KR100559983B1 - Entertainment simulator - Google Patents

Abstract

The present invention relates to a tangible rides, using a robust and economical industrial AC motor, give a passenger watching the monitor in conjunction with the change of the game image or the operation of the user input device, such as a joystick, virtual reality It is a device that allows you to experience. The motor is fixed to the base frame, which holds the entire system. The motor provides a rotational movement around the left and right of the passenger by means of gears and the upper operating plate on which the chair and the monitor are fixed. At the bottom of the gearbox, another motor connected to the gear is installed, which causes the entire upper operation plate to rotate around the vertical axis, giving a high degree of realism to the passenger who is watching the image.

Virtual reality, exercise system, immersive game machine, motion base

Description

Sensory game device {ENTERTAINMENT SIMULATOR}

1 is an overall configuration diagram of a haptic game device according to the present invention
FIG. 2 is a front view of FIG. 1
3 is an enlarged exploded perspective view showing the structure of portion 'A' shown in FIG.
4 is an enlarged plan view illustrating a portion 'B' of FIG. 2.
Virtual Reality Simulator
5a and 5b are rotational state diagrams of a haptic game device that changes according to the driving of the upper motor

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Figure 6a, 6b is a rotational state diagram of a haptic game device that changes according to the drive of the lower motor

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7 is a flowchart showing a configuration of a control circuit which is a motor control means and a control method thereof;

Explanation of symbols on the main parts of the drawing

10: chair 13: upper operation plate

20: monitor 40: support frame

41: upper motor 42: lower operating plate

60: base frame 62: lower motor

70: working rod 72: connecting rod

71: lower load end 73: upper load end

80: potentiometer

The present invention relates to a haptic game device capable of freely rotating the upper operation plate about the vertical and the left and right axes, and more particularly, employs a low-cost industrial AC motor as a drive motor and miniaturizes the system with a simple mechanism. It relates to a haptic game device that can be.

Mechanical flight trainers, which were devised and put into practical use in the United States in the 1930s, entered the 1950s and advanced into flight simulators in conjunction with computers.In the 1980s, computer graphics became more efficient, enabling the creation of images at the same time. The simulator is used not only for aircraft, but also for the training of ships and railway vehicles, as well as for the training of drivers.

A device that gives a sense of movement to a person of simulator technology is called motion base. Recently, it is applied to various entertainment fields by combining with virtual reality technology.

Conventional gamers of the conventional game machine sitting on the seat to play the game using a button or a simple operation mechanism according to the situation on the screen, so there was no experience function other than vision and hearing, but a game machine equipped with a motion base according to the game situation By calculating and operating the physical quantity such as speed, acceleration, etc. of the operation board on board gives the passenger a realistic feeling.

Motion base can be divided into power source and operating plate degree of freedom, and training simulators require various functions, so high performance motion base is required, but in the field of entertainment, limited in terms of product quality and installation location in terms of price. Only range performance is implemented.

Many hydraulic and pneumatic cylinders are used for power sources, but in terms of cost and maintenance, they have recently been replaced by electric motors. Instead of using multiple actuators to increase the degree of freedom, the game requires a sense of movement (eg horizontal, Adopting only the degree of freedom of movement to realistically implement (vertical, rotation) is a feature of the motion base for entertainment.

Currently, most motion bases are so complex that the power transmission mechanisms are used to give the movement to the operating plate, resulting in poor market value and lack of dynamics.

Above all, the increase in manufacturing cost is regarded as the first obstacle to entering the market for motion base for entertainment, so it is necessary to satisfy the user's virtual reality and minimize the price.

The present invention is to solve the problems as described above, in order to maximize the haptic while minimizing the price, the chair for the passenger to feel the rotational movement around the vertical axis and the rotational movement around the left and right axis to the occupant On the upper operation plate to which the monitor is fixed together, the rotational movement about the left and right axes is realized by the rotation of the upper operation plate due to the power transmission of the connecting rod and the operation rod fixed to the motor shaft by applying the slide-crank mechanism. The rotational movement with the axis of the motor is made by connecting the motor shaft of the motor provided at the bottom of the system and the support of the motor through a gear connection to provide a sufficient sensation to the occupant, and at the same time minimizing the system and simplifying the mechanism part. The goal is to drastically reduce production costs to be suitable for entertainment purposes.

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The present invention for achieving the above object is a haptic game device that the user can sit on the chair and a predetermined display means at the same time, the base frame which is a support means located below; A lower operating plate rotatably provided in a horizontal direction on an upper surface of the base frame; An upper operating plate supported and fixed to an upper and lower rotatable upper portion of the lower operating plate via a support frame, and having a chair installed on an upper surface thereof; A lower motor installed inside the base frame and providing rotational power to the lower operation plate about a vertical axis; An upper motor positioned on an upper surface of the lower operating plate and providing rotational power to the upper operating plate through a predetermined operating means; A monitor installed at an extended end of the upper operation plate in the omnidirectional direction of the chair; And control means interlocked with the image displayed through the monitor and controlling driving of the upper motor and the lower motor. Including, but the rotation of the lower operating plate is made by the mutual engagement of the motor shaft gear provided on the motor shaft of the lower motor and the upper gear coupled to the bottom of the lower operating plate, the lower and upper motor is the motor shaft It is connected to each potentiometer for detecting the rotation angle of each of the motor, the connection of the motor shaft and the potentiometer of each motor is a timing connecting the timing pulley formed at the end on each motor shaft and the timing pulley formed at the shaft end of the potentiometer It is made via a belt, the upper operation plate is integrally connected to the monitor support for supporting the monitor in the front direction thereof is fixed to the lower operation plate through the support frame, the connecting member of the upper operation plate and the monitor support Is hinged rotatably up and down about the support frame, the operating means is connected to the motor shaft of the upper motor And a connecting rod coupled to both ends of the motor shaft so as to be rotatable, and an operating rod connecting the upper operating plate from the other end of the connecting rod and transmitting rotational power of the upper motor. The actuating rod and the actuating rod and the upper actuating plate are provided in rotatably hinged form.
According to the present invention, the upper gear is rotatably coupled to a rotation shaft support whose lower portion is fixed to the surface of the base frame, wherein the coupling is made through a bearing provided on the lower surface of the upper gear.
In addition, the present invention is provided with a joystick that is a signal input means for the game on one side of the chair, the end of the extended end of the upper operation plate in the front direction of the chair is a haptic game device, characterized in that the footboard.
In the present invention, the control means includes a motion control computer for applying each position command of the motors; A control circuit which subtracts the signal values of the potentiometers connected to the motors and multiplies the gains to generate a speed command; A voltage / frequency (V / f) converter to convert voltage and frequency; And a PWM inverter system controlling the speed of the motors by controlling the input power converted into DC power by the voltage / frequency (V / f) converter. It is made, including.
One preferred embodiment according to the present invention will be described in detail with reference to the accompanying drawings.
1 to 6 illustrate a haptic game device according to the present invention, and the diagram shown in FIG. 1 is an overall configuration diagram of a haptic game device (hereinafter referred to as a 'motion base'). FIG. 2 is a front view of FIG. 1, and FIG. 3 is an enlarged exploded perspective view showing a structure of a portion 'A' shown in FIG. 2.
In the present invention, the motion base 1 is largely fixed to the lower operating plate 13 by the monitor 20 and the chair 10 being the object of the movement, and the upper motor 41 rotates about the left and right axis. And, the lower motor 62 can be roughly divided into a rotational movement about the vertical axis.

The base frame 60 is positioned below the motion base 1 to support the remaining components. The base frame 60 has a lower motor 62 mounted therein as shown in FIG. 1, and a motor shaft gear 67 and a lower portion provided in the motor shaft of the lower motor 62 as shown in FIG. 3. The upper gear 43 coupled to the bottom surface of the operation plate 42 shows a structure in which they mesh with each other. The motor shaft gear 67 and the upper gear 43 that are engaged in this way rotate the lower operating plate 42 by driving the lower motor 62. In addition, the other end of the upper gear 43, that is, the lower part, is rotatably coupled to the rotation shaft support 63 fixed to the surface of the base frame 60, wherein the lower part of the upper gear 43 is a bearing 64 of the surface. It is coupled to the rotary shaft support (63) via a) to ensure a smooth rotation of the upper gear (43).

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On the other hand, the motor shaft of the lower motor 62 is connected to the potentiometer 65 provided around the connection, this connection is the timing pulley 68 formed on the other end corresponding to the motor shaft gear 67 in the motor shaft and the The timing belt 69 connects the timing pulley 66 formed at the shaft end of the potentiometer 65, through which the potentiometer 65 detects the rotation angle of the lower motor 62.

In addition to the chair 10 and the monitor 20 described above, the upper motor 41 is further installed on the lower operation plate 42. The monitor 20 is supported by the monitor support 22 and the chair 10 is installed in the upper operation plate 13, the upper operation plate 13 and the monitor support 22 is shown in FIG. It is fixed to the lower operating plate 42 via the support frame 40 which is integrally connected to each other and located below it. According to Figures 1 and 2, the monitor support 22 and the connecting body of the upper operating plate 13 is preferably hinged to enable the up and down rotation around the support frame (40).
The connecting body of the monitor support 22 and the upper operating plate 13 is connected to the connecting rod 72 provided at both ends of the motor shaft of the upper motor 41 via the operating rod 70 having a predetermined length. . Both ends of the actuating rod 70, that is, the lower rod end 71 connected to each connecting rod and the upper rod end 73 connected to both sides of the upper operating plate 13, are rotatable hinge coupling structures as shown in the drawing. Is provided. Is fastened and the rotational force of the upper motor 41 is transmitted to the upper operating plate (13).
Figure 4 is a plan view showing an enlarged portion 'B' of Figure 2, in the present invention, the motor shaft of the upper motor 41 is connected to the potentiometer 80 provided in the periphery, such a connection to one end of the motor shaft The timing pulley 68 'is formed on the timing belt 69' connecting the timing pulley 66 'formed at the shaft end of the potentiometer 80. Through this connection, the potentiometer 80 is connected to the upper motor 41. The rotation angle of is detected.

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On the other hand, one side of the chair 10 which is installed on the upper operating plate 13 so that the occupant 100 can sit is provided with a joystick 11 which is an input device necessary for games, etc. This joystick 11 is shown in FIG. It is fixed by the joystick fixing member 12 shown in. In addition, the monitor 20 is fixed by the monitor holder 21 and the monitor support 22 is preferably installed in accordance with the eye level of the occupant 100, the occupant 100 in the front direction of the upper operating plate (13) The foot where the foot is located is provided scaffolding plate 30.
In the present invention, the bellows 51 may be installed as shown in FIG. 1 to protect the power transmission means such as the upper motor 41, the connecting rod 72, and the operation rod 70.

FIG. 7 illustrates a configuration of a control circuit which is a means for controlling a motor in the present invention and a method of controlling the same. When the motion control computer (not shown) applies each position command 200 of the motor, the control circuit 2 In FIG. 2, the speed command is generated by multiplying the signal value of the potentiometer 207 attached to the motor 206 by a gain 201.

The gain 202 may use a controller such as a PI controller as necessary, and the signal output through the gain 202 is output as a frequency command and a voltage signal through the voltage / frequency (V / f) converter 203. And input to the PWM inverter system 205.

The PWM inverter system 205 receives a DC power source 204 converted from an AC power source as an input and controls the power for rotating the three-phase induction motor 206 in a PWM control manner to control the motor 206. It controls the speed of).

When the three-phase induction motor 206 is rotated and rotated at the angle of the initial position command 200, the signal of the potentiometer 207 and the value of each position command 200 are equal to each other, and the motor 206 is stopped. This cycle is performed continuously so that each position control of the motor 206 is possible.

Referring to the operation of the exercise system according to an embodiment of the present invention configured as described above are as follows.
5 and 6 illustrate the operation of the motion base by driving the upper motor and the lower motor, and FIGS. 5A and 5B illustrate a rotation state of the motion base that changes according to the driving of the upper motor.

When the occupant 100 sitting on the chair 10 plays the game by moving the joystick 11 while watching the screen of the monitor 20, a motion control computer (not shown) that executes the game outputs an image signal to the monitor and displays a speaker (shown in FIG. Play the sound, and calculate the physical quantity at which the movement should occur at the position of the occupant 100 in conjunction with the contents of the game. Subsequently, when the motion control computer outputs an angle at which the lower motor 62 and the upper motor 41 should rotate, the control circuit 2 receiving this signal causes the respective motors 62 and 41 to reach the command position. Rotate these motors until

For example, in the game content, if the car goes down the hill, the occupant 100 will be inclined forward, and drive the upper motor 41 in the motion control computer that senses the signal at this time, as shown in FIG. When one end of the 72 moves upward, the operating rod 70 connected to the connecting rod 72 and the lower rod end 71 is tilted forward about the hinge while pushing up the upper operating plate 13. This will cause the occupant to actually feel the situation. On the other hand, in the case of going up the hill, as shown in FIG. 5B, one end of the connecting rod 72 moves downward so that the operating rod 70 connected to the connecting rod 72 and the upper rod end 73 is operated upward. The plate 13 is pulled down to invent the action of tilting back around the hinge so that the occupant 100 can actually feel the situation.

On the other hand, the reason why the operating rod 70 and the connecting rod 72 is provided at both ends of the motor shaft of the upper motor 41 is to reinforce rigidity in driving the upper operating plate 13, There is no particular problem even if it is comprised only in one end of a motor shaft.

6A and 6B illustrate a state of rotation of a motion base that changes according to the driving of a lower motor, and FIGS. 6A and 6B show this in a plan view. The motion base 1 is shown in plan view. For example, when a car is cornering in a game, the motion control computer operates the lower motor 62 to rotate the occupant 100 in the cornering direction. Outputting the command signal 200 and driving the lower motor 62 in the control circuit 2 (see FIG. 7) according to the command signal 200 causes the lower operation plate 42 coupled by the gear connection to rotate. In addition, the upper operation plate 13 hinged to the lower operation plate 42 is rotated together to generate a rotational movement in the vertical direction.

These two rotational movements are operated simultaneously without interfering with the other movements, so that a three-dimensional virtual reality can be obtained with a large range of motion.

The mechanism of the present invention can be rotated in the front and rear and left and right directions can be moved independently without restraining, interlocking with each other to achieve the maximum movement performance, because the monitor and the occupant are fixed to the upper operating plate to move together It can maximize the immersion of the occupants, minimize the motor load driving the upper operating plate in consideration of the weight distribution of the monitor and the passenger seat located at both ends of the upper operating plate, it is possible to drive quickly with a small capacity motor, Economical manufacturing is possible by minimizing instrument configuration and adopting an economical industrial AC motor as the actuator.

Claims (7)

As a haptic game device in which a chair on which a user can sit and a predetermined display means are simultaneously exercised, A base frame, which is a support means located at the bottom; A lower operating plate rotatably provided in a horizontal direction on an upper surface of the base frame; An upper operating plate supported and fixed to an upper and lower rotatable upper portion of the lower operating plate via a support frame, and having a chair installed on an upper surface thereof; A lower motor installed inside the base frame and providing rotational power to the lower operation plate about a vertical axis; An upper motor positioned on an upper surface of the lower operating plate and providing rotational power to the upper operating plate through a predetermined operating means; A monitor installed at an extended end of the upper operation plate in the omnidirectional direction of the chair; And Control means interlocked with the image displayed through the monitor and controlling driving of the upper motor and the lower motor; Including, Rotation of the lower operation plate is made by mutual engagement of the motor shaft gear provided on the motor shaft of the lower motor and the upper gear coupled to the bottom of the lower operation plate, The lower and upper motors are connected to respective potentiometers whose motor shafts detect rotation angles of the respective motors, and the connection between the motor shafts and the potentiometers of the respective motors is formed at the ends of the respective motor shafts and the timing pulleys. It is made through a timing belt connecting the timing pulley formed at the shaft end, The upper operation plate is integrally connected to the monitor support for supporting the monitor in the front direction thereof is fixed to the lower operation plate through the support frame, the connection of the upper operation plate and the monitor support is centered on the support frame It is hinged to rotate up and down, The operation means is connected to the opposite ends of the motor shaft to be rotated in conjunction with the motor shaft of the upper motor, and connecting the upper operating plate from the other end of the connecting rod and transfer the rotational power of the upper motor And a connecting rod, an operating rod, and the operating rod and the upper operating plate are hinged to be rotatably coupled to each other. delete delete delete The method of claim 1, And the upper gear is rotatably coupled to a rotating shaft support having a lower portion thereof fixed to a surface of the base frame, wherein the coupling is made through a bearing provided on the lower surface of the upper gear. The method of claim 5, Joystick which is a signal input means for a game on one side of the chair is provided, the end of the extended end of the upper operation plate in the front direction of the chair is a haptic game device characterized in that the footboard. The method according to any one of claims 1, 5 and 6, The control means, A motion control computer for applying each position command of the motors; A control circuit which subtracts the signal values of the potentiometers connected to the motors and multiplies the gains to generate a speed command; A voltage / frequency (V / f) converter to convert voltage and frequency; And A PWM inverter system controlling the speed of the motors by controlling the input power converted into DC power by the voltage / frequency (V / f) converter; Haptic game device comprising a.

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