Unsupervised dynamic motion simulator

Abstract

Unsupervised motion simulation device. The device is based on a mobile platform (1) that can carry a user (U) and uses several omnidirectional wheels (3), each individually driven by a separate motor (2). In addition to redundant automatic safety systems, the user (U) can manually initiate an emergency stop using an emergency stop button (6). The mobile platform (1) further includes a structural element (7) and a connection interface (8) for connection to a computer monitor (9). The presence of an emergency stop button and this display device allows the user to initiate an emergency stop and remain aware of their surroundings, making the presence of a supervisor optional. Figure to be published with the abbreviation: Figure 1

Description

Title of the invention: Unsupervised dynamic motion simulator. Technical field of the invention.

[0001] In general, the present invention relates to devices capable of simulating the movement of a vehicle.

[0002] The present invention relates particularly to devices capable of simulating the movement of a land vehicle. State of the art

[0003] Motion simulators using different types of omnidirectional wheels, capable of moving over a certain workspace according to at least the degrees of freedom Tx (“surge” in English), Ty (“sway” in English) and yaw have been developed in the past, as for example in document EP2626848A1.

[0004] The omnidirectional wheel was first described in 1919 in US1305535. The mecanum wheel is a type of omnidirectional wheel. The mecanum wheel was first described in 1972 in US3876255A. It is understood that the term omnidirectional wheel refers to all types of omnidirectional wheels, including the mecanum wheel.

[0005] Document WO2023283724A1 describes a motion simulator based on an omnidirectional wheel, consisting of a mobile platform carrying a user and capable of moving around a workspace. This motion simulator is intended for a user wearing a virtual reality headset, under the control of a supervisor.

[0006] The total immersion provided by a virtual reality headset may justify the presence of a supervisor to ensure the safety of the user on a mobile platform. Indeed, the user wearing a virtual reality headset is by definition visually and audibly isolated from their environment and therefore unable to assess, for example, the risk of a collision between the mobile platform and a person or object.

[0007] One possible improvement for such a dynamic motion simulator would be the ability to integrate a computer monitor onto the mobile platform. This monitor would serve as the primary display device, thus offering the user a compromise between partial visual immersion in the simulation and maintaining peripheral vision of their immediate real-world environment. The presence of a supervisor would then become optional.

[0008] On the other hand, document WO2023283724A1 considers several possibilities for automatic security systems. However, the only manual security device mentioned is a remote control in wireless communication with the microcontroller of the mobile platform, described as being used only by the supervisor.

[0009] Another possible improvement for such a motion simulator would be to give the user on the mobile platform the ability to manually initiate an emergency stop in the absence of a supervisor. In particular, the user should have an emergency stop button available, linked to the mobile platform.

[0010] This emergency stop button can be configured to directly interrupt the power supply to the motors in the event of a software and / or hardware problem affecting the motion simulator. Another advantage of the emergency stop button is that it does not require a battery to operate, unlike a wireless remote control, regardless of its form.

[0011] The applicant has designed, implemented, tested and improved the present invention through several iterations in order to overcome the shortcomings of the state of the art and establish new advantages. Presentation of the invention

[0012] The field of the invention relates to a dynamic motion simulator whose main component is a mobile platform using several omnidirectional wheels. This mobile platform thus becomes a vehicle in its own right, moving within a certain workspace.

[0013] The invention has several aspects enabling the embedded user to use such a dynamic motion simulator in the absence of a supervisor, in a secure manner.

[0014] In particular, one aspect of the invention allows the user to partially retain a view of their real environment through a design in which a computer monitor is used as the primary display device. To this end, a structural element is coupled to the mobile platform. A connection interface is positioned on this structural element, designed for mechanical connection to a computer monitor, preferably using the VESA interface standard. The computer monitor thus becomes mechanically fixed to the mobile platform, in integral connection.

[0015] Another aspect of the invention consists of an emergency stop button mounted on the mobile platform, easily accessible and intended for use by the onboard user. In one embodiment, the emergency stop button can directly establish and interrupt the flow of energy to the motors.

[0016] To this end, an object of the invention is a motion simulation device, said device comprising, a mobile platform capable of moving on the ground or a base, said mobile platform having a space to carry at least one user; several motors coupled to said mobile platform; several omnidirectional wheels coupled to said mobile platform, each of said omnidirectional wheels being capable of individually receiving mechanical power produced by one of said separate motors, said omnidirectional wheels being in contact with said ground or said base; a localization means configured to evaluate the position of the mobile platform on said ground or said base;a means for supplying energy to said motors, said device being characterized in that said device further comprises an emergency stop button coupled to said mobile platform, said emergency stop button being capable of being operated by said onboard user.

[0017] In one embodiment, said device further comprises, a structural element coupled to said mobile platform; a connection interface coupled to said mobile platform, said connection interface being functionally connected to said structural element, said connection interface being intended to be connected to a computer monitor.

[0018] In another embodiment, said device further comprises a computer monitor coupled to said mobile platform, said computer monitor being functionally connected to said connection interface, said computer monitor being capable of displaying a virtual environment visible to said embedded user.

[0019] In another embodiment, said emergency stop button allows said means for supplying energy to said motors to be deactivated or activated.

[0020] In another embodiment, said means for conveying energy to said motors comprises at least one electrical cable connected to said mobile platform.

[0021] In another embodiment, said means for supplying energy to said motors includes at least one battery mounted on said mobile platform.

[0022] In another embodiment, said localization means includes an optical capture system, said optical capture system further comprising a movable marker element; a fixed reference station.

[0023] In another embodiment, said structural element comprises at least one extruded aluminium profile.

[0024] In another embodiment, said connection interface complies with the VESA interface standard.

[0025] In another embodiment, said device further includes physical barriers preventing said mobile platform from leaving its workspace. Description of the figures

[0026] Other features and advantages of the invention will become apparent from the detailed description of the following non-limiting examples, for the understanding of which reference should be made to the accompanying drawings, among which:

[0027] [Fig-1] is a perspective view of a preferred embodiment of the invention, highlighting its main features, namely a mobile platform using omnidirectional wheels, equipped with a structural element, a connection interface (not visible from this angle of view), an emergency stop button and a computer monitor.

[0028] [Fig.2] is a perspective view detailing a preferred embodiment, highlighting the structural element intended to support the computer monitor, as well as the connection interface enabling the mechanical connection of said computer monitor to the structural element, and thus to the mobile platform.

[0029] [Fig.3] is a view detailing a possible assembly between a motor and an omnidirectional wheel of the mecanum type.

[0030] [Fig.4] is a view of a generic connection interface conforming to the VESA interface standard. Detailed description of the invention

[0031] In a preferred embodiment, a mobile platform (1) is propelled by 4 omnidirectional wheels (3) of the mecanum type, each of these wheels being capable of individually receiving mechanical power from a separate motor (2).

[0032] Optional mechanical reduction means may be interposed between each motor (2) and the gear (3) driven by that motor, depending on the required mechanical torque or rotational speed. In a preferred embodiment, a worm gear gearbox is used.

[0033] It is also possible to use different means of transmitting mechanical power between each motor (2) and each mecanum wheel (3), including for example belts and pulleys, transmission shafts, cardan-type joints, etc. In a preferred embodiment, a transmission shaft is used.

[0034] A means for supplying energy (5) to said motors (2) may consist of an on-board battery (not shown), or of one or more cables (not shown). In a preferred embodiment, cables combined into a cable bundle are attached to the mobile platform (1).

[0035] The emergency stop button (6) is located on the mobile platform (1) near the intended location for the user (U) and is easily accessible.

[0036] In a preferred embodiment, the emergency stop button (6) is configured to directly interrupt the flow of power to the motors (2). This is achieved by configuring the emergency stop button so that its use directly deactivates the means for supplying power (5) to the motors. To this end, the emergency stop button interrupts the electrical continuity of the cable(s) transmitting power to the motors.

[0037] In a preferred embodiment, the emergency stop button (6) can activate or deactivate the means for supplying energy (5) to the motors (2), thus behaving as a master switch.

[0038] A rotating collector can be used as part of a means for conveying energy (5) to said motors (2), in order to allow unlimited rotation of the mobile platform (1) without tangling the cables.

[0039] A structural element (7) is attached to the chassis of the mobile platform (1). This structural element (7) can take the general form of a pontoon in order to consolidate its rigidity and its capacity to bear a load.

[0040] In particular, the structural element (7) can be made of one or more extruded aluminum profiles. The use of extruded aluminum profiles is advantageous because these profiles have a plurality of grooves allowing various types of peripherals to be positioned and adjusted, making them mechanically fixed to the mobile platform (1).

[0041] A connection interface (8) is attached to the structural element (7). This connection interface (8) is designed for the mechanical connection of a computer monitor. This connection interface (8) preferably conforms to the VESA interface standard for mounting the computer monitor.

[0042] In a preferred embodiment, a computer monitor (9) is functionally connected to the connection interface (8) using fasteners such as screws. The computer monitor (9) thus becomes mechanically fixed to the mobile platform (1). The computer monitor's power supply and the HDMI or DisplayPort video data cable are bundled with the cable, or cable bundle, connected to the mobile platform (1) for powering the motors (2).

[0043] In the context of the simulation of movement of a land vehicle such as a race car, a seat, one or more user interface peripherals such as a steering wheel, and a pedal set are attached to the chassis of the mobile platform (1).

[0044] A computer system (not shown) generates the display of the virtual simulation environment on the computer monitor, taking into account the data received by the user interface device(s). This same computer system issues instructions to each motor. The user interface device(s) can also receive data from the computer system, particularly in the case of force feedback devices. Various sensors can be connected to the computer system.

[0045] A localization means enables the control algorithm to know the position of said platform on its workspace. Such a localization means may include an optical motion capture system, this optical motion capture system further comprising a movable marker element (4M) and at least one fixed reference station (4S).

[0046] Other possible means of localization include an indoor positioning system or a system using floor markings, these examples being non-limiting.

[0047] Redundant security systems are considered involving ultrasonic or LIDAR type sensors or, as a last resort, physical barriers (10) blocking the movement of the mobile platform out of its workspace.

Claims

Demands

1. Motion simulation device, said device comprising: - a mobile platform (1) capable of moving on the ground (S) or a base (S), said mobile platform (1) having a space for carrying at least one user (U), - several motors (2) coupled to said mobile platform (1), - several omnidirectional wheels (3) coupled to said mobile platform (1), each of said omnidirectional wheels (3) being capable of individually receiving mechanical power produced by one of said separate motors (2), said omnidirectional wheels (3) being in contact with said ground (S) or said base (S), - a localization means (4) configured to evaluate the position of the mobile platform (1) on said ground (S) or said base (S), - a means for supplying power (5) to said motors (2), said device being characterized in that,- said device further comprises an emergency stop button (6) coupled to said mobile platform (1), said emergency stop button (6) being capable of being operated by said onboard user (U).

2. Device according to claim 1 further comprising, - a structural element (7) coupled to said mobile platform (1), - a connection interface (8) coupled to said mobile platform (1), said connection interface being functionally connected to said structural element (7), said connection interface (8) being intended to be connected to a computer monitor.

3. Device according to claim 2 further comprising a computer monitor (9) coupled to said mobile platform (1), said computer monitor (9) being functionally connected to said connection interface (8), said computer monitor being capable of displaying a virtual environment visible to said embedded user (U).

4. Device according to claim 1 wherein said emergency stop button (6) enables said means for supplying energy (5) to said motors (2) to be deactivated or activated.

5. Device according to claim 1 in which said means for conveying energy (5) to said motors (2) comprises at least one electrical cable connected to said mobile platform (1).

6. Device according to claim 1 in which said means for conveying energy (5) to said motors (2) comprises at least one battery carried on said mobile platform (1).

7. Device according to claim 1 in which said localization means comprises an optical capture system, said optical capture system further comprising - a movable marker element (4M), - a fixed reference station (4S).

8. Device according to claim 1 in which said structural element (7) comprises at least one extruded aluminium profile.

9. Device according to claim 1 in which said connection interface (8) complies with the VESA interface standard.

10. Device according to claim 1 further comprising physical barriers (10) preventing said mobile platform (1) from leaving its workspace.

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