.

[0093] As shown in Fig. 5b, the generated particles are formed by the number of particles (P1), particles (P2),,,,,particles (Pn), and the volume of the generated particles is (4 / 3)[πKr 3 ] becomes.

[0094] Therefore, when the optimal density (ρ) is 0.8034 and n = 19, and the number of particles is 19, each particle (P1, P2 ---- Pn) is set to a position (W) within the area of ​​the rotation radius (Cr) of the propeller.

[0095] That is, the distance (R) from the center point (X) of the rotation radius of the propeller to the center point (Y) of each particle is set, and the angle (θ) from the center line (N) of the rotation radius of the propeller to the center point of the particle is set, so that the positions (W) of each of the 19 particles (K1, K2 ---- Kn) within the rotation radius of the propeller are set.

[0096] The present invention performs a function of enabling the movement of n particles to be more consistent with the movement of air currents acting on the air while an actual multicopter drone is flying by having the rotational force of the propeller (220) act on n particles set within the rotational radius of the propeller according to their respective masses, air resistance, friction, elasticity, etc.

[0097] In particular, the present invention applies the mass and density of air according to the pressure at altitude and the mass and density of air according to the temperature of the atmosphere to the particle (250) described above, thereby making the movement of the particle generated by the rotation of the propeller (220) consistent with the actual air, thereby realizing a more accurate movement of the air flow.

[0098] The mass (M) and density (D) of particles (K) according to the altitude and atmospheric temperature mentioned above are set by the following formula, and the pressure (S) and atmospheric temperature (T) according to altitude can also be set.

[0099] The above particles undergo adiabatic expansion and contraction, and the volume (V) and density (D) of the particles (K) are defined as functions of the pressure (S) and the temperature (T) of the atmosphere according to the altitude (H), as shown in the formula below.

[0100] The mass (M) and density (D) of the particles according to the pressure (S) and temperature (T) of the atmosphere at the above-mentioned altitude (H) may be preset.

[0101] In addition, the mass (M1) of the particle according to the altitude (H), pressure (S), and atmospheric temperature (T) mentioned above can be calculated and input by the equation below.

[0102] Mass of particle (M1) = [M×(πPr 3 )] / [(T2 / T1)×{S1 / (1-(H-10000)}] ----(Formula 4)

[0103] {Here, M ; mass of air in the volume of a sphere corresponding to the particle radius (Pr) when the atmospheric pressure is 1 atm,

[0104] T2; absolute temperature at altitude H (meter)

[0105] T1: Absolute temperature at altitude 0 (reference temperature (room temperature 293))

[0106] S1; Atmospheric pressure at altitude 0 (pressure at reference temperature (room temperature 293) (1 atm))

[0107] However, the altitude H cannot exceed 10,000 m.

[0108] As described above, a function is performed to implement the movement of the airflow generated by the rotation of the propeller (220) more realistically by applying air resistance, friction, elasticity, etc. according to the mass of the particle (M1) according to the newly input altitude (H), pressure (S), and temperature (T) of the atmosphere.

[0109] The above particles (250) are applied with mass, air resistance, friction, elasticity, etc. that can be set in a 3D graphic engine (Unity, Unreal, etc.) to similarly implement the movement of air currents generated by the rotation of the propeller (220). In addition, even minute changes in air currents due to environmental factors such as wind direction in a virtual space can be similarly implemented.

[0110] As shown in Fig. 6, a step (S124) of conducting a particle collision inspection is performed to apply the propeller (220) thrust and airflow collision thrust to the thrust application point (240) of each propeller (220) and the center of gravity point (230) of the virtual multicopter drone (200).

[0111] The above step (S124) is a step for determining whether there is a collision with the pressure control plate (260), terrain feature (270), and virtual multicopter drone (200), as shown in FIG. 3.

[0112] The above-mentioned pressure control plate (260) is for simulating the force that presses the atmosphere according to the pressure, and can increase the altitude of the virtual multicopter drone (200) in the virtual space or adjust the strength of the thrust using the already secured pressure information.

[0113] As shown in Fig. 3, the pressure control plate (260) maintains the distance between the frame (210) of the virtual multicopter drone (200) and the ground or obstacles according to the horizontal and atmospheric pressure.

[0114] Additionally, a terrain feature (270) means an object to which all physical laws are applied and visualized within the virtual space where the simulation is performed.

[0115] In the above step (S124), only the particles (250) that are determined to have collided with the pressure control plate (260) and the terrain feature (270) for the first time are used to calculate the thrust of the propeller (220) for each propeller thrust application point (240), and the calculated information is transmitted to the flight controller simulation step (S122), and based on the above information, the particles (250) that are determined to have collided with the virtual multicopter drone (200) are used in the step (S125) to calculate the size and direction of the airflow collision with respect to the center of gravity point (230) of the virtual multicopter drone (200).

[0116] The above step (S125) can be explained in terms of the collision size of the particle (250) calculated at the thrust application point (240) of each propeller (220) of the virtual multicopter drone (200) as shown in FIG. 7, and the particle (250) generated at the bottom of each propeller (220) in the particle (collision body) generation step (S123) is assigned an index to the particle (250) generated based on the thrust application point (240) of each propeller (220), and through the above step (S124), the acceleration at the time of collision of all particles (250) having the same index that collided with the air pressure control plate (260) and the terrain feature (270) is calculated, and the acceleration values ​​are added up for each same index to calculate only the thrust value of the propeller (220).

[0117] As illustrated in Fig. 7, among the multi-propellers of a multicopter, one propeller is defined as P1, another propeller is defined as P2, and the remaining propellers are defined as Pn. For example, when applying four propellers, they are defined as P1, P2, P3, and P4.

[0118] Accordingly, if one propeller is defined as P1, the thrust value of the propeller (220) applied to P1 is the sum of the accelerations of p1(1) to p1(n), and if another propeller is defined as P2, the thrust value of the propeller (220) applied to P2 can be calculated as the sum of the accelerations of p2(1) to p2(n).

[0119] The particle collision size and direction calculated at the center of gravity point (230) of the virtual multicopter drone (200) can be explained in Fig. 8, and the collision acceleration and direction generated at the point of collision of all particles (250) colliding with the virtual multicopter drone (200) are calculated through the particle collision inspection step (S124) and calculated by adding up all values.

[0120] At this time, the meaning of the particles (250) above means that when operating a virtual multicopter drone (200) in a virtual space, all collisions with particles (250) generated from other virtual multicopter drones (200) must be calculated.

[0121] The process proceeds through a step (S125) of calculating the particle (250) collision size and direction at the above propeller (220) thrust application point (240) and the center of gravity point (230) of the virtual multicopter drone (200), and a step (S126) of applying the calculated propeller (220) thrust and airflow collision size / direction to the calculated virtual multicopter thrust.

[0122] As shown in FIGS. 9 and 10, a step (S127) is performed to visualize the information of the virtual multicopter drone (200) obtained through the steps (S120) to (S126).

[0123] The above step (S127) is a process of implementing the driving process of the virtual reality multicopter drone simulation method applying dynamics and fluid dynamics according to the embodiment of the present invention of FIG. 1 using a 3D graphic engine, and FIG. 8 is a view of implementing the simulation situation of FIG. 3, and the change in particle pattern according to the pressure control plate (260) and the terrain feature (270) can be confirmed, and FIG. 9 is a view of the change in particle pattern that can cause a ground effect according to the height of the virtual multicopter drone (200) to the terrain feature (270).

[0124] In the driving process of the virtual reality multicopter drone simulation method applying dynamics and fluid dynamics according to an embodiment of the present invention, the flight controller simulation step (S122), the particle (collision body) generation step (S123), the particle collision inspection step (S124), and the particle collision size and direction calculation step (S125) must be performed in a fixed cycle in the 3D graphics engine to produce normal results, and the virtual multicopter thrust application step (S126) and the virtual multicopter visualization step (S127) can be applied and visualized according to the FPS affected by the specifications of the virtual reality device. Here, if the FPS cycle is lower than the fixed operation cycle, the virtual multicopter thrust application step (S126) can be applied by adding up the calculated values. (See FIG. 3)

[0125] The virtual reality multicopter drone simulation method of this embodiment implements real-world physical phenomena through software-based particle (collider) simulation. The flight characteristics and physical phenomena of an actual multicopter drone are applied and operated as is. This allows the simulator to replicate real-world phenomena in the virtual world in a manner similar to or identical to reality.

[0126] The case part of the above-mentioned virtual reality device (120) is made of a conventional metal or polymer material, and it is effective to make it of a polymer material resin that is a material having durability, heat resistance, etc.

[0127] It is effective that the case of the above-mentioned virtual reality device (120) is made of a polymer resin having durability and heat resistance that can adapt to harsh environments such as high and low temperatures.

[0128] As an example of the case material of the virtual reality device (120) of the present invention, a material composed of polyvinyl chloride (PVC), polyethylene (PE), polyethylene terephthalate (PET), polypropylene (PP), or sulfonated polystyrene (SPS), either singly or in combination of two or more, has excellent durability.

[0129] Preferably, it is useful in terms of strength, heat resistance, and durability to use a polymer resin mixed with 100 parts by weight of polyvinyl chloride (PVC), 40 to 50 parts by weight of polyethylene (PE), 5 to 30 parts by weight of polyethylene terephthalate (PET), 5 to 30 parts by weight of polypropylene (PP), and 1 to 20 parts by weight of sulfonated polystyrene (SPS).

[0130] The present invention performs the function of significantly increasing the strength during the molding process of the case of the virtual reality device unit (120) by including a strength-enhancing composition in the polymer material resin described above, and performs the function of preventing the occurrence of cracks.

[0131] It is very effective to mix 1 to 3 parts by weight of the above-mentioned strength-enhancing composition based on 100 parts by weight of polyvinyl chloride (PVC).

[0132] The above-mentioned strength-enhancing composition means a composition prepared by mixing 100 parts by weight of ethoxylated amide, 10 to 20 parts by weight of polyoxyalkylene ester, 1 to 5 parts by weight of polyvinyl alcohol, 10 to 50 parts by weight of iron sulfate, 10 to 30 parts by weight of silicon oxide, 5 to 20 parts by weight of aluminum oxide (Al2O3), 1 to 10 parts by weight of alginic acid, and 5 to 30 parts by weight of carboxymethyl cellulose.

[0133] The present invention performs the function of reinforcing the acid resistance and alkali resistance of the case of the virtual reality device unit (120) by including a resistance reinforcing agent in the polymer material resin described above.

[0134] It is recommended to use the above-mentioned resistance reinforcing agent by mixing 0.1 to 1 part by weight based on 100 parts by weight of polyvinyl chloride (PVC).

[0135] The above-mentioned resistance reinforcing agent may be prepared by mixing 100 parts by weight of ethylene vinyl acetate, 10 to 30 parts by weight of methacrylic acid, 10 to 30 parts by weight of oleic acid amide, 20 to 80 parts by weight of stearyl methacrylate, 0.01 to 0.25 parts by weight of methylene bis acrylamide, and 0.05 to 0.5 parts by weight of glycidyl methacrylate.

[0136] Accordingly, the present invention has the effect of preventing the generation of environmental hormones in the polymer resin by including a natural additive in the polymer resin, thereby making the virtual reality device (120) case made of the polymer resin, and thus making it environmentally friendly.

[0137] It is preferable to mix the above-mentioned natural additives in an amount of 0.001 to 0.005 parts by weight based on 100 parts by weight of polyvinyl chloride (PVC).

[0138] The above natural additive refers to a composition extracted by mixing 100 parts by weight of Ophiopogon japonicus, 10 to 30 parts by weight of Paemo, 10 to 30 parts by weight of Baekgeup, 10 to 30 parts by weight of Shingok, 80 to 120 parts by weight of Siho, 10 to 30 parts by weight of Samneung, and 80 to 120 parts by weight of Sesin.

[0139] The present invention has the effect of preventing the generation of environmental hormones in the case of a virtual reality device (120) made of a polymer resin material by including such natural additives, thereby making it environmentally friendly.

[0140] The present invention can perform the function of preventing weathering due to ultraviolet and infrared rays of the case of a virtual reality device (120) formed by adding a natural functional composition to the above-mentioned polymer resin.

[0141] It is preferable to mix the above-mentioned natural functional composition in an amount of 0.001 to 0.005 parts by weight based on 100 parts by weight of polyvinyl chloride (PVC).

[0142] The above natural functional composition refers to a composition extracted by mixing 100 parts by weight of Yeojeongsil, 10 to 100 parts by weight of Usul, 10 to 50 parts by weight of Saeng-in-son, 10 to 30 parts by weight of Jeolgukdae, 10 to 30 parts by weight of Gwalrugeun, and 50 to 80 parts by weight of Sokdan.

[0143] As a method for extracting the above-mentioned natural additive or natural functional composition, 1000 parts by weight of 75-85% [mass%] ethanol is added to 100 parts by weight of the above-mentioned mixed raw materials, refluxing is performed for 2-4 hours, and the filtrate is concentrated under reduced pressure using a rotary evaporator.

[0144] Such extracts can be extracted in powder form in an amount of 5 to 25 parts by weight based on 100 parts by weight of mixed raw materials, and it is preferable to add such powdered extracts.

[0145] The present invention has the effect of enhancing the strength of the case of the virtual reality device (120) by adding a functional composition to the polymer resin described above, such as improving moisture resistance and preventing cracking due to high heat and temperature changes.

[0146] The above-described functional composition of the present invention means mixing 100 parts by weight of perfluorinated polyether, 10 to 30 parts by weight of maleic anhydride, 1 to 5 parts by weight of silica, 50 to 200 parts by weight of methyl methacrylate, and 20 to 80 parts by weight of dimethylene glycol.

[0147] The present invention shows that the case of the virtual reality device (120) manufactured by including the above-described functional composition has enhanced moisture resistance, does not deform even at high temperatures, and does not cause cracks due to temperature changes.

[0148] The above description is merely an illustrative illustration of the technical idea of ​​the present invention, and those skilled in the art will readily appreciate that various substitutions, modifications, and alterations are possible without departing from the essential characteristics of the present invention. In other words, the embodiments disclosed in the present invention are intended to illustrate, rather than limit, the technical idea of ​​the present invention, and the scope of the technical idea of ​​the present invention is not limited by these embodiments.

[0149] Accordingly, the scope of protection of the present invention should be interpreted by the claims described below, and all technical ideas within the equivalent scope should be interpreted as being included in the scope of the rights of the present invention.

Claims

1. A controller operation information section (110) for obtaining information according to the operation of the controller, and A virtual reality multicopter drone flight simulation implementation system that applies dynamics and fluid dynamics, comprising a virtual reality device unit (120) that implements a virtual reality multicopter drone flight simulation by utilizing information acquired from the above-mentioned controller operation information unit (110).

2. In a virtual reality multicopter drone flight simulation method applying dynamics and fluid mechanics, Step (S110) of identifying the controller operation information, in which the steering information consisting of throttle, yaw, pitch, and roll and the switch operation information such as the flight mode are identified through the controller operation information section (110); and It consists of a virtual reality device operation step (S120) for operating a virtual reality device through a virtual reality device unit (120), The above virtual reality device operation step (S120) is a virtual multicopter drone status information collection step (S121) that collects status information of a virtual multicopter drone so that an operator can visually check the status information of a multicopter drone (200) through a virtual multicopter drone status information module (121). Flight controller simulation control step (S122) that performs virtual flight control through a flight controller simulation module (122); A particle generation step (S123) for generating a virtual collider particle through a particle generation module (123). A particle collision detection step (S124) that detects collision with a virtual collision body, a particle, through a particle collision detection module (124). A particle collision size and direction calculation step (S125) for calculating the collision size and direction of a virtual collider particle using a particle collision size and direction calculation module (125). A virtual multicopter thrust application step (S126) that applies the thrust of a virtual multicopter, which is a virtual aircraft, by calculating the collision size and direction of particles using a virtual multicopter thrust application module (126). A method for simulating a flight of a virtual reality multicopter drone using dynamics and fluid dynamics, characterized by including a virtual multicopter visualization step (S127) for visualizing a virtual multicopter after applying thrust of the virtual multicopter using a virtual multicopter visualization module (127).

3. In paragraph 2, The above virtual reality device operation step (S120) is a step in which status information of a virtual multicopter drone (200) is collected, and information including the weight of the virtual multicopter drone, center of gravity, propeller size, thrust coefficient which is a thrust value, number of power sources, location of power sources, battery voltage / current / remaining capacity, flight status (landing status, starting status, takeoff status, flight impossible status), flight mode (Acro mode, Angle mode, Attitude mode, Horizon mode, etc.), air pressure information, virtual multicopter drone (200) status information (location information, azimuth, pitch angle, roll angle, yaw angle, pitch acceleration, roll acceleration, yaw speed, thrust by thrust application point (including thrust at center of gravity position), rotation speed by propeller, rate, extensibility, P rate, I rate, D rate, minimum throttle, middle throttle, maximum throttle, brake, brake damping, angle damping) is collected, and such information can be visually confirmed by the operator. A method for simulating a virtual reality multicopter drone flight using dynamics and fluid mechanics, characterized in that a function that enables the flight is performed.

Images