Terrain vehicle simulator contour measuring and storage device

• US 4,251,931 A
• Filed: 04/11/1979
• Issued: 02/24/1981
• Est. Priority Date: 04/11/1979
• Status: Expired due to Term

• Current Assignee: the united states of america as represented by the secretary of the navy
• Original Assignee: the united states of america as represented by the secretary of the navy
• Inventors: McKechnie, John C.
• Primary Examiner(s): Hum, Vance Y.
• Application Number:
  US06/029,223
• Time in Patent Office: 685 Days
• Field of Search: 35/11 R, 35/11 A, 35/12 N, 35/25, 358/104, 364/853, 364/856, 364/805, 73/146, 180/79, 180/9.2
• US Class Current: 434/29
• CPC Class Codes: G09B 9/05 the view from a vehicle being simulated G09B9/052, G09B9/058 take precedence

Abstract

A terrain vehicle contour measuring and storage system is disclosed, for ulating a carrier vehicle, which senses and follows a model board surface by means of first, second, third, and fourth terrain probes, with each of the terrain probes providing an analog signal which is proportional to the elevation sensed by the terrain probe. The terrain probes are connected in a unique combination with a pair of shift registers, with each shift register having a plurality of adjacent storage bits, and a computer. The computer, upon sampling the analog signals obtained from the terrain probes, calculates the pitch, roll, and heave of the carrier vehicle body being simulated by the terrain vehicle contour measuring and storage system.

Claims

1. A terrain vehicle contour measuring and storage system for vehicle simulating apparatus, comprising in combination:

first, second, third and fourth terrain probe means, each of which has an output, and each of which is effectively adapted for sensing the distance to a terrain surface whose profile is being measured and followed, and for providing an analog signal whose magnitude is proportional to the elevation sensed thereby;

carrier vehicle means, having said first, second, third, and fourth terrain probe means effectively mounted thereon, and having first, second, and third control signal inputs for moving the quartet of terrain probes across said terrain surface whose profile is being measured and followed;

vector signal generator means, having a first control signal output connected to the first control signal input of said carrier vehicle means, a second control signal output connected to the second control signal input of said carrier vehicle means, and a third control signal output for providing a direct current control signal having a magnitude proportional to the velocity of said carrier vehicle means, an X-axis control signal, and a Y-axis control signal;

clock signal generator means, having a control signal input connected to the third control signal output of said vector signal generator means, and first, second, third, and fourth clock outputs for providing first, second, third and fourth clock signals whose frequencies are proportional to the magnitude of said direct current control signal;

means having first, second, third, and fourth data inputs respectively connected to the outputs of said first, second, third, and fourth terrain probe means;

first, second, third, and fourth clock inputs respectively connected to the first, second, third, and fourth clock outputs of said clock signal generator means; and

a plurality of data outputs for storing the analog signals received from said first, second, third, and fourth terrain probe means;

computer means, having a plurality of data inputs effectively connected to the plurality of data outputs of said storage means, a first control signal output, a second control signal output, and a third control signal output effectively connected to the third control signal input of said vector signal generator means for performing an analysis of the analog signals provided by said first, second, third, and fourth terrain probe means to determine the simulated pitch, roll, and heave of said terrain vehicle contour measuring and storage system, and for providing a Z-axis control signal, a roll control signal, and a pitch control signal.

2. The terrain vehicle contour measuring and storage system according to claim 1, wherein each of said quartet of terrain probe means comprises a strain gage.

3. The terrain vehicle contour measuring and storage system according to claim 1, wherein said terrain surface whose profile is being measured and followed comprises a model board surface.

4. The terrain vehicle contour measuring and storage system according to claim 1, wherein said carrier vehicle means comprises a gantry.

5. The terrain vehicle contour measuring and storage system according to claim 1, wherein said carrier vehicle means comprises:

a gantry drive motor system having a first control signal input connected to the first control signal output of said vector signal generator means, a second control signal input connected to the second control signal output of said vector signal generator means, a third control signal input connected to the third control signal output of said computer means, and a drive output; and

a gantry having an input effectively connected to the drive output of said gantry drive motor system.

6. The terrain vehicle contour measuring and storage system according to claim 1, wherein said clock signal generator means comprises:

a first voltage controlled oscillator having an input effectively connected to the third control signal output of said vector signal generator means, and an output;

a first flip-flop having an input connected to the output of said first voltage controlled oscillator;

a second voltage controlled oscillator having an input effectively connected to the third control signal output of said vector signal generator means, and an output;

a second flip-flop having an input connected to the output of said second voltage controlled oscillator;

a third voltage controlled oscillator having an input effectively connected to the third control signal output of said vector signal generator means, and an output;

a third flip-flop having an input connected to the output of said third voltage controlled oscillator;

a fourth voltage controlled oscillator having an input effectively connected to the third control signal output of said vector signal generator means, and an output; and

a fourth flip-flop having an input connected to the output of said fourth voltage controlled oscillator.

7. The terrain vehicle contour measuring and storage system according to claim 6, wherein said first, second, third, and fourth flip-flops are Schmitt triggers.

8. The terrain vehicle contour measuring and storage system according to claim 1, wherein said storage means comprises:

a first shift register having a plurality of adjacent storage bits, and having a first data input connected to the output of said first terrain probe means, a second data input connected to the output of said second terrain probe means, a first clock input connected to the first clock output of said clock signal generator means, and a second clock input connected to the second clock output of said clock signal generator means; and

a second shift register having a plurality of adjacent storage bits, and having a first data input connected to the output of said third terrain probe means, a second data input connected to the output of said fourth terrain probe means, a first clock input connected to the third clock output of said clock signal generator means, and a second clock input connected to the fourth clock output of said clock signal generator means.

9. The terrain vehicle contour measuring and storage system according to claim 8, wherein said plurality of adjacent storage bits of said first and second shift registers are bucket brigade devices.

10. The terrain vehicle contour measuring and storage system according to claim 1, wherein said computer means comprises a digital computer.

11. The terrain vehicle contour measuring and storage system according to claim 1, further characterized by:

an optical probe mounted on said gantry, said optical probe having a pitch input connected to the first control signal output of said computer means, a roll input connected to the second control signal output of said computer means, and a lens output for providing a visual image of said terrain surface whose profile is being measured and followed;

a television camera spatially disposed from said optical probe and sighted on the lens output of said optical probe; and

a visual display screen having an input effectively connected to the output of said television camera for viewing the visual image of said terrain surface provided by said optical probe.

12. A terrain vehicle contour measuring system for vehicle simulating apparatus, comprising in combination:

a left front terrain probe having an output for sensing the distance to a terrain surface whose profile is being measured and followed, and for providing a first analog signal proportional to the elevation sensed by said left front terrain probe;

a left rear terrain probe having an output adapted for sensing the distance to said terrain surface whose profile is being measured and followed, and for providing a second analog signal proportional to the elevation sensed by said left rear terrain probe;

a right front terrain probe having an output adapted for sensing the distance to said terrain surface whose profile is being measured and followed, and for providing a third analog signal proportional to the elevation sensed by said right front elevation probe;

a right rear terrain probe having an output adapted for sensing the distance to said terrain surface whose profile is being measured and followed, and for providing a fourth analog signal proportional to the elevation sensed by said right rear terrain probe;

a gantry having said left rear, left front, right rear, and right front terrain probes effectively mounted thereon;

a throttle steering and vector signal generator having first, second, and third outputs for providing a direct current control signal having a magnitude proportional to the velocity of said gantry, an X-axis control signal, and a Y-axis control signal;

a first voltage controlled oscillator having an input connected to the third output of said throttle steering and vector signal generator, and an output;

a first flip-flop circuit having an input connected to the output of said first voltage controlled oscillator, and an output for generating a first predetermined clock signal having a frequency proportional to the magnitude of said direct current control signal;

a second voltage controlled oscillator having an input connected to the third output of said throttle steering and vector signal generator, and an output;

a second flip-flop circuit having an input connected to the output of said second voltage controlled oscillator and an output for generating a second predetermined clock signal having a frequency proportional to the magnitude of said direct current control signal;

a third voltage controlled oscillator having an input connected to the third output of said throttle steering and vector signal generator and an output;

a third flip-flop circuit having an input connected to the output of said third voltage controlled oscillator and an output for generating a third predetermined clock signal having a frequency proportional to the magnitude of said direct current control signal;

a fourth voltage controlled oscillator having an input connected to the third output of said throttle steering and vector signal generator and an output;

a fourth flip-flop circuit having an input connected to the output of said fourth voltage controlled oscillator and an output for generating a fourth predetermined clock signal having a frequency proportional to the magnitude of said direct current control signal;

a first storage register having a first input connected to the output of said left front terrain probe, a second input connected to the output of said left rear terrain probe, a first clock input connected to the output of said first flip-flop circuit, a second clock input connected to the output of said second flip-flop circuit and a plurality of outputs for receiving said first and second analog signals provided by said left front and left rear terrain probes and for shifting said first and second analog signals in response to either said first or said second predetermined clock signal;

a second storage register having a first input connected to the output of said right front terrain probe, a second input connected to the output of said right rear terrain probe, a first clock input connected to the output of said third flip-flop circuit, a second clock input connected to the output of said fourth flip-flop circuit, and a plurality of outputs for receiving said third and fourth analog signals provided by said right front and right rear terrain probes and for shifting said third and fourth analog signals in response to either said third or said fourth predetermined clock signal;

a computer system having a plurality of first inputs effectively connected to the plurality of outputs of said first storage register;

a plurality of second inputs effectively connected to the plurality of outputs of said second storage register; and

first, second, and third outputs for performing an analysis of said first, second, third, and fourth analog signals to determine the simulated pitch, roll, and heave of said terrain vehicle contour measuring system, and for providing a Z-axis control signal, a roll control signal, and a pitch control signal; and

a gantry drive motor system having a first input connected to the first output of said throttle steering and vector signal generator, a second input connected to the second input connected to the second output of said throttle steering and vector signal generator, a third input connected to the third output of said computer system, and a drive output effectively connected to said gantry for moving said gantry across a predetermined path on said terrain surface whose profile is being measured and followed.

13. The terrain vehicle contour measuring system according to claim 12, wherein said left front, left rear, right front, and right rear terrain probes are strain gages.

14. The terrain vehicle contour measuring system according to claim 12, wherein said first, second, third, and fourth flip-flop circuits are multivibrators.

15. The terrain vehicle contour measuring system according to claim 12, wherein said first, second, third, and fourth flip-flop circuits are Schmitt triggers.

16. The terrain vehicle contour measuring system according to claim 12, wherein said first and second storage registers are shift registers with each of said shift registers having a plurality of adjacent storage bits.

17. The terrain vehicle contour measuring system according to claim 16, wherein said plurality of adjacent storage bits of said first and second shift registers are bucket brigade devices.

18. The terrain vehicle contour measuring system according to claim 12, wherein said throttle steering and vector signal generator comprises a differential analyzer.

19. The terrain vehicle contour measuring system according to claim 12, wherein said terrain surface whose profile is being measured and followed comprises a model board surface.

20. The terrain vehicle contour measuring system according to claim 12, further characterized by:

an optical probe mounted on said gantry, said optical probe having a pitch input connected to the first output of said computer system, a roll input connected to the second output of said computer system, and lens output for providing a visual image of said terrain surface whose profile is being measured and followed;

a television camera spatially disposed from said optical probe and sighted on the lens output of said optical probe; and

a visual display screen having an input effectively connected to the output of said television camera for viewing the visual image of said terrain surface provided by said optical probe.