RU2713681C1 - Simulator for training parachute jumping (versions) - Google Patents

Abstract

FIELD: exercise machines.SUBSTANCE: invention relates to simulators for paratroopers and can be used mainly for practical training and development of jump elements with dynamic accompaniment of paratroopers. Simulator for training parachute jumps comprises an instructor workstation equipped with a control computer, a post formed by two vertical supports connected by an upper beam, on which left and right control lines, a system of sensors and a virtual reality helmet are installed. Post is made with pedestal containing treadmill and is equipped with rotary frame with rotary frame rotation drive, installed on vertical supports, and with dental gripper fixed on rotary frame for parachute system parachute system fixing, its rotation, and an air flow generator, made in the form of fans, which form an air flow towards the trained paratrooper. Fans that form air flow towards the trained paratrooper are installed at the ends of the rotary frame on the left and on the right.EFFECT: higher level of training paratroopers to jump.5 cl, 8 dwg

Description

The invention relates to the construction of simulators for paratroopers and can be used mainly for practical training and development of jump elements with dynamic accompaniment of paratroopers.

Known landing simulator [1], consisting of a basic structure, which is a mobile crane, to the supporting cable which is attached to the cockpit of a helicopter or aircraft. The basic structure is located in an area with obstacles. The crane has an arrow, made with the possibility of rotation through an angle of 360 ° and allowing to obtain horizontal movement of the crane truck with a supporting cable along the boom, and a winch with electric and manual drive, providing vertical movement of the supporting cable.

The airborne simulator [1] is intended for methodical training and development of individual elements and joint actions during various operations on airborne landing.

The disadvantages of the landing simulator [1] are large overall dimensions, which increases wind, dynamic and operational loads that affect the requirements for choosing the location of its installation, the load distribution of the forces arising from the disclosure of the main parachute does not correspond to the real impact on the paratrooper during the jump, this leads to the inculcation of false skills and sensations, while excluding the possibility of forming the necessary skills.

A known simulator for paratroopers [2], containing supporting elements and rods of adjustable length, interconnected by ball joints and fastened with quick disconnect straps with adjustable length to the body and limbs of the trained paratrooper. Locking elements are located inside the hinges and rods, which, if the student’s trunk or limbs are correctly moved, rigidly fix the specific position of the connected rods relative to each other, and also easily change it if necessary, thereby changing the position of the student’s body parts.

The disadvantage of the simulator for paratroopers [2] is the limited ability to work out only a separate element of the landing - the position of the body during free fall.

A known simulator of a paratrooper [3], containing a connected stand, a detachable drive for rotating the boom, an arrow with a counterweight, a drive mechanism for rotating the shaft with an armchair, a chair on the shaft, a suspension system, a safety link.

The disadvantages of the parachutist simulator [3] are the inability to simulate landing and practicing parachute extinguishing after the jump, the lack of wind effects identical to the natural ones on the student during the simulation of the jump, and the relatively large overall dimensions, which makes it stationary and tightens the requirements for choosing the location for its installation.

Known dynamic simulator of paratrooper paratroopers [4], containing a tower barrel, cantilever arrows, rotation drive, support legs, upper and lower lifting mechanisms of the cantilever arrows, overrunning mechanism, upper and lower controlled mechanisms guiding the upper and lower cantilever arrows, the main dome model a parachute, upper and lower mock-ups of the main parachute, an executive unit, a device for spatial placement of a student, a tracking device, a control and control panel, while the tower barrel is connected to with a rotation actuator, which is mounted on the support legs, the lower, middle and upper cantilever arrows are installed on the tower shaft with the possibility of vertical and horizontal movement, the lower cantilever arrow at its base is equipped with an overrunning mechanism, in addition, a guide is arranged along its length to move along it lower controlled mechanism interacting with control lines of the lower layout of the main parachute, located on the rack, in turn, the upper cantilever arrow is equipped with an upper a removable mechanism, in addition, along the upper cantilever arrow there is a guide with the possibility of moving the upper controlled mechanism along it, interacting with the control lines of the upper layout of the main parachute, the middle cantilever arrow is equipped with a lower lifting mechanism, a device is installed on the free end of the cantilever arrow, under which is the layout of the dome of the main parachute associated with the executive unit, in addition, above the middle console an arrow placed a tracking device focused on a place for the spatial placement of the trained paratrooper, with the possibility of transmitting video information to the control and control panel, as well as giving light-sound commands to the trained paratrooper.

The disadvantages of the dynamic simulator [4] are the special requirements for the location due to the design features of the simulator (the presence of a tower barrel and cantilever boom in the design), limited possibilities for working out only individual landing elements, and the inability to transmit information about the position of the human body when it can be found in free fall.

A known simulator is a parachute jump simulator [5], which contains a power frame with a system for attaching a knapsack to it with a suspension system, two control lines with a system of sensors that record the magnitude of the retraction of the student’s control lines, a virtual reality helmet for modeling the visualization system in them, a set of cables transmitting input and output signals between actuators and a control computer, which, depending on the program chosen by the instructor, allows to manage the work of the visual series projected in virtual reality glasses, to record the parameters of the controlled flight of the paratrooper, to analyze the results of the activity of the paratrooper to set an automated assessment.

The disadvantage of this simulator is that it does not structurally provide for the proper dynamic support of training in simulated scenarios of parachute jumps. There is no training in the phase of leaving the side of the aircraft and the free fall of the parachutist before the parachute opens.

Also known is the simulator of a paratrooper [6], which, by technical essence, is the closest to the proposed simulator for practicing parachute jumping and adopted as a prototype.

The prototype simulator [6] contains a control computer, a workplace of an instructor (teacher), a satchel with a suspension system, left and right control lines, virtual reality glasses for modeling an environmental visualization system, a sensor system and a set of cables, the first, second, the third and fourth supports, which are rigidly connected in their upper part to the first, second, third and fourth I-beams, respectively, forming a space in the form of a quadrangle, and on the second and fourth I-beams Alks have a fifth and sixth I-beam with the possibility of moving along the length of the second and fourth I-beams due to the electric drive installed at each of their ends, while a movable trolley is installed between the fifth and sixth I-beams, which is formed by rigidly connected first, second, third and the fourth channel beams with the ability to move along the length of the fifth and sixth I-beams due to the electric drive installed on the second channel beam, while on the first and third channel The first and second electric cables of the cable slings are installed respectively on the black beam of the mobile carriage, with the possibility of raising (lowering) the parachutist suspension frame, to which the first, second, third, fourth free ends of the parachutist suspension system with a knapsack are fixed, while the cable lines are fastened through the first and the second brackets of the axial rotation drive with the possibility of rotation around its axis of the suspension frame of the paratrooper, to which the hanging system of the paratrooper is attached with a satchel, while perpendicular to the speed formed by the first and second free ends of the suspension system, on the left and right ends of the parachutist's suspension frame there are left and right electric drives with the ability to reel (unwind) the control lines under the action of the student's left and right hands to the corresponding control links, in addition, virtual glasses realities are equipped with built-in audio headphones, in addition, the device for recording the position of the hands is made in the form of gloves.

The prototype simulator provides training for skydivers for jumping using dynamic and synchronous video and audio accompaniments.

The disadvantages of the prototype simulator are the limited training opportunities for landing and the lack of wind effects on the student, identical to the natural ones during the simulation of a jump. The lack of simulation of the phase of a prolonged jump and free flight in the air stream before the parachute opens.

In addition, the design of the prototype simulator assumes relatively large overall dimensions, which makes it stationary and tightens the requirements for the choice of its installation location, which significantly limits the possibility of its use on the sites intended for training parachutists, athletes.

The problem solved by the invention is to improve the quality of training of paratroopers for jumping due to the development of skills in managing a parachute in the process of lowering and landing with simulating the effect of wind effects.

In addition, the objective of the invention is to reduce the dimensions of the simulator.

The solution to this problem is achieved by the fact that in the simulator for practicing parachuting, containing the workplace of the instructor (teacher), equipped with a control computer, a stand formed by two vertical supports connected by the upper crossbar on which the left and right control lines, the sensor system and virtual reality helmet, the rack is made with a pedestal containing a treadmill, and is equipped with a rotary frame with a rotary frame rotation drive mounted on vertical supports, and mounted on a rotary frame with a back grip for securing the parachute system of the trained paratrooper and an air flow generator made in the form of fans forming the air flow in the direction of the trained paratrooper.

Moreover, in the first version of the simulator, the fans forming the air flow in the direction of the trained parachutist are installed at the ends of the swing frame on the left and right.

In the second version of the simulator, an air flow generator made in the form of two fans forming an air flow towards the trained parachutist is mounted on the upper crossbar of the rack. A counterweight is installed at one end or both ends of the swing frame made with a rotation drive, which is installed similarly to the drive of the swing frame in the first version of the simulator.

In both versions of the simulator, the treadmill can be performed:

- with the ability to change the slope;

- with the possibility of vibration of its upper surface;

- with the ability to move forward and backward using a controlled electric drive.

The essence of the invention is illustrated by drawings, which depict:

in FIG. 1 - the first version of the simulator in the initial state, front view;

in FIG. 2 - instructor's workplace, general view.

in FIG. 3 - the first version of the simulator with a trained paratrooper in the initial state, front view;

in FIG. 4 - the first version of the simulator with a trained skydiver when simulating the start of a jump, side view;

in FIG. 5 - the first version of the simulator with a trained paratrooper when simulating the start of a jump, general view;

in FIG. 6 - the first version of the simulator with a trained skydiver in the simulated free fall mode, general view;

in FIG. 7 - the first version of the simulator with a trained paratrooper in simulated controlled flight mode, front view;

in FIG. 8 - the second version of the simulator with a trained skydiver, general view;

In FIG. 1-8 are indicated:

1 - the first support;

2 - second support;

3 - the upper crossbar of the first version of the simulator;

4 - left control line;

5 - the right control line;

6 - the left side of the pedestal;

7 - the right side of the pedestal;

8 - treadmill;

9 - rotary frame of the first version of the simulator;

10 - dorsal grip;

11, 12 - fans for the first version of the simulator;

13 - control cabinet;

14 - system unit;

15 - keyboard;

16 - mouse type manipulator;

17 - monitor;

18 - trained parachutist;

19 - helmet of virtual reality;

20 - position sensor of the hand (s);

21 - drive rotation of the rotary frame;

22 - rotary frame of the second version of the simulator;

23 - counterweight;

24, 25 - fans of the second version of the simulator.

26 - the upper crossbar of the second version of the simulator.

The first version of the proposed simulator (Fig. 1) contains a stand formed by the first (right) and second (left) vertical supports 1 and 2, connected by the upper crossbar 3. On the crossbar 3 there are left and right control lines 4 and 5. Control lines 4 and 5 can be made with the possibility of winding (unwinding) under the action of the efforts of the left and right hands of the student on the corresponding control links.

The rack is made with a pedestal, consisting of left and right parts 6 and 7 and containing a treadmill 8 located between these parts and made with the possibility of movement in height.

In both versions of the simulator, the treadmill 8 is mainly made:

- with the ability to change the slope;

- with the possibility of vibration of its upper surface;

- with the ability to move forward and backward using a controlled electric drive.

In the simplest case, the treadmill 8 can be performed without these capabilities.

Between the vertical supports, a rotary frame 9 with a rotation drive 21 mounted on the vertical supports 1 and 2 is installed (Fig. 6).

To the rotary frame 9 in its middle part is attached a dorsal grab 10, designed to secure the trained parachutist 18.

Dorsal grip 10 is a device that secures the trained parachutist 18 in the simulator in the center of mass of the human body using a parachute system.

The dorsal grip 10 for training paratroopers is made in the form of a plate with the possibility of its rotation to the right and left and with the possibility of tilting forward and backward. Also, the spinal grip 10 can be performed with a drive of its rotation.

The parachute system is fixed on the dorsal grip with 10 carbines.

The parachute system can be part of the simulator as standard equipment, or for training, a parachute system can be used that is pre-installed on the trained parachutist 18. In the first case, the parachutist 18 is mounted in the parachute system suspended on the grip 10 using carabiners and straps on the legs and breasts. In the second case, a parachute system attached to the trained parachutist 18 is attached to the dorsal grip 10.

When using the parachute system of the simulator as standard equipment, the price of the simulator increases, but training parachutists without regular equipment is possible. In the case of using a parachute system pre-installed on the trained parachutist, the fixation time of the paratrooper to the dorsal grip 10 may be reduced.

At the ends of the rotary frame 9, fans 11 and 12 are installed on the left and on the right, forming air flow towards the trained parachutist 18.

The simulator also contains an instructor seat equipped with a control computer (Fig. 2). The control computer includes, in particular, a system unit 14 with training process control programs, keyboard controls 15 and a mouse 16 and a monitor 17. In general, the instructor can be made using other types of computers, for example, laptops tablets with touch input and using multiple monitors.

The simulator also contains a system of sensors located on different parts of the equipment of the trained paratrooper 18. Not shown. Sensors can be connected to the instructor's computer using cables or via contactless communication.

The simulator may also contain an acoustic system, radiating elements, which are located on different parts of the rack.

The simulator can be installed on Earth at a training ground, in the premises of, for example, DOSAAF club, park, etc. and can move as necessary to other territories.

In the second embodiment of the inventive simulator (Fig. 8), the swing frame 22 comprises a counterweight 23 mounted on one end of the swing frame 22. In general, the swing frame 22 may also include a second counterweight similar to the counterweight 23 located on the second end of the swing frame 22. This design of the rotary frame 22 provides a more uniform load of the racks 1 and 2, allows you to spend less effort drive 21 rotation of the frame 22 when performing movements in the space of the trained parachutist 18, but is more time-consuming when bending fishing.

In the second embodiment of the inventive simulator, an air flow generator made in the form of fans 24 and 25, forming an air flow in the direction of the trained paratrooper 18 from above, is mounted on the upper crossbar 26 of the second version of the simulator (Fig. 8).

This placement of the air flow generator allows you to make the design simpler, reliable and safe, in particular, due to the lack of the need for power supply to the fans 11 and 12, located at the ends of the rotary frame 9, and to achieve the claimed technical result. However, in this case, the direction of the simulated wind in some training modes is less consistent with the actual flight conditions of the paratrooper.

In the General case, in the simulator can be applied both versions of the invention. Moreover, at different stages of training, air flow generators located both on the upper crossbar 26 and on the swing frame 9 can be used.

The proposed simulator for practicing skydiving works as follows.

Before training, the trained paratrooper 18 stands on track 8, which, using the drive controlled by the instructor from the workplace (Fig. 2) or from the control cabinet 13, is raised to the height necessary to fix the paratrooper 18 on the dorsal grab 10 (Fig. 3) .

The trained paratrooper 18 is secured to the parachute system suspended from the grip 10 using carabiners and straps on the legs and chest, or the parachute system attached to the trained parachutist 18 is attached to the spinal grab 10.

Sensors that determine the position of the arms, legs, head, body of the trained paratrooper 18 are fixed to the trained paratrooper 18, for example, on his suit. On the arm of the trained paratrooper 18, a sensor 20 of the position of the arm (s) in space can be dressed. Using this sensor 20, the position of the hands in the virtual space is monitored. A virtual height sensor with varying readings can be worn on such a hand in virtual space.

A virtual reality helmet 19 is put on the head of the trained paratrooper 18 or on a standard headgear, for example, designed to perform jumping of a military serviceman of the airborne assault forces, which starts to display objects formed in the virtual space by means of the formation of virtual space (flying machine, ramp, other virtual trainees , clothing, parachute mount system, etc.). The simulator's acoustic systems reproduce the sound of a working helicopter engine inside the passenger compartment. The canvas of the treadmill 8 starts to vibrate and can be at different angles to the horizontal surface, depending on the scenario of the effects that arise in the training jump, which the instructor forms from his workplace. At the signal of the pilot “beep” and letting out, the treadmill 8 begins to move, and the training paratrooper 18 “leaves” the side of the aircraft (helicopter) after two steps. Fans 11 and 12 are turned on.

Thus, the possibility of a semi-natural simulation of the exit from the aircraft is provided.

After simulating the output of the trained paratrooper 18 from the simulated aircraft, the adjustable moving treadmill 8 is lowered by computer command (Fig. 4 and Fig. 5). Imitation of free fall begins, throwing a paratrooper 18 on his back. The drive 21 deflects the frame 9, there is a separation of the trained paratrooper from the treadmill and the paratrooper 18 is thrown back. The body position of the trained paratrooper 18 changes relative to the horizontal plane (Fig. 6). In this case, the force of the oncoming air flow in a real jump is replaced in the simulator by the force of gravity. The image of the Earth in the helmet 19 of virtual reality rotates synchronously with the rotation of the frame 9.

Arms and legs in this position deviate behind the back. In helmet 19, the event horizon turns up. The Earth is at the top, and the trained skydiver 18 feels a free fall to the Earth. The distant noise of an aircraft (helicopter) is heard. Fans turn on at full power, creating maximum airflow.

The position of the trained paratrooper 18 on his back causes an unstable equilibrium point, which the paratrooper is trying to find using reflex movements of his arms and legs. This functional feature of the spinal grip 10 simulates the instability of the position of the human body during a flight in airspace until the parachute opens. Changes in the position of the arms, legs, head of the trained paratrooper 18, read by sensors that determine the position of the arms, legs, head, body of the trained paratrooper 18 are processed by the computer at the instructor's workplace, the virtual space formation tool forms a virtual space with changes relative to the position of the body of the trained paratrooper 18, means to display the generated virtual space, the trained paratrooper 18 continues to display virtual objects, thus providing It is possible to simulate free fall and descent by parachute (Fig. 6, 7).

To simulate the air flow during a real jump for the trained paratrooper 18, the air flows are generated by the air flow generator formed by fans 11 and 12 or 24 and 25 (in the second version of the simulator) and blow the trained skydiver 18. Air flows are changed by the air flow generator depending on the data, coming from the means of forming a virtual space or manually by commands from the instructor's workplace.

After a jerk of the ring, the rotary frame 9 changes position and when simulating the opening of the parachute, a sharp shaking of the trained parachutist 18 occurs. Simulation of the manned descent begins. The event horizon changes its position in the helmet 19 in synchronization with the movement of the swing frame 9.

The movements made by the body, arms or legs of the trained paratrooper 18 in real space are recorded and measured by sensors that determine the position of the arms, legs, head, body of the trained paratrooper 18. Data from the sensors determining the position of the arms, legs, head, body of the trained paratrooper 18, the air flow generator and the sensor 20 enter the virtual space forming means, where they are processed together with the virtual space data. The means of creating a virtual space, taking into account the interaction of the trained paratrooper 18 with objects in the virtual space, generates changes in the virtual space taking into account the processed data, for example, changed positions in the virtual space of the body parts of the trained paratrooper 18 or the position of the clouds, the surface of the Earth.

The changed virtual space data is displayed to the trained paratrooper 18 in the virtual reality helmet 19, and also displayed on the instructor's workplace.

The formation of a virtual space with changes associated with the physical actions of the trained paratrooper 18 in real space and the mapping of this space to the trained paratrooper 18 provides the ability to simulate and practice actions to control the main parachute in the process of lowering and landing, extinguishing the canopy of the parachute, using emergency parachute, and using special equipment during the landing.

When simulating the landing stage (Fig. 7), the trained paratrooper 18, based on the image obtained in the virtual reality helmet 19, pulling the left and right control lines 4 and 5, trains to get to the desired point on the surface of the Earth.

The rotary frame 9 and the dorsal grip 10 as a result of the control of the lines 4 and 5, affecting the change in the position of the trained parachutist 18 in the virtual space, are gradually rotated (Fig. 7).

To simulate landing and dragging the parachute’s canopy over the earth’s surface, at the command of a computer at the instructor’s workplace, the adjustable moving treadmill 8 rises, the rotation drive 21 of the rotary frame 9 changes the position of the frame 9 so that the trained parachutist 18 can touch the adjustable treadmill with its feet tracks 8. Sensors that determine the position of the arms, legs, head, body of the trained parachutist 18 and the device for fixing the position of the hands 20 record the positions of the tracked objects displayed in the virtual helmet 19 reality, and correlates them with the necessary model of actions for extinguishing or detaching the canopy of the parachute upon landing.

The meeting with the Earth of the trained paratrooper 18 is simulated by a run along the treadmill 8, the position of which can vary in speed, height and angle of inclination with respect to the paratrooper 18 depending on the actions of the paratrooper 18 to control the lines 4 and 5 and simulated landing.

In this case, the fans 11 and 12 in the first version of the simulator provide a counter flow of air to the trained paratrooper 18, regardless of the simulation stage of the training. In the second, simpler version of the simulator, when simulating a landing, the air flow is directed at the trained paratrooper 18 only from above (Fig. 8).

However, in both versions, the simulator ensures the achievement of the claimed technical result.

The formation of a virtual space with changes associated with the physical actions of the trained paratrooper 18 on the dorsal grab 10 in real space and the mapping of this space to the trained paratrooper 18 provides the ability to simulate and practice actions to control the parachute in the process of lowering and landing.

At all operating modes of the simulator, the control hardware and software system stores all the flight information about the simulated introductory and about the actions of the paratrooper 18 at various stages of the jump, which is processed and presented to the teacher in the form of ready-made material for analysis.

On the proposed simulator, other training scenarios can be implemented depending on the category of trained parachutists, including only certain stages of the jump can be practiced.

A virtual, controlled world in the simulator can be created, for example, on the basis of the Unreal Engine 4 software “engine”. To work with the virtual reality helmet 19, the Steam VR software product can be used, which provides spatial determination of the position of the virtual reality helmet 19 and individual sensors attached to a paratrooper 18 or a simulator and interaction with the “engine”.

As a result of the use of the invention, a technical result is achieved, which consists in improving the quality of training of paratroopers for a jump due to a more accurate simulation of the processes of lowering and landing of a paratrooper, which is achieved as a result of introducing new features into the design of the simulator.

In addition, the use of the invention allows to reduce the dimensions of the simulator.

At the applicant enterprise, in accordance with the above description, both versions of the proposed simulator were manufactured and tested. The length and width of the base of the simulator were 2.6 m and 3.3 m, respectively, and the height was 3.3 m. Tests of both versions of the simulator showed that it can be made using well-known materials, mechanical devices and electronic tools and used for training paratroopers, paratroopers, sports clubs, during recreational activities. Which confirms its industrial applicability.

Sources of information:

1. RF patent No. 2267449 for the invention, IPC B64D 23/00, publ. 01/10/2006.

2. RF patent No. 2470689 for the invention, IPC А63В 22/00, publ. 12/27/2012.

3. RF patent No. 2538996 for invention, IPC B64D 23/00, G09B 9/10, publ. 01/10/2015

4. RF patent No. 2610261 for invention, IPC B64D 23/00, G09B 9/10, publ. 02/08/2017.

5. US patent, US No. 6000942 A for the invention, IPC B64D 23/00, publ. 12/14/1999

6. RF patent No. 2653900 for invention, IPC B64D 23/00, publ. 05/15/2018, (prototype).

Claims (5)

1. A simulator for practicing skydiving, containing the instructor’s workstation equipped with a control computer, a stand formed by two vertical supports connected by an upper crossbar on which the left and right control lines, a sensor system and a virtual reality helmet are installed, characterized in that the stand made with a pedestal containing a treadmill, made with the possibility of movement in height, the rack is equipped with a rotary frame with a rotational drive of the rotary frame mounted on a vertical In the middle part of the turntable, a dorsal grip is fixed to secure the parachute system of the trained paratrooper and rotate it, the rotary frame is equipped with an air flow generator made in the form of fans installed at the ends of the rotary frame and forming air flow towards the trained parachutist. 2. A simulator for practicing skydiving, containing the instructor’s workstation equipped with a control computer, a stand formed by two vertical supports connected by an upper crossbar on which the left and right control lines, a sensor system and a virtual reality helmet are installed, characterized in that the stand made with a pedestal containing a treadmill, made with the possibility of movement in height, the rack is equipped with a rotary frame with a rotation drive of the rotary frame, and a counterweight th at one or both ends of the pivoting frame, in the middle part of the swing frame is attached for fixing the spinal capture parachute system parachutist trainee, while on the upper crossbeam is fixed rack airflow generator arranged in a fan forming air flow toward the trainee parachutist. 3. The simulator according to claim 1 or 2, characterized in that the treadmill is configured to tilt. 4. The simulator according to claim 1 or 2, characterized in that the treadmill is made with the possibility of vibration of its upper surface. 5. The simulator according to claim 1 or 2, characterized in that the treadmill is made with the possibility of moving forward and backward using a controlled electric drive.

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