Simulator

Abstract

To accurately reproduce the acceleration acting on the user. [Solution] The simulator comprises a support plate 11 that supports the user, an operation unit 10 that can input an angle indicating the angle in the roll direction between the support plate 11 and a reference plane during a turning operation, and an angle of arrival indicating the rotation angle of the support plate 11 in the yaw direction, a 6-axis drive unit 20 that moves the support plate 11 in the front-rear direction, left-right direction, up-down direction, roll direction, pitch direction, and yaw direction, a translation drive unit 30 that translates the support plate 11 and the 6-axis drive unit 20 at least in the left-right direction, and a control unit 30 that controls the 6-axis drive unit 20 and the translation drive unit 30.

Description

Technical Field

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[0001] The present disclosure relates to a simulator.

Background Art

[0002] In board sports such as skiing and surfing, simulators that reproduce a dynamic environment are known (see, for example, Patent Document 1).

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

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

[0005] The present disclosure has been made in view of the above, and an object of the present disclosure is to provide a simulator capable of appropriately reproducing the acceleration acting on the user.

Means for Solving the Problems

[0006] The simulator according to this disclosure has a support plate that supports the user, and includes an operating unit that can input an angle angle indicating the angle between the support plate and a reference plane in the roll direction and an approach angle indicating the rotation angle of the support plate in the yaw direction during a turn operation, a 6-axis drive unit that moves the support plate in the front-rear direction, left-right direction, up-down direction, roll direction, pitch direction, and yaw direction, a translation drive unit that translates the support plate and the 6-axis drive unit at least in the left-right direction, and a control unit that controls the 6-axis drive unit and the translation drive unit to reproduce the turn operation with respect to the support plate based on the angle angle and approach angle input to the operating unit, the control unit supports The six-axis drive unit and the translation drive unit are controlled to perform a long turn operation that generates acceleration on the holding plate at a frequency lower than the reference frequency, and a short turn operation that generates acceleration on the support plate at a frequency higher than the reference frequency, and when the long turn operation is performed so that the left-right component of the direction of travel switches from one first direction to the other second direction, the translation drive unit performs an operation to generate acceleration in the second direction from a state in which it has moved in the first direction, and the six-axis drive unit performs an operation to generate acceleration in the second direction by tilting the support plate and generating a left-right component of gravitational acceleration. [Effects of the Invention]

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

[0008] [Figure 1] Figure 1 is a schematic diagram showing an example of the simulator according to this embodiment. [Figure 2] Figure 2 is a functional block diagram showing an example of a simulator according to this embodiment. [Figure 3] Figure 3 shows an example of a ski trajectory. [Figure 4] Figure 4 is a graph that schematically shows the relationship between the skiing position, the acceleration acting on the skier, and the skier's velocity. [Figure 5] Figure 5 is a schematic diagram showing an example of the position and orientation of the user and support plate when performing a short turn operation. [Figure 6] Figure 6 is a schematic diagram showing an example of the position and orientation of the user and support plate when performing a long turn operation. [Figure 7] Figure 7 is a schematic diagram showing an example of the position and orientation of the user and support plate when performing a long turn operation. [Figure 8] Figure 8 is a graph showing an example of the acceleration acting on the operating unit 10 during a long turn operation. [Modes for carrying out the invention]

[0009] The embodiments of the simulator relating to this disclosure will be described below with reference to the drawings. However, this embodiment does not limit the present invention. Furthermore, the components in the following embodiments include those that are easily substituted or substantially identical to those that are easily substituted by those skilled in the art.

[0010] In this embodiment, directions in the figure are explained using the XYZ coordinate system. The XYZ coordinate system is set based on the case where the user moves on a target surface such as a snow surface. In this case, the direction perpendicular to the target surface is defined as the up and down direction, and this up and down direction is defined as the Z direction. The direction along the user's direction of movement is defined as the front and back direction, and this front and back direction is denoted as the X direction. The direction of movement is forward, and the direction opposite to the direction of movement is backward. Furthermore, the direction perpendicular to the X and Z directions, i.e., the side relative to the user's direction of movement, is defined as the left and right direction, and this left and right direction is denoted as the Y direction. The direction around the X axis (roll direction) is denoted as the α direction. The direction around the Y axis (pitch direction) is denoted as the β direction. The direction around the Z axis (yaw direction) is denoted as the γ direction. In the X, Y, and Z directions, the direction of the arrow in the figure is the + direction, and the direction opposite to the direction of the arrow is the - direction.

[0011] Figure 1 is a schematic diagram showing an example of the simulator according to this embodiment. Figure 2 is a functional block diagram showing an example of the simulator according to this embodiment.

[0012] As shown in Figure 1, the 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, the case of reproducing the turning motion of skiing will be used as an example. The simulator 100 comprises an operation unit 10, a 6-axis drive unit 20, a translation drive unit 30, a detection unit 40, a projection unit 50, and a control unit 60.

[0013] The operating unit 10 has a support plate 11 that supports the user. The support plate 11 supports the user, and the user inputs the edge angle and the angle of arrival by performing a predetermined operation corresponding to a turn. The edge angle indicates the angle in the roll direction between the support plate 11 and the reference surface S during a turn. Here, the reference surface S is a virtual snow surface on which the user skis in the simulator 100. The angle of arrival indicates the yaw angle of the support plate 11 during a turn. That is, the angle of arrival is the yaw angle formed 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, the support plate 11 is arranged as two or one, corresponding to the left and right feet of the user. When there are two support plates 11, one on the left and one on the right, like skis, it is possible to input sliding in the front and back direction by moving the left and right support plates 11 individually in the X direction.

[0014] The 6-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 6-axis drive unit 20 is a 6-axis motion base having six extendable and retractable electric cylinders.

[0015] The translation drive unit 30 translates the support plate 11 and the six-axis drive unit 20 in the front-back direction and the left-right direction. The translation drive unit 30 includes 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-back direction. The X drive unit 31 includes 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 is plate-shaped. The slider 34 moves in the X direction along the X guide 33. The X drive source 35 drives the slider 34 in the X direction. The Y drive unit 32 includes a Y guide 36, a slider 37, and a Y drive source 38. The Y guide 36 is arranged on the slider 34 along the Y direction. The Y guide 36 guides the slider 37 in the Y direction. The slider 37 is plate-shaped. The six-axis drive unit 20 is fixed to the slider 37. The slider 37 moves in the Y direction along the Y guide 36. The Y drive source 38 drives the slider 37 in the Y direction.

[0016] The detection unit 40 includes an X-axis rotation sensor 41 and a Z-axis rotation sensor 42. The X-axis rotation sensor 41 detects the angle or angular velocity between the support plate 11 and the reference plane S when the support plate 11 moves in the roll direction (α direction). The Z-axis rotation sensor 42 detects the rotation angle or angular velocity of the support plate 11 when the support plate 11 rotates in the yaw direction (γ direction).

[0017] The projection unit 50 outputs, as an image, the change in the user's visual field corresponding to the turning operation of the support plate 11. Examples of the projection unit 50 include a head-mounted display that can be worn by the user. [[ID=lo]]

[0018] The control unit SO controls the six-axis drive unit 20 and the translation drive unit 30 to reproduce the turning operation with respect to the support plate 11 based on the angular attachment angle and the approach angle input to the operation unit 10. Further, the control unit 60 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 in the turning operation.

[0019] FIG. 3 is a diagram showing an example of a skiing trajectory. FIG. 4 is a graph schematically showing the relationship between the skiing position, the acceleration acting on the skier, and the speed of the skier. The vertical axis of FIG. 4 indicates acceleration and speed, respectively, and the horizontal axis indicates time.

[0020] As shown in FIGS. 3 and 4, a case where skiing is performed while making a turning motion so that the ski board reciprocates in the left - right direction on the snow surface will be described. Note that the turning motion includes a short - turn motion with a frequency of a reference value (for example, 1 Hz) or more and a long - turn motion with a frequency lower than the reference value. The following description using FIGS. 3 and 4 is applicable to both the short - turn motion and the long - turn motion. Note that FIG. 4 shows the acceleration and speed when one of the left - right directions (+Y direction) is taken as a reference.

[0021] As shown in FIGS. 3 and 4, when a turning motion is performed so as to proceed from the neutral position A in the left - right -Y directions, turn back in the +Y direction at the turn maximum B, and reach the neutral position C, at the neutral position A, the acceleration acting on the operation unit 10 is 0, and the speed is maximum in the -Y direction. As the turning motion proceeds from the neutral position A to the turn maximum B, the acceleration gradually increases in the +Y direction and the speed in the -Y direction gradually decreases. At the turn maximum B, the acceleration in the +Y direction is maximum and the speed is 0. Also, as the turning motion proceeds from the turn maximum B to the neutral position C, the acceleration in the +Y direction decreases and the speed increases in the +Y direction. At the neutral position C, the acceleration is 0 and the speed in the +Y direction is maximum.

[0022] Furthermore, when performing a turn from the neutral position C, moving in the +Y direction, then turning back in the -Y direction at the turn maximum D to reach the neutral position E, the acceleration gradually increases in the -Y direction and the velocity in the +Y direction decreases as you move from the neutral position C to the turn maximum D, with the acceleration being at its maximum in the -Y direction and the velocity at zero at the turn maximum D. Also, as you move from the turn maximum D to the neutral position E, the acceleration in the -Y direction decreases and the velocity increases in the -Y direction, with the acceleration being zero and the velocity at its maximum in the -Y direction at the neutral position E.

[0023] Figure 5 schematically shows an example of the position and orientation of the user U and the support plate 11 on the translational drive unit 30 when performing a short turn operation with a frequency of 1 Hz or higher as a turn operation. In Figure 5, the position of the support plate 11 in the Y direction is indicated by the user U, and the support plate 11 is enlarged horizontally in the figure to clearly show its tilt. In the following explanation using Figure 5, the neutral positions A, C, and E in Figures 3 and 4 described above correspond to the turn maximums B and D. Also, in Figure 5, the position of the support plate 11 in the Y direction is indicated by the user U. Since the frequency is unknown at the start of the turn, the control unit 60 can calculate the turn frequency based on, for example, the angle of inclination, and determine whether or not it is a short turn based on the calculation result and the reference value.

[0024] When performing a short turn, the control unit 60 controls the operation of the translational drive unit 30 instead of the operation of the 6-axis drive unit 20. As shown in Figure 5, in the neutral position A, the translational drive unit 30 positions the operating unit 10 and the 6-axis drive unit 20 in the neutral position in the center in the left-right direction. Furthermore, from the neutral position A to the turn maximum B, the translational drive unit 30 moves the operating unit 10 and the 6-axis drive unit 20 in the -Y direction so that at the turn maximum B, they reach a position on the Y guide 36 that is -Y side of the neutral position. Furthermore, from the turn maximum B to the neutral position C, the translational drive unit 30 moves the operating unit 10 and the 6-axis drive unit 20 in the +Y direction, so that at the neutral position C, the translational drive unit 30 positions the operating unit 10 and the 6-axis drive unit 20 in the center position in the left-right direction.

[0025] Furthermore, from the neutral position C to the turn maximum D, the translational drive unit 30 moves the operating unit 10 and the 6-axis drive unit 20 in the +Y direction so that they reach the stroke end on the +Y side of the Y guide 36 at the turn maximum D. Also, from the turn maximum D to the neutral position E, the translational drive unit 30 moves the operating unit 10 and the 6-axis drive unit 20 in the -Y direction so that at the neutral position E, the translational drive unit 30 positions the operating unit 10 and the 6-axis drive unit 20 in the center position in the left-right direction.

[0026] Figures 6 and 7 schematically show an example of the position and orientation of the user and support plate 11 when performing a long turn operation with a frequency lower than a reference value (e.g., 1 Hz) as a turning operation. In Figures 6 and 7, the position of the support plate 11 in the Y direction is indicated by the user U, and the support plate 11 is enlarged horizontally in the figure to make the inclination clear. Figure 8 is a graph showing an example of the acceleration acting on the operating unit 10 during a long turn operation. In Figure 8, the vertical axis shows the magnitude of the acceleration, and the horizontal axis shows the elapsed time. In Figure 8, the dashed line shows the acceleration due to the 6-axis drive unit 20, the dashed line shows the acceleration due to the translational drive unit 30, the solid line shows the sum of the accelerations of the 6-axis drive unit 20 and the translational drive unit 30, and the dashed line shows the theoretical value of the acceleration.

[0027] When performing a long turn, the control unit 60 performs two actions: generating acceleration in one direction (left or right) using the translational drive unit 30, and generating acceleration in one direction (left or right) using the 6-axis drive unit 20. These actions are described in detail below. The control described below is intended to simulate the acceleration and period in a long turn, and is designed to intentionally deviate from theoretical values, for example, the acceleration. That is, the following description shows an example of acceleration reproduction in a long turn using a combination of the translational drive unit 30 and the 6-axis drive unit 20. The following example uses the case of simultaneous drive, where the translational drive unit 30 and the 6-axis drive unit 20 start driving at the same time, but is not limited to this case. For example, a time-delay drive may be used, where one of the actions—generating acceleration using the translational drive unit 30 or generating acceleration using the 6-axis drive unit 20—starts before the other. In this case, for example, the operation of generating acceleration by the translational drive unit 30 may be started before the operation of generating acceleration by the 6-axis drive unit 20 to match the peak of the theoretical value of acceleration with the peak of the sum of accelerations, or the operation of generating acceleration by the 6-axis drive unit 20 may be started before the operation of generating acceleration by the translational drive unit 30 to match the peak of the theoretical value of acceleration with the peak of the sum of accelerations.

[0028] As shown in Figures 6 and 8, in stage (a), the translation drive unit 30 positions the operating unit 10 and the 6-axis drive unit 20 in a neutral position in the center in the left-right direction. From stage (a) to stage (b), the translation drive unit 30 moves the slider 37 in the -Y direction, and then controls the 6-axis drive unit 20 to tilt the operating unit 10 so that the -Y side of the operating unit 10 rises (the +Y side falls). In this case, as shown in Figure 8, the control of the translation drive unit 30 causes the acceleration in the +Y direction to gradually increase. In addition, the control of the 6-axis drive unit 20 provides auxiliary support with the +Y component of gravitational acceleration. Thus, the control unit 60 simultaneously starts the operation of generating acceleration with the translation drive unit 30 and the operation of generating acceleration with the 6-axis drive unit 20.

[0029] The control unit 60 moves the slider 37 from stage (a) to stage (b) so that it reaches the stroke end on the -Y side of the Y guide 36, and gradually increases the tilt of the operating unit 10 by the 6-axis drive unit 20. This increases the +Y component of the gravitational acceleration.

[0030] Furthermore, the control unit 60 moves the slider 37 from the -Y stroke end toward the +Y direction using the translation drive unit 30 from stage (b) to stage (c). This operation gradually decreases the acceleration in the +Y direction. Because the translation drive unit 30 has a stroke limit, the 6-axis drive unit 20 compensates for the acceleration generation time necessary to reproduce the theoretical value of acceleration. Until the first time t1 on the way from stage (b) to stage (c), the control unit 60 continuously and gradually increases the tilt of the operating unit 10 using the 6-axis drive unit 20 so that the +Y component of the gravitational acceleration gradually increases. After reaching the first time t1, the control unit 60 maintains the tilt of the operating unit 10 using the 6-axis drive unit 20. After the first time step t1, the slider 37 moves toward the center in the left-right direction with acceleration in the -Y direction. When it approaches the center in the left-right direction (second time step t2), the control unit 60 controls the movement of the slider 37 so that the sum of the acceleration from the 6-axis drive unit 20 and the +Y component of the gravitational acceleration does not equal the acceleration in the -Y direction (third time step t3: see the gray arrow in Figure 6). Subsequently, when the slider 37 reaches a position even closer to the center in the left-right direction, the slider 37 is stopped. After the slider 37 is stopped, the +Y component of the gravitational acceleration from the 6-axis drive unit 20 is output as the composite acceleration (fourth time step t4). Subsequently, leading up to stage (c), the control unit 60 gradually reduces the tilt of the operating unit 10 using the 6-axis drive unit 20 (fifth time step t5).

[0031] From stage (c) to stage (d), as shown in Figures 7 and 8, the translation drive unit 30 moves the slider 37 in the +Y direction, and then the 6-axis drive unit 20 is controlled to tilt the operating unit 10 so that the +Y side of the operating unit 10 rises (the -Y side falls). In this case, as shown in Figure 8, the control of the translation drive unit 30 causes the acceleration in the -Y direction to gradually increase. In addition, the control of the 6-axis drive unit 20 provides a supplementary effect with the -Y component of gravitational acceleration.

[0032] The control unit 60 moves the slider 37 from stage (c) to stage (d) so that it reaches the stroke end on the +Y side of the Y guide 36, and gradually increases the tilt of the operating unit 10 by the 6-axis drive unit 20. This increases the -Y component of the gravitational acceleration.

[0033] Furthermore, from stage (d) to stage (e), the control unit 60 moves the slider 37 from the stroke end on the +Y side toward the -Y direction using the translation drive unit 30. This operation gradually decreases the acceleration in the -Y direction. Meanwhile, until the 6th time t6, which is on the way from stage (d) to stage (e), the control unit 60 continues to gradually increase the tilt of the operating unit 10 using the 6-axis drive unit 20 so that the -Y component of the gravitational acceleration gradually increases. After reaching the 4th time t4, the control unit 60 maintains the tilt of the operating unit 10 using the 6-axis drive unit 20. After the 6th time t6, when the slider 37 approaches the center in the left-right direction (7th time t7), the control unit 60 controls the movement of the slider 37 so that an acceleration in the +Y direction is generated that cancels out the -Y component of the gravitational acceleration by the 6-axis drive unit 20 (8th time t8: see the gray arrow in Figure 7). During this time, the combined acceleration, which is the sum of the acceleration by the 6-axis drive unit 20 and the acceleration by the translational drive unit 30, becomes 0. Then, when the slider 37 reaches the center in the left-right direction (6th time t6), the slider 37 is stopped. After the slider 37 is stopped, the -Y component of the gravitational acceleration by the 6-axis drive unit 20 is output as the combined acceleration (9th time t9). Subsequently, as the device moves to stage (e), the control unit 60 gradually reduces the tilt of the operating unit 10 using the 6-axis drive unit 20 (10th time t10).

[0034] During long-turn maneuvers, the control unit 60 may generate acceleration in the vertical direction at a frequency higher than the reference frequency using the 6-axis drive unit 20 (see dashed sections L1 and L2). This operation can reproduce vertical vibrations, for example, when sliding over bumps or other protrusions formed on the snow surface.

[0035] Furthermore, in the above example, the long turn operation was explained using the case where a long turn is performed in sequence, where the Y component of the direction of travel switches from the -Y direction to the +Y direction, and then a long turn is performed in sequence, where the Y component of the direction of travel switches from the +Y direction to the -Y direction. However, the operation is not limited to this case. For example, after performing a long turn operation in which the Y component of the direction of travel switches from the -Y direction to the +Y direction, the control unit 60 can continue to perform another long turn operation in which the Y component of the direction of travel switches from the -Y direction to the +Y direction. In other words, in the above example, when a long turn operation is performed once, starting from the neutral position (stage (a)) on the translation drive unit 30, moving towards the end position (stage (b)) on the translation drive unit 30, and then turning around at the end position (stage (d)) on the translation drive unit 30 to reach the neutral position (stage (c)) on the translation drive unit 30, the slider 37 is controlled to return to the neutral position in the Y direction (the position shown as "neutral position (stage (c))" in Figure 6). Therefore, after performing the above long turn, it is possible to continue performing long turn operations in the same turn direction.

[0036] Furthermore, the control unit 60 may control the projection operation of the projection unit 50 so that the image changes in conjunction with the control of the translation drive unit 30 during short turn operations, and with the control of the 6-axis drive unit 20 and the translation drive unit 30 during long turn operations. This operation can mitigate the effects of changes in composite acceleration between the first time step t1 and the third time step t3, and between the fourth time step t4 and the sixth time step t6, during long turn operations, for example.

[0037] As described above, the simulator according to this disclosure includes a support plate 11 that supports the user, an operating unit 10 that can input an angle angle indicating the angle in the roll direction between the support plate 11 and the reference plane S during a turn operation, and an approach angle indicating the rotation angle of the support plate 11 in the yaw direction, a 6-axis drive unit 20 that moves the support plate 11 in the front-rear direction, left-right direction, up-down direction, roll direction, pitch direction, and yaw direction, a translation drive unit 30 that translates the support plate 11 and the 6-axis drive unit 20 at least in the left-right direction, and a control unit 60 that controls the 6-axis drive unit 20 and the translation drive unit 30 to reproduce a turn operation with respect to the support plate 11 based on the angle angle and approach angle input to the operating unit 10, and the control unit The 60 provides a simulator that controls the 6-axis drive unit 20 and the translation drive unit 30 to perform a long turn operation that generates acceleration on the support plate 11 at a frequency lower than the reference frequency, and a short turn operation that generates acceleration on the support plate 11 at a frequency higher than the reference frequency, as turning operations. When performing a long turn operation such that the Y-direction component of the direction of travel switches from one first direction to the other second direction in the Y-direction, the simulator provides an operation in which the translation drive unit 30 generates acceleration in the second direction from a state where it has moved in the first direction, and the 6-axis drive unit 20 tilts the support plate 11 to generate a left-right component of gravitational acceleration, thereby generating acceleration in the second direction.

[0038] With this configuration, when a long turn operation is performed such that the Y-direction component of the direction of travel switches from one first direction to the other second direction in the Y-direction, the translation drive unit 30 generates acceleration in the first direction in the left-right direction, and the 6-axis drive unit 20 generates acceleration in the second direction in the left-right direction. As a result, acceleration at frequencies lower than the reference frequency can be appropriately reproduced. This makes it possible to appropriately reproduce the acceleration acting on the support plate 11.

[0039] In the simulator according to this disclosure, the control unit 60 simultaneously starts the operation of generating acceleration using the translation drive unit 30 and the operation of generating acceleration using the 6-axis drive unit 20.

[0040] With this configuration, by simultaneously starting the operation that generates acceleration using the translational drive unit 30 and the operation that generates acceleration using the 6-axis drive unit 20, the acceleration acting on the support plate 11 can be appropriately reproduced.

[0041] In the simulator according to this disclosure, the control unit 60 starts either the operation of generating acceleration by the translation drive unit 30 or the operation of generating acceleration by the 6-axis drive unit 20 before the other.

[0042] With this configuration, by performing a time-delay drive in which either the operation of generating acceleration by the translational drive unit 30 or the operation of generating acceleration by the 6-axis drive unit 20 is started before the other, the acceleration acting on the support plate 11 can be appropriately reproduced.

[0043] In the simulator according to this disclosure, the control unit 60 changes the acceleration by the translational drive unit 30 from a state in which the acceleration by the translational drive unit 30 is greater than the acceleration by the 6-axis drive unit 20 to a state in which the acceleration by the translational drive unit 30 is less than the acceleration by the 6-axis drive unit 20.

[0044] With this configuration, the combined acceleration acting on the support plate 11 can be appropriately adjusted by appropriately changing the magnitude of the acceleration by the translational drive unit 30 and the 6-axis drive unit 20.

[0045] In the simulator according to this disclosure, the control unit 60 changes the direction of acceleration by the translation drive unit 30 from the second direction to the first direction, and adjusts the acceleration by the 6-axis drive unit 20 so that the combined acceleration of the acceleration by the translation drive unit 30 and the acceleration by the 6-axis drive unit 20 is directed in the first direction, thereby returning the support plate 11, which has moved in the first direction, to the neutral position.

[0046] This configuration allows the support plate 11, which has moved in the first direction, to be returned to the neutral position while suppressing any discomfort to the user.

[0047] In the simulator according to this disclosure, the control unit 60 generates an acceleration in the vertical direction with a frequency higher than the reference frequency using the 6-axis drive unit 20 during long-turn operation.

[0048] This configuration makes it possible to reproduce, for example, the vertical vibrations that occur when skiing over bumps or other protrusions formed on the snow surface.

[0049] The simulator according to this disclosure further includes a projection unit 50 that outputs a video of the change in the user's field of view corresponding to the turning motion of the support plate 11, and the control unit 60 controls the projection motion of the projection unit 50 so that the video changes in conjunction with the control of the 6-axis drive unit 20 and the translational drive unit 30 during the turning motion.

[0050] With this configuration, for example, in long-turn operations, the effects of changes in acceleration caused by the 6-axis drive unit 20 and the translational drive unit 30 can be mitigated.

[0051] In the simulator relating to this disclosure, the support plate 11 has a shape corresponding to a ski.

[0052] This configuration allows for the accurate reproduction of long turns performed when skiing on a snowy surface.

[0053] In the simulator according to this disclosure, when the control unit 60 performs a short turn operation such that the left-right component of the direction of travel switches from the first direction to the second direction, it generates acceleration using the translational drive unit 30 without performing any operation by the 6-axis drive unit 20.

[0054] With this configuration, during short-turn operations, acceleration is generated by the translational drive unit 30 without the 6-axis drive unit 20 performing any action, thereby enabling the appropriate generation of acceleration in the support plate 11 while keeping the complexity of the control content to a minimum.

[0055] The technical scope of the present invention is not limited to the embodiments described above, and modifications can be made as appropriate without departing from the spirit of the invention. For example, in the above embodiments, a configuration in which the support plate 11 has a shape corresponding to a ski was given as an example, but the invention is not limited to this configuration. The support plate 11 may also have a shape corresponding to other board sports such as snowboarding or surfing. [Explanation of symbols]

[0056] 10 Control section 11 Support plate 20 6-axis drive unit 30 Translational 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 Detection unit 41 X-axis rotation sensor 42 Z-axis rotation sensor 50 Projection section 60 Control Unit 100 Simulators PA, PC, PE Neutral Position PB, PD Turn Maximum

Claims

1. The device has a support plate to support the user, and an operating unit that can input an angle of inclination indicating the angle between the support plate and the reference surface in the roll direction during a turning operation, and an angle of inclination indicating the rotation angle of the support plate in the yaw direction. A six-axis drive unit that moves the support plate in the front-rear direction, left-right direction, up-down direction, roll direction, pitch direction, and yaw direction, A translation drive unit that moves the support plate and the six-axis drive unit in translation at least in the left-right direction, A control unit controls the six-axis drive unit and the translation drive unit to reproduce the turning motion relative to the support plate based on the angle and the approach angle input to the operation unit. Equipped with, The control unit, The six-axis drive unit and the translational drive unit are controlled to perform a long turn operation that generates acceleration on the support plate at a frequency lower than the reference frequency, and a short turn operation that generates acceleration on the support plate at a frequency higher than the reference frequency, as the turning operation. When performing the long turn operation such that the lateral component of the direction of travel switches from one first direction to the other second direction, the translation drive unit performs an operation to generate acceleration in the second direction from a state where it has moved in the first direction, and the six-axis drive unit performs an operation to generate acceleration in the second direction by tilting the support plate and generating a lateral component of gravitational acceleration. Simulator.

2. The control unit simultaneously starts the operation of generating acceleration using the translation drive unit and the operation of generating acceleration using the six-axis drive unit. The simulator according to claim 1.

3. The control unit initiates either the operation of generating acceleration by the translation drive unit or the operation of generating acceleration by the six-axis drive unit before the other. The simulator according to claim 1.

4. The control unit changes the state from one in which the acceleration due to the translational drive unit is greater than the acceleration due to the six-axis drive unit, to one in which the acceleration due to the translational drive unit is less than the acceleration due to the six-axis drive unit. The simulator according to claim 1.

5. The control unit changes the direction of acceleration by the translation drive unit from the second direction to the first direction, and adjusts the acceleration by the 6-axis drive unit so that the combined acceleration of the acceleration by the translation drive unit and the acceleration by the 6-axis drive unit is directed in the first direction, thereby returning the support plate, which has moved in the first direction, to the neutral position. The simulator according to claim 1.

6. The control unit generates an acceleration in the vertical direction with a frequency higher than the reference frequency using the six-axis drive unit during the long turn operation. The simulator according to claim 1.

7. The system further includes a projection unit that outputs as an image the change in the user's field of view corresponding to the turning motion of the support plate, The control unit controls the projection operation of the projection unit so that the image changes in conjunction with the control of the six-axis drive unit and the translation drive unit during the turning operation. The simulator according to claim 1.

8. The support plate has a shape corresponding to a ski. The simulator according to claim 1.

9. When the control unit performs the short turn operation such that the left-right component of the direction of travel switches from the first direction to the second direction, it performs an operation to generate acceleration using the translational drive unit without performing an operation by the six-axis drive unit. The simulator according to claim 1.

Images