Simulator

Abstract

To provide a simulator capable of appropriately reproducing acceleration acting on a user.SOLUTION: The control unit of the simulator receives the squaring angle detected by the first detecting unit or the squaring angle calculated from the angular velocity detected by the first detecting unit and the angle of attack detected by the second detecting unit, calculating an inertial force generated in the support plate in the turn action from an equation of motion related to a gravity of the user acting on the support plate, a frictional force between the support plate and the reference surface, and an air resistance acting on the user in the turn action, using a friction coefficient between the support plate and the reference surface in the turn action as a sum of a first friction coefficient between the support plate and the reference surface in a carving turn action in which the turn action is performed in a state of being inclined in the roll direction and a second friction coefficient between the support plate and the reference surface in a squatting turn action in which the turn action is performed so as to rotate in the yaw direction; The turning radius of the support plate in the turn operation is calculated, and the driving part is controlled based on the calculation result.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present disclosure relates to a simulator. [Background technology]

[0002] BACKGROUND ART In board sports such as skiing and surfing, simulators that reproduce dynamic environments are known (see, for example, Patent Document 1). [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Patent No. 3001038 Summary of the Invention [Problem to be solved by the invention]

[0004] In the simulator, it is important to properly reproduce the acceleration acting on the user.

[0005] The present disclosure has been made in view of the above, and aims to provide a simulator that can appropriately reproduce the acceleration acting on a user. [Means for solving the problem]

[0006] The simulator according to the present disclosure has a support plate for supporting a user, and is equipped with an operation unit capable of inputting an angulation angle indicating an angle in a roll direction between the support plate and a reference plane in a turning operation and an angle of attack indicating a rotation angle in a yaw direction of the support plate, a drive unit that moves the support plate in a forward / backward direction, a left / right direction, an up / down direction, a roll direction, a pitch direction, and a yaw direction, a first detection unit that detects the angulation angle of the support plate or an angular velocity corresponding to the angulation angle, a second detection unit that detects the angle of attack of the support plate, and a control unit that controls the drive unit to reproduce the turning operation for the support plate based on the angulation angle and the angle of attack input for the support plate, and the control unit is configured to compare the angulation angle detected by the first detection unit or the angulation angle calculated from the angular velocity detected by the first detection unit with a forward / backward movement of the support plate. The angle of attack detected by the second detection unit is used as an input, and the coefficient of friction between the support plate and the reference surface during the turning operation is calculated as the sum of a first coefficient of friction between the support plate and the reference surface during a carving turn operation in which the turning operation is performed while tilted in the roll direction, and a second coefficient of friction between the support plate and the reference surface during a skidding turn operation in which the turning operation is performed so as to rotate in the yaw direction.The inertial force generated on the support plate during the turning operation is calculated from an equation of motion related to the gravity of the user acting on the support plate, the frictional force between the support plate and the reference surface, the centrifugal force acting on the user during the turning operation, and the air resistance acting on the user depending on the speed, and the turning radius of the support plate during the turning operation is calculated, and at least the drive unit is controlled based on the calculation results. [Effects of the Invention]

[0007] According to the present disclosure, it is possible to provide a simulator that can appropriately reproduce the acceleration acting on a user. [Brief explanation of the drawings]

[0008] [Figure 1] FIG. 1 is a diagram schematically illustrating an example of a simulator according to this embodiment. [Figure 2]FIG. 2 is a functional block diagram showing an example of a simulator according to this embodiment. [Figure 3] FIG. 3 is an exploded perspective view showing an example of an operation unit according to the present embodiment. [Figure 4A] FIG. 4A is a diagram schematically illustrating an example of a motion model of a turning motion in this embodiment. [Figure 4B] FIG. 4B is a diagram schematically illustrating an example of a motion model of a turning motion in this embodiment. [Figure 5A] FIG. 5A is a diagram schematically illustrating an example of a motion model of a turning motion in this embodiment. [Figure 5B] FIG. 5B is a diagram schematically illustrating an example of a motion model of a turning motion in this embodiment. [Figure 5C] FIG. 5C is a diagram schematically illustrating an example of a motion model of a turning motion in this embodiment. [Figure 6] FIG. 6 is a diagram showing an example of the shape of a carving ski used in the exercise model of this embodiment. DETAILED DESCRIPTION OF THE INVENTION

[0009] Hereinafter, embodiments of a simulator according to the present disclosure will be described with reference to the accompanying drawings. Note that the present invention is not limited to these embodiments. Furthermore, the components in the following embodiments include those that are easily replaceable by those skilled in the art, or those that are substantially identical.

[0010] In this embodiment, directions in the drawings are explained using an XYZ coordinate system. The XYZ coordinate system is set based on the case where a user moves on a target surface such as a snow surface. In this case, the direction perpendicular to the target surface is the up-down direction, and this up-down direction is the Z direction. The direction along the user's traveling direction is the front-to-back direction, and this front-to-back direction is referred to as the X direction. The traveling direction is the front, and the direction opposite to the traveling direction is the rear. The direction perpendicular to the X and Z directions, i.e., the side of the user's traveling direction, is referred to as the left-to-right direction, and this left-to-right direction is referred to as the Y direction. The direction around the X axis (roll direction) is referred to as the α direction. The direction around the Y axis (pitch direction) is referred to as the β direction. The direction around the Z axis (yaw direction) is referred to as the γ direction. The X, Y, and Z directions will be explained assuming that the direction of the arrow in the drawing is the + direction, and the direction opposite to the arrow is the - direction.

[0011] Fig. 1 is a diagram schematically illustrating an example of a simulator according to this embodiment, and Fig. 2 is a functional block diagram illustrating an example of a simulator according to this embodiment.

[0012] As shown in Fig. 1, a simulator 100 according to this embodiment is a simulator that reproduces the dynamic environment of board sports such as skiing and surfing. In this embodiment, a case where a ski turn is reproduced will be described as an example. The simulator 100 includes an operation unit 10, a six-axis drive unit 20, a translation drive unit 30, a detection unit 40, a projection unit 50, and a control unit 60.

[0013] The operation unit 10 has a support plate 11 that supports the user U. While the support plate 11 supports the user U, the user U performs a predetermined operation corresponding to a turning motion, thereby inputting an angle of staking and an angle of attack. The angle of staking indicates the roll angle between the support plate 11 and a reference plane during a turning motion. Here, the reference plane S is a virtual snow surface on which the user slides in the simulator 100. The angle of attack indicates the yaw angle of the support plate 11 during a turning motion. In other words, the angle of attack is the yaw angle between the direction of travel of the support plate 11 and the longitudinal direction of the support plate 11. The support plate 11 has a shape corresponding to a ski. In this embodiment, two support plates 11 are arranged to correspond to the left and right feet of the user U. When two support plates 11 are provided, one on each side like skis, sliding in the forward and backward directions can be input by individually moving the left and right support plates 11 in the X direction.

[0014] 3 is an exploded perspective view showing an example of operation unit 10 according to this embodiment. As shown in FIG. 3, operation unit 10 has support plate 11, X rotation shaft 12, X bearing 13, X axis support member 14, Z rotation shaft 15, Z bearing 16, and Z axis support member 17.

[0015] In this embodiment, the support plate 11 has a shape corresponding to a carving ski. The support plate 11 has curved portions 11a formed at its side ends (both ends in the Y direction). The curved portions 11a are formed, for example, by part of a circular arc when viewed from above (viewed in the -Z direction). The curved portions 11a are formed so that their width in the left-right direction (Y direction) gradually narrows from both ends of the support plate 11 in the longitudinal direction (X direction) toward the center.

[0016] X rotating shaft 12 is attached to underside 11b of support plate 11 via X bearing 13 and mounting plate 13a. X rotating shaft 12 and X bearing 13 are relatively rotatable around the X axis (roll direction). In this embodiment, when user U tilts support plate 11 in the roll direction, X rotating shaft 12 rotates in the roll direction relative to support plate 11. X bearing 13 is provided with X-axis rotation sensor 41. X-axis rotation sensor 41 detects the rotation of X bearing 13 in the roll direction, thereby detecting the angle or angular velocity between support plate 11 and reference plane S when support plate 11 moves in the roll direction (α direction). X-axis rotation sensor 41 outputs the detected angle or angular velocity. The output angle or angular velocity is input to control unit 60, which inputs the angling angle. X rotating shaft 12 is supported by support portion 14a of X-axis support member 14 via restoring spring 18. As a result, when the user U moves the support plate 11 in the front-to-rear direction (X direction), the X bearing 13 moves in the X direction following the support plate 11. Note that the support portion 14a may be a bearing.

[0017] Z rotation shaft 15 is supported by Z axis support member 17. Z rotation shaft 15 is rotatable relative to Z bearing 16 in the direction around the axis (yaw direction) centered on the Z axis. Z bearing 16 is provided on X axis support member 14. Z rotation shaft 15 and Z bearing 16 are arranged within a range from the front end to the center of support plate 11 in the front-to-rear direction in plan view.

[0018] Z rotating shaft 15 is supported by X-axis support member 14 via Z bearing 16. Z bearing 16 has radial bearing 16a that receives a load in the radial direction of Z rotating shaft 15 and thrust bearing 16b that receives a load in the Z direction (thrust direction). In this embodiment, when user U rotates support plate 11 in the yaw direction, support plate 11, X rotating shaft 12, X-axis support member 14, and Z bearing 16 rotate together in the roll direction relative to Z rotating shaft 15. X-axis support member 14 is supported by Z-axis support member 17 via restoring spring 19. The elastic force of restoring spring 19 allows support plate 11, X rotating shaft 12, X-axis support member 14, and Z bearing 16, which have rotated together in the yaw direction relative to Z rotating shaft 15, to return to their original positions. Z bearing 16 is provided with a Z-axis rotation sensor 42. Z-axis rotation sensor 42 detects the rotation of Z bearing 16 in the yaw direction, thereby detecting the angle or angular velocity of rotation when support plate 11 moves in the yaw direction (γ direction). Z-axis rotation sensor 42 outputs the detected angle or angular velocity. The output angle or angular velocity is input to control unit 60, which then inputs the angle of attack.

[0019] Note that X rotating shaft 12, X bearing 13, X axis support member 14, Z rotating shaft 15, Z bearing 16, and Z axis support member 17 may be configured so that they are connected as a single unit, upside down, to support plate 11. In this case, Z axis support member 17 is fixed to lower surface 11b of support plate 11, and Z rotating shaft 15 protrudes downward.

[0020] The six-axis drive unit 20 moves the support plate 11 in the forward / backward, left / right, up / down, roll, pitch, and yaw directions. An example of the six-axis drive unit 20 is a six-axis motion base having six telescopic electric cylinders.

[0021] The translational drive unit 30 translates the support plate 11 and the six-axis drive unit 20 in the front-to-rear and left-to-right directions. The translational drive unit 30 has an X drive unit 31 and a Y drive unit 32. The X drive unit 31 translates the support plate 11 and the six-axis drive unit 20 in the front-to-rear direction. The X drive unit 31 has an X guide 33, a slider 34, and an X drive source 35. The X guide 33 is arranged along the X direction. The X guide 33 guides the slider 34 in the X direction. The slider 34 moves along the X guide 33 in the X direction. The X drive source 35 drives the slider 34 in the X direction. The Y drive unit 32 has a Y guide 36, a slider 37, and a Y drive source 38. The Y guide 36 is arranged along the slider 34 in the Y direction. The Y guide 36 guides the slider 37 in the Y direction. The slider 37 is plate-shaped. Six-axis drive unit 20 is fixed to slider 37. Slider 37 moves in the Y direction along Y guide 36. Y drive source 38 drives slider 37 in the Y direction.

[0022] The detection unit 40 has an X-axis rotation sensor (first detection unit) 41 and a Z-axis rotation sensor (second detection unit) 42. The X-axis rotation sensor 41 detects the angle or angular velocity between the support plate 11 and a reference plane when the support plate 11 moves in the roll direction (α direction). The Z-axis rotation sensor 42 detects the angle or angular velocity of rotation of the support plate 11 when the support plate 11 rotates in the yaw direction (γ direction). The X translation sensor 43 detects the translational movement of the support plate 11 in the X direction.

[0023] The projection unit 50 outputs, as an image, a change in the field of view of the user U corresponding to the turning movement of the support plate 11. As the projection unit 50, for example, a head-mounted display that can be worn by the user U can be used.

[0024] The control unit 60 controls the six-axis drive unit 20 and the translation drive unit 30 so as to reproduce the acceleration that occurs during a turning motion relative to the support plate 11, based on the angulation angle and the angle of attack input to the operation unit 10. The control unit 60 also controls the projection operation of the projection unit 50 so that the image changes in conjunction with the control of the six-axis drive unit 20 and the translation drive unit 30 during the turning motion.

[0025] The control unit 60 sets the coefficient of friction between the support plate 11 and the reference surface during a turn as the sum of a first coefficient of friction between the support plate 11 and the reference surface during a carving turn in which the turn is performed while tilted in the roll direction, and a second coefficient of friction between the support plate 11 and the reference surface during a skidding turn in which the turn is performed while rotating in the yaw direction. The control unit 60 calculates the inertial force generated in the support plate 11 during a turn and the turning radius of the support plate 11 during a turn based on an equation of motion based on the gravity of the user U acting on the support plate 11, the frictional force between the support plate 11 and the reference surface, the centrifugal force acting on the user U during the turn, and the air resistance acting on the user depending on the speed, and controls the six-axis drive unit 20 and the translation drive unit 30 based on the calculation results.

[0026] 4A, 4B, 5A, 5B, and 5C are diagrams showing an example of an exercise model of a turning motion in this embodiment. FIG. 4A is a diagram seen from the side in the direction of travel of the user U. FIG. 4B is a diagram showing a comparison between a carving turn and a skidding turn. FIG. 5A is a perspective view seen from diagonally above in the direction of travel, FIG. 5B is a diagram showing the user U from above, and FIG. 5C is a diagram showing the user U from the front in the direction of travel. FIG. 6 is a diagram showing an example of the shape of a carving ski used in the exercise model of this embodiment.

[0027] 4A, 4B, 5A, 5B, and 5C, the motion model for the turning motion of the user U is represented by the equation of motion shown in Expression 1. Expression 1 is the equation of motion for the traveling direction.

[0028]

number

[0029] In the above equation (1), F on the left side is the sum of forces acting in the direction of travel of the user U. The first term on the right side of equation (1) represents the gravitational component, the second term represents the frictional component, and the third term represents the air resistance. The coefficient of friction μ between the support plate 11 and the reference plane S during a turn is expressed as the sum of a first coefficient of friction μ1 between the support plate 11 and the reference plane S during a carving turn, in which the turn is performed while leaning in the roll direction, and a second coefficient of friction μ2 between the support plate 11 and the reference plane S during a skidding turn, in which the turn is performed by rotating in the yaw direction. As shown in FIG. 4B, γ is the angle (advancement angle) between the fall line and the direction of travel of the support plate 11. γ' is the angle (attack angle) between the direction of travel and the longitudinal direction of the support plate 11. During a carving turn, the longitudinal direction of the support plate 11 coincides with the direction of travel, and the angle of attack γ' is zero. A skidding turn is a turn that involves skidding, and an angle (angle of attack) occurs between the direction of the support plate 11 and the direction of travel. Mathematical formula 1 is a motion model that takes into account both carving turns and skidding turns.

[0030] When a turn is performed using the above motion model, the inertial force acting on the user U is expressed by Equation 2.

[0031]

number

[0032] In the above equation 2, F on the left side represents the inertial force. The first term on the right side represents the perpendicular component of gravity in the direction of travel of user U sliding on the inclined reference plane S. The second term on the right side represents the centrifugal force acting on user U. Furthermore, as shown in the term mg × cosθ × tanα, the inertial force F is expressed as a function of the edging angle α.

[0033] Furthermore, when a turning motion is performed using the above-described motion model, the turning radius of the support plate 11 during the turning motion of the user U is expressed by Equation 3.

[0034]

number

[0035] In Equation 3, R on the left side represents the turning radius. The turning radius can be calculated using the shape of the carving ski and the angling angle. In Figure 6, the dashed line represents the shape in a top view when the support plate 11 is tilted by the angling angle α relative to the reference plane S. Figure 6 also shows a diagram of the carving ski viewed from the longitudinal direction (the direction of the white arrow in Figure 6). As shown in Figure 6, L represents the longitudinal dimension of the curved part of the carving ski (the dimension between the tip and tail). Wc represents the width of the narrowest part of the curved part of the carving ski. W0 represents the difference between the widest and narrowest widths of the curved part (side curve) of the carving ski. R0 represents the radius of the curved part. α represents the angling angle. β represents the central angle of the curved part. With carving skis, simply tilting the ski by the angle α allows the curved shape of the side to dig into the snow surface, allowing for natural turns. The larger the inclination angle α of the plate, the more the plate bends, so it can turn with a turning radius smaller than the initial radius R0 when the inclination angle α of the plate is 0.

[0036] As described above, the simulator according to the present disclosure has the support plate 11 for supporting the user U, and includes the operation unit 10 capable of inputting an angling angle indicating the angle in the roll direction between the support plate 11 and the reference plane S in a turning operation and an attack angle indicating the rotation angle of the support plate 11 in the yaw direction, the six-axis drive unit 20 and the translation drive unit 30 for moving the support plate 11 in the forward / backward direction, left / right direction, up / down direction, roll direction, pitch direction, and yaw direction, the X-axis rotation sensor 41 for detecting the angle or angular velocity of the tilt of the support plate 11 in the roll direction, the Z-axis rotation sensor 42 for detecting the angle or angular velocity of the rotation of the support plate 11 in the yaw direction, and the control unit 60 for controlling the six-axis drive unit 20 and the translation drive unit 30 so as to reproduce a turning operation for the support plate 11 based on the angling angle and attack angle input for the support plate 11, and the control unit 60 controls the angling angle detected by the X-axis rotation sensor 41. The angle and the angle of attack detected by the Z-axis rotation sensor 42 are used as inputs, and the coefficient of friction μ between the support plate 11 and the reference surface S during a turn is calculated as the sum of the first coefficient of friction μ1 between the support plate 11 and the reference surface S during a carving turn, in which the turn is made while tilted in the roll direction, and the second coefficient of friction μ2 between the support plate 11 and the reference surface S during a skidding turn, in which the turn is made by rotating in the yaw direction.The inertial force generated in the support plate 11 during a turn is calculated based on an equation of motion based on the gravity of the user U acting on the support plate 11, the friction force between the support plate 11 and the reference surface S, the centrifugal force acting on the user U during the turn, and the air resistance acting on the user depending on the speed, and the turning radius of the support plate 11 during the turn is calculated, and the 6-axis drive unit 20 and the translation drive unit 30 are controlled based on the calculation results.

[0037] According to this configuration, the angling angle detected by the X-axis rotation sensor 41 and the angle of attack detected by the Z-axis rotation sensor 42 are used as inputs, the friction coefficient μ between the support plate 11 and the reference surface S during a turn is set to the sum of the first friction coefficient μ1 during a carving turn and the second friction coefficient μ2 during a skidding turn, and the inertial force generated in the support plate 11 during a turn and the turning radius of the support plate 11 during a turn are calculated based on an equation of motion that is based on the gravity of the user U acting on the support plate 11, the friction force between the support plate 11 and the reference surface S, the centrifugal force acting on the user U during a turn, and the air resistance acting on the user depending on the speed, and the 6-axis drive unit 20 and the translation drive unit 30 are controlled based on the calculation results, so that the turn can be reproduced more appropriately.

[0038] In the simulator according to the present disclosure, the rotation axis of the support plate 11 in the yaw direction (Z rotation axis 15) is disposed between the center and front end of the support plate 11 in the front-rear direction.

[0039] According to this configuration, Z rotation axis 15 is disposed between the center and front end of support plate 11 in the front-rear direction, so that rotation of support plate 11 in the yaw direction can be more appropriately reproduced.

[0040] In the simulator according to the present disclosure, the rotation axis (X rotation axis 12) in the roll direction of the support plate 11 and the pivot axis (Z rotation axis 15) in the yaw direction of the support plate 11 are stacked vertically on the underside of the support plate 11.

[0041] According to this configuration, X rotation axis 12 and Z rotation axis 15 are arranged compactly, and rotation of support plate 11 in the yaw direction can be more appropriately reproduced.

[0042] In the simulator according to the present disclosure, the support plate 11 has a shape corresponding to a carving ski.

[0043] This configuration makes it possible to appropriately reproduce the turning motion that occurs when gliding on snow with carving skis.

[0044] The technical scope of the present invention is not limited to the above-described embodiment, and appropriate modifications can be made without departing from the spirit of the present invention. For example, in the above-described embodiment, the support plate 11 has a shape corresponding to a ski, but is not limited to this. The support plate 11 may have a shape corresponding to other board sports such as snowboarding and surfing. [Explanation of symbols]

[0045] 10 Control section 11 Support plate 11a Curved part 11b Bottom side 12 X rotation axis 13 x bearings 13a Mounting plate 14 X-axis support member 15 Z rotation axis 16 Z bearing 17 Z-axis support member 18 Return spring 19 Return spring 20 6-axis drive unit 30 Translation drive unit 31 X drive unit 32 Y drive unit 33 X Guide 34,37 Slider 35 X drive source 36 Y guide 38 Y drive source 40 Detector 41 X-axis rotation sensor 42 Z-axis rotation sensor 50 Projection section 60 Control Unit 100 Simulator S reference plane U user

Claims

1. an operation unit having a support plate for supporting a user, capable of inputting an angle of attack indicating an angle in a roll direction between the support plate and a reference plane during a turning operation and an angle of attack indicating a rotation angle in a yaw direction of the support plate; a drive unit that moves the support plate in a front-rear direction, a left-right direction, an up-down direction, a roll direction, a pitch direction, and a yaw direction; a first detection unit that detects the angulation angle of the support plate or an angular velocity corresponding to the angulation angle; a second detector for detecting the angle of attack of the support plate; a control unit that controls the drive unit so as to reproduce the turning motion of the support plate based on the angling angle and the attack angle input to the support plate; Equipped with The control unit receives as input the squaring angle detected by the first detection unit or the squaring angle calculated from the angular velocity detected by the first detection unit and the angle of attack detected by the second detection unit, and calculates a friction coefficient between the support plate and a reference surface in the turning operation as the sum of a first friction coefficient between the support plate and the reference surface in a carving turn operation in which the turning operation is performed while tilted in a roll direction, and a second friction coefficient between the support plate and the reference surface in a skidding turn operation in which the turning operation is performed so as to rotate in a yaw direction, and calculates an inertial force generated in the support plate in the turning operation from a motion equation related to the gravity of the user acting on the support plate, the friction force between the support plate and the reference surface, the centrifugal force acting on the user in the turning operation, and the air resistance acting on the user depending on the speed, and calculates a turning radius of the support plate in the turning operation, and controls at least the drive unit based on the calculation result. Simulator.

2. The pivot shaft in the yaw direction of the support plate is disposed between the center and front end of the support plate in the front-rear direction. The simulator of claim 1 .

3. The rotation axis of the support plate in the roll direction and the pivot axis of the support plate in the yaw direction are provided on the lower surface side of the support plate in a stacked state in the vertical direction. The simulator of claim 1 .

4. The support plate has a shape corresponding to a carving ski. The simulator of claim 1 .

Images