公开(公告)号：US11688297B2

公开(公告)日：2023-06-27

申请号：US16195117

申请日：2018-11-19

Applicant: The Boeing Company

Inventor： Jonathan N. Hotra ,  Leighton J. Carr ,  Antony R. Hunt

IPC: G09B9/30 ,  G06F3/01 ,  G09B9/28

CPC classification number: G09B9/30 ,  G06F3/016 ,  G09B9/28

Abstract: Systems and methods are disclosed for virtual reality (VR) aircraft test and training environments that simultaneously leverage a high quality immersive environment engine and an operational flight program (OFP) running on a virtual flight management computer (FMC) by using a communication channels that couples the immersive VR environment engine with the virtual FMC. Existing investment in flight simulators, test environment core components, and any of navigation simulation, data link simulation, air traffic control simulation, and flight visualization modules can be advantageously employed to provide high-quality, realistic testing and training capability.

公开(公告)号：US6154198A

公开(公告)日：2000-11-28

申请号：US932316

申请日：1997-09-17

Applicant: Louis B. Rosenberg

Inventor： Louis B. Rosenberg

IPC: A61B19/00 ,  A63F13/06 ,  G05G9/047 ,  G06F3/00 ,  G06F3/01 ,  G06F3/038 ,  G09B9/28 ,  G09B23/28 ,  G09G5/08

CPC classification number: G05G9/047 ,  A63F13/06 ,  A63F13/24 ,  A63F13/285 ,  G06F3/016 ,  G06F3/0346 ,  G06F3/03545 ,  G06F3/0383 ,  G09B23/28 ,  G09B9/28 ,  A61B90/50 ,  A63F2300/1037 ,  G05G2009/0474 ,  G05G2009/04766 ,  G05G9/04737 ,  G06F2203/015

Abstract: An input/output device used in conjunction with a host computer for monitoring user manipulations and for enabling simulation of feel sensations in response to the manipulations. A user manipulatable object is pivotally attached to a ground surface and is moveable in two degrees of freedom. Actuators output forces transmitted to the user manipulatable object and at least one sensor detects motion of the object. Two slotted yoke members transmit forces from the actuators to the object. A local processor executes a software process in response to host commands which derives force values to be applied to the user manipulatable object.

Abstract translation: 与主机结合使用的输入/输出设备，用于监视用户操纵并且用于响应于操作而使得能够模拟感觉感觉。 用户可操纵物体枢转地附接到地面并且可以在两个自由度上移动。 致动器输出传递到用户可操纵物体的力，并且至少一个传感器检测物体的运动。 两个开槽的轭构件将力从致动器传递到物体。 本地处理器响应于导出要应用于用户可操纵对象的力值的主机命令来执行软件过程。

公开(公告)号：US06004134A

公开(公告)日：1999-12-21

申请号：US245957

申请日：1994-05-19

Applicant: Beth A. Marcus ,  Timothy Osborne ,  Bin An ,  Brian Eberman

Inventor： Beth A. Marcus ,  Timothy Osborne ,  Bin An ,  Brian Eberman

IPC: A63F13/06 ,  A63F13/08 ,  G05G1/06 ,  G05G9/047 ,  G06F3/00 ,  G06F3/01 ,  G06F3/038 ,  G09B9/04 ,  G09B9/28 ,  G09B5/00

CPC classification number: A63F13/285 ,  A63F13/06 ,  A63F13/08 ,  G05G1/06 ,  G05G9/047 ,  G06F3/011 ,  G06F3/016 ,  G09B9/04 ,  G09B9/28 ,  A63F2300/1037 ,  A63F2300/8029 ,  G05G2009/0474 ,  G06F2203/013 ,  G06F2203/015

Abstract: Interactive simulation including force feedback. The system includes a computer game display unit programmed with simulation rules. A control unit is connected to the computer and provides information and control signals to the computer to interact with the stored simulation rules and to receive information and control signals from the computer. A movable structure for movement in at least two degrees-of-freedom by an operator is interconnected to the control unit by means of actuators. A programmable unit processes signals and information from the computer to generate signals to drive the actuators so as to apply forces in the at least two degrees-of-freedom to the movable structure and thereby to the operator. The applied forces are based on internal programming within the programmable unit, events occurring in the simulation and movements of and forces applied to the movable structure by the operator. The system of the invention thereby provides continuous interaction among motion of and forces applied by the movable structure, the events in the simulation and forces applied to and applied by the movable structure.

公开(公告)号：US5878981A

公开(公告)日：1999-03-09

申请号：US843253

申请日：1997-04-14

Applicant: Daniel L. Dewey

Inventor： Daniel L. Dewey

IPC: B64C13/24 ,  G09B9/28 ,  G09B9/48

CPC classification number: B64C13/24 ,  G09B9/28 ,  G09B9/48

Abstract: An control mechanism apparatus is shown which electromechanically actuates a control board of a radio transmitter. The radio transmitter transmits radio signals to a receiver on board a model aircraft for actuating the various parts thereof. The apparatus comprises a base frame for providing a stable platform with a seat mounted at the rear of the base frame. A plurality of controls emulating the controls found in a cockpit of an actual aircraft are mounted to the base frame. A plurality of mechanical linkages are provided which transmit the position of each of the plurality of controls to a corresponding plurality of electrical devices. Each of the corresponding electrical devices is in electrical communication with the control board and the output of each of the electrical devices varies in accordance with the position of the controls. The radio signals are transmitted by the radio transmitter control board and vary in accordance with the electrical output of each of the electrical devices. The radio signals actuate the various parts of the model aircraft corresponding to each of the plurality of the controls.

Abstract translation: 示出了一种控制机构装置，其机电地驱动无线电发射机的控制板。 无线电发射机将无线电信号发射到模型飞机上的接收器，以致动其各个部分。 该装置包括用于提供具有安装在基架后部的座椅的稳定平台的基座框架。 模拟在实际飞行器的驾驶舱中发现的控制的多个控制器被安装到基架上。 提供了多个机械连杆，其将多个控制中的每一个的位置传递到相应的多个电气装置。 每个相应的电气设备与控制板电连通，并且每个电气设备的输出根据控制器的位置而变化。 无线电信号由无线电发射机控制板传输，并根据每个电气设备的电气输出而变化。 无线电信号致动对应于多个控制中的每一个的模型飞机的各个部分。

公开(公告)号：US5805140A

公开(公告)日：1998-09-08

申请号：US560091

申请日：1995-11-17

Applicant: Louis B. Rosenberg ,  Bruce M. Schena

Inventor： Louis B. Rosenberg ,  Bruce M. Schena

IPC: A61B19/00 ,  B25J9/16 ,  G01B5/008 ,  G01B7/004 ,  G01B21/04 ,  G05B19/42 ,  G05D25/02 ,  G05G9/047 ,  G06F3/00 ,  G06F3/01 ,  G06F3/038 ,  G09B9/28 ,  G09B23/28 ,  G09G5/08 ,  G06F3/033

CPC classification number: G06F3/016 ,  B25J9/1692 ,  G01B21/04 ,  G01B5/008 ,  G01B7/004 ,  G05B19/4207 ,  G05D25/02 ,  G05G9/047 ,  G06F3/0346 ,  G06F3/038 ,  G06F3/0383 ,  G09B23/28 ,  G09B23/285 ,  G09B9/28 ,  A61B90/50 ,  A63F2300/1037 ,  G05G2009/0474 ,  G05G2009/04759 ,  G05G2009/04766 ,  G05G9/04737 ,  G06F2203/015 ,  H01H2003/008

Abstract: A method and apparatus for interfacing the motion of a user-manipulable object with an electrical or computer system includes a user object physically contacted by a user. A gimbal mechanism is coupled to the user object, such as a joystick or a medical tool, and provides at least two degrees of freedom to the user object. The gimbal mechanism preferably includes multiple members, at least two of which are formed as a unitary member which provides flex between the selected members. An actuator applies a force along a degree of freedom to the user object in response to electrical signals produced by the computer system. A sensor detects a position of the user object along the degree of freedom and outputs sensor signals to the computer system. Another embodiment includes a host computer system and a local microprocessor, separate from the host computer, for communicating with the host computer and controlling the forces output by the actuators according to a processor subroutine selected in accordance with a host command, sensor signals, and timing information. Another embodiment of the interface apparatus uses voice coil actuators that produce forces in either linear or rotary degrees of freedom using currents applied in a magnetic fields. A friction drive mechanism of the present invention can be coupled between an actuator and a gimbal mechanism. Force from the actuator is transmitted to the gimbal mechanism through frictional contact of members of the friction drive mechanism.

Abstract translation: 用于将用户可操纵对象与电气或计算机系统的运动对接的方法和装置包括由用户物理联系的用户对象。 万向节机构耦合到用户对象，诸如操纵杆或医疗工具，并且向用户对象提供至少两个自由度。 万向架机构优选地包括多个构件，其中至少两个构件形成为在所选构件之间提供挠曲的整体构件。 执行器响应于由计算机系统产生的电信号，沿着自由度向使用者物体施加力。 传感器沿着自由度检测用户对象的位置，并向计算机系统输出传感器信号。 另一个实施例包括与主计算机分离的主计算机系统和本地微处理器，用于与主计算机进行通信，并根据根据主机命令，传感器信号和时序选择的处理器子程序来控制致动器输出的力 信息。 接口装置的另一实施例使用音圈致动器，其使用在磁场中施加的电流产生线性或旋转自由度的力。 本发明的摩擦驱动机构可以联接在致动器和万向节机构之间。 致动器的力通过摩擦驱动机构的构件的摩擦接触传递到万向节机构。

公开(公告)号：US5767839A

公开(公告)日：1998-06-16

申请号：US400233

申请日：1995-03-03

Applicant: Louis B. Rosenberg

Inventor： Louis B. Rosenberg

IPC: A61B19/00 ,  A63F13/06 ,  G05G9/047 ,  G06F3/00 ,  G06F3/01 ,  G06F3/038 ,  G09B9/28 ,  G09B23/28 ,  G09G5/08

CPC classification number: G06F3/016 ,  A63F13/06 ,  A63F13/285 ,  G05G9/047 ,  G06F3/03545 ,  G06F3/0383 ,  G09B23/28 ,  G09B9/28 ,  A61B90/50 ,  A63F2300/1037 ,  G05G2009/0474 ,  G05G2009/04766 ,  G05G9/04737 ,  G06F2203/015

Abstract: A method and apparatus for interfacing the motion of an object with a digital processing system includes a sensor which has a sensing resolution and detects movement of the object along a degree of freedom. An amount of play less than the sensing resolution exists between the sensor and the object. A passive actuator is coupled to the mechanism to transmit a resistive force to the object along the degree of freedom. A play mechanism is coupled to the actuator to provide a desired amount of play between the actuator and the object along the degree of feedom. The desired amount of play is greater than the sensing resolution of the sensor so that the sensor can detect the desired play when the user moves the object, even when the actuator has locked the object into place. Such desired play can be torsion flex (compliance) or rotary backlash. The actuator and the sensor provide an electromechanical interface between the object and the digital processing system. A gimbal mechanism or slotted yoke mechanism can be coupled between the actuator and the object. The interface is well suited for simulations of medical procedures and simulations in which an object such as a stylus or a joystick is moved and manipulated by the user.

Abstract translation: 用于将物体的运动与数字处理系统接合的方法和装置包括具有感测分辨率并且沿着自由度检测物体的移动的传感器。 在传感器和物体之间存在小于感测分辨率的游戏量。 无源致动器被耦合到机构以沿着自由度向物体传递阻力。 一个播放机构连接到致动器上，以沿着馈送程度在致动器和物体之间提供期望的播放量。 期望的播放量大于传感器的感测分辨率，使得当用户移动物体时传感器可以检测到所需的播放，即使当致动器将物体锁定到位时。 这种所需的游戏可以是扭曲（顺从）或旋转间隙。 致动器和传感器在物体和数字处理系统之间提供机电接口。 万向节机构或开槽轭机构可以联接在致动器和物体之间。 该界面非常适用于医疗程序和模拟的模拟，其中诸如触笔或操纵杆的对象被用户移动和操纵。

公开(公告)号：US5499919A

公开(公告)日：1996-03-19

申请号：US130950

申请日：1993-10-04

Applicant: G. Terry Thomas

Inventor： G. Terry Thomas

IPC: G09B9/28 ,  G09B9/08

CPC classification number: G09B9/28

Abstract: An aircraft throttle simulator comprises throttle levers which extend upwly from spheres frictionally clamped between plates. The levers are constrained for movement in a pattern allowing for forward movement from an idle position to a full throttle position, a lateral shift from the full throttle position, and forward movement to an afterburner position. A linkage is provided to connect each lever to a linear transducer to provide a position signal.

Abstract translation: 飞机油门模拟器包括从摩擦夹在板之间的球向上延伸的节流杆。 杠杆被限制为以允许从怠速位置向前运动到全节气门位置的模式运动，从全节气门位置的横向偏移，以及向前运动到加力器位置。 提供连接以将每个杠杆连接到线性换能器以提供位置信号。

公开(公告)号：US5435729A

公开(公告)日：1995-07-25

申请号：US34762

申请日：1993-03-19

Applicant: Bruce Hildreth ,  Thomas Trankle ,  William A. Hart ,  Upton Norris, III ,  Roger E. Eyermann

Inventor： Bruce Hildreth ,  Thomas Trankle ,  William A. Hart ,  Upton Norris, III ,  Roger E. Eyermann

IPC: B64C19/00 ,  G05D3/12 ,  G05D15/01 ,  G05G5/03 ,  G05G9/047 ,  G09B9/28 ,  H02P29/00 ,  G09B25/00

CPC classification number: G05G5/03 ,  G09B9/28 ,  G05G2009/04762 ,  G05G2009/04766

Abstract: An apparatus and method for simulating a desired response in accordance with an external applied force. The apparatus includes a member which is responsive to the applied force, an actuator coupled to the member for exerting a torque on the member, a force sensor for detecting the applied force, and a torque sensor for detecting the torque exerted by the actuator. Signals from the force sensor are used to determine the system response based upon a desired relation. The force sensor signals also are used to determine the actual system response based upon the physical characteristics of the apparatus. The detected torque is compared with the desired and the actual system response, and as a result of the comparison the torque exerted by the actuator onto the member is adjusted accordingly so that the member performs the desired system response. The actuator is preferably an electric motor so that the apparatus can simulate any desired response, notwithstanding the physical characteristics of the system.

Abstract translation: 一种用于根据外部施加的力模拟期望响应的装置和方法。 该装置包括响应于所施加的力的构件，联接到构件的致动器，用于在构件上施加扭矩，用于检测施加的力的力传感器，以及用于检测由致动器施加的扭矩的扭矩传感器。 来自力传感器的信号用于基于期望的关系确定系统响应。 力传感器信号还用于基于装置的物理特性来确定实际的系统响应。 将检测到的扭矩与期望的和实际的系统响应进行比较，并且作为比较的结果，相应地调节由致动器施加到构件上的扭矩，使得构件执行期望的系统响应。 致动器优选地是电动机，使得该装置可以模拟任何期望的响应，尽管系统的物理特性。

公开(公告)号：US5431569A

公开(公告)日：1995-07-11

申请号：US112525

申请日：1993-08-27

Applicant: Terry J. Simpkins ,  R. Kelly Simpkins ,  T. J. Simpkins, Jr. ,  Rob King

Inventor： Terry J. Simpkins ,  R. Kelly Simpkins ,  T. J. Simpkins, Jr. ,  Rob King

IPC: G09B9/02 ,  G09B9/10 ,  G09B9/12 ,  G09B9/28

CPC classification number: G09B9/12 ,  G09B9/02 ,  G09B9/10 ,  G09B9/28

Abstract: A motion simulator uses an existing personal computer and off the shelf software to physically simulate and control the motions of a computer generated vehicle. The motion simulator is manually powered by the user and includes a control stick connected to an input to the computer whereby movement of the control stick is translated into movement of the computer generated vehicle. A rigid control arm connects the control stick to a base unit and to a cockpit frame to move the cockpit frame relative to the base unit as the control stick is moved. The control stick also contains buttons which provide additional inputs to the computer generated vehicle. Foot operated pedals are also connected to the computer program and to the cockpit to move the cockpit in conjunction with movement of a computer generated vehicle. A throttle lever unit is also connected to the computer to control the computer generated vehicle. The center of gravity of the cockpit is located below the pitch and roll axis so the cockpit tends to return to an initial position. Gravity assists the cockpit and control stick in resisting movement whereby realism is added to the simulation. A trim adjusting wheel moves the seat unit fore and aft to adjust center of gravity of the cockpit frame to position the cockpit frame in a pitch up or pitch down position. A releasable parking mechanism securing the cockpit frame to the base unit immobilizes the simulator for safe boarding. A speaker bracket on the seat unit provides a place to mount stereo speakers for added realism.

Abstract translation: 运动模拟器使用现有的个人计算机和现成的软件来物理地模拟和控制计算机生成的车辆的运动。 运动模拟器由用户手动供电，并且包括连接到计算机的输入的控制杆，由此控制杆的移动被转换成计算机生成的车辆的运动。 刚性控制臂将控制杆连接到基座单元和驾驶舱框架，以在控制杆移动时相对于基座单元移动驾驶舱框架。 控制杆还包含为计算机生成的车辆提供额外输入的按钮。 脚踏踏板也连接到计算机程序和驾驶舱，以随着计算机生成的车辆的移动而移动驾驶舱。 节气门杆单元也连接到计算机以控制计算机生成的车辆。 驾驶舱的重心位于俯仰和滚动轴线的下方，因此驾驶舱倾向于返回到初始位置。 重力帮助驾驶舱和控制杆抵抗运动，从而将逼真性添加到模拟中。 修整调整轮前后移动座椅单元，以调节驾驶舱框架的重心，以将座舱框架放置在俯仰或俯仰位置。 将驾驶舱框架固定到基座单元的可释放的停车机构固定模拟器以进行安全登机。 座椅单元上的扬声器支架提供了一个安装立体声扬声器以增加现实感的地方。

公开(公告)号：US5177473A

公开(公告)日：1993-01-05

申请号：US676448

申请日：1991-03-28

Applicant: Frank R. Drysdale

Inventor： Frank R. Drysdale

IPC: A63F13/02 ,  G06F3/033 ,  G09B9/28

CPC classification number: A63F13/245 ,  A63F13/02 ,  A63F13/803 ,  G06F3/0334 ,  G06F3/0362 ,  G09B9/28 ,  A63F2300/1062 ,  A63F2300/8017 ,  Y10T74/20189 ,  Y10T74/20528 ,  Y10T74/20888

Abstract: A foot operated electrical control is disclosed with simulated aircraft rudder pedals coupled to potentiometers for providing signals to a microcomputer having a flight simulation program. The pedals are additionally linked to one another by slides and a rocker arm for simultaneous pedal travel in opposite directions. The potentiometers may provide cumulative signals determined by pedal displacement or distinct signals when functioning independently of one another. For this latter purpose a carrier block for the rocker arm is positionable out of engagement with the foot pedals. Opposed springs of the control serve to position the pedals in an upright static position. Each pedal is coupled to a potentiometer by spring and pedal biased slides with one of the slides in wiping contact with the pedal.

Abstract translation: 公开了一种脚踏操作的电气控制，其中模拟的飞行舵踏板耦合到电位器，用于向具有飞行模拟程序的微型计算机提供信号。 踏板还通过滑块和摇臂相互连接，以便在相反的方向上同步踏板行驶。 电位计可以提供由踏板位移或不同信号确定的累积信号，当彼此独立运行时。 对于后一种目的，用于摇臂的承载块可以与脚踏板脱离啮合。 控制器的相对弹簧用于将踏板定位在直立的静止位置。 每个踏板通过弹簧和踏板偏置滑块与电位器耦合，其中一个滑块与踏板擦拭接触。