CN102651179A - Riding simulator - Google Patents
Riding simulator Download PDFInfo
- Publication number
- CN102651179A CN102651179A CN2012100420507A CN201210042050A CN102651179A CN 102651179 A CN102651179 A CN 102651179A CN 2012100420507 A CN2012100420507 A CN 2012100420507A CN 201210042050 A CN201210042050 A CN 201210042050A CN 102651179 A CN102651179 A CN 102651179A
- Authority
- CN
- China
- Prior art keywords
- roll
- rake angle
- virtual
- side rake
- angle
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Images
Abstract
The invention relates to a riding simulator. By using the riding simulator, an operator can realize that a foot pedal(pedal) is contacted with the floor by using the sound (artificial sound) and the vibration (artificial vibration), therefore a sense of reality can be effectively provided to the operator during riding. The riding simulator comprises a virtual roll angle calculation device, which can be used to calculate a virtual roll angle Roll_i of a virtual bicycle in a virtual space, and a first angle comparison device, which can be used to compare the virtual roll angle Roll_i with a preset first predetermined angle Roll_is. When the virtual roll angle Roll_i exceeds the predetermined angle Roll_is, an actuator unit 20 used for controlling the roll angle of the simulated bicycle 16 can be used to apply vibration to the simulated bicycle 16. The vibration can be increased with the increasing of the virtual roll angle Roll_i. By using the riding simulator, heading angles can be generated to simulate the roll movement of the bicycle, therefore the feeling of riding the simulator similar to the feeling of riding the real bicycle can be provided.
Description
Invention field
The present invention relates to the riding simulator that is used for of motorcycle, bicycle etc. through the posture of actuator control simulating vehicle.In addition, the present invention relates to riding simulator, specifically, relate on display unit and to show that the image of advancing is so that the operator has the riding simulator of pseudo-experience of the travel condition of two wheeler.
Background technology
Routinely, can by operator (jockey) in every way the operation model two wheeler be used to play with the riding simulator of the two wheeler of the display unit combination with one another that shows the desired image comprise the travel path relevant or the driving of two wheeler is imparted knowledge to students with the travel condition of this model two wheeler.
Pedal (pedal) when contacting with ground sonorific technology be known.When driving riding simulator, the artificially produces sound during turning.Open No.Hei 5-88605 referring to for example Japanese Patent Laid.Open in the disclosed technology of No.Hei 5-88605 in Japanese Patent Laid; For inform operator's pedal with contact; The volume response that the artificially produces contact sound and this contact sound changes the driving situation during with reproduction turning more realistically in the variation of the speed of a motor vehicle.
In addition; In aforesaid this riding simulator, the operator confirms next operation in the motion of the motion (under the situation that subjectivity is watched) of watching the motion (under objective situation of watching) of the vehicle on the screen (driving screen) that is presented at display unit, background or approaching automobile etc.Therefore, have this possibility: exceedingly concentrate in the state of driving screen etc. if the operator places oneself in the midst of this operator, then this operator possibly not too can notice the artificial contact sound that produces.
The operator can be normally known with the riding simulator of pseudo-experience with travel condition according to the image manipulation simulation two wheeler of advancing that is presented on the display unit.
Japanese Patent Laid is opened No.2009-157312 and is disclosed a kind of riding simulator; Wherein, The simulation two wheeler through along the directed roll axis of the fore-and-aft direction of car body and along the directed pitch axis attached (attach) of the Width of vehicle to pedestal, so that (movement) moved in inclination campaign (motion) and pitching can reproduce actual two wheeler and advance the time.
When the two wheeler of reality is attempted to carry out revolution, if operating car body, the occupant goes (inclination campaign) with inclination, then front-wheel is diverted into turn direction, and therefore, this car body not only produces side rake angle, also produces yaw angle.Therefore, in order to obtain more to approach the sensation of actual two wheeler, the variation that can advise reproducing this yaw angle.
Yet, if attempt to use the mechanism that changes yaw angle, need be used to drive the motor of yaw axis etc. usually, cause the increase of the size or the cost aspect of equipment.Therefore, open in the disclosed riding simulator of No.2009-157312, do not use the mechanism that changes yaw angle in Japanese Patent Laid.
Summary of the invention
According to the embodiment of the present invention; A kind of riding simulator is provided; Be similar to the situation of driving actual two wheeler, this riding simulator make the operator can from vibration (artificial vibration) or vibration and sound (artificial sound) recognize make pedal (pedal) with contact.The invention enables the sense of reality in the time of for the operator driving to be provided more effectively.In addition, the present invention need not to supply separately vibration source etc., can not cause the cost of equipment and the increase of size aspect.
According to the embodiment of the present invention, a kind of riding simulator is provided, based on the operation of operator (14) to simulating vehicle (16), this riding simulator makes operator (14) can have the pseudo-experience of driving condition.This riding simulator comprises virtual side rake angle calculation element (200); This virtual side rake angle calculation element (200) is used for calculating the virtual side rake angle (Roll_i) in the virtual vehicle of Virtual Space of simulating vehicle (16); Wherein, This riding simulator comprises and being used for the mutual angle comparison means (206) relatively of said virtual side rake angle (Roll_i) and the predetermined angular (Roll_is) that is provided with in advance; So that when said virtual side rake angle (Roll_i) surpasses said predetermined angular (Roll_is); Apply vibration from the actuating unit (20) of the side rake angle of controlling said simulating vehicle (16) to said simulating vehicle (16), and this vibration increases along with the increase of said virtual side rake angle (Roll_i).
According to the embodiment of the present invention; Riding simulator is based on making this operator (14) have the pseudo-experience of driving condition by operator (140) to the operation of simulating vehicle (16) and comprising the virtual side rake angle calculation element (200) at the virtual side rake angle (Roll_i) of the virtual vehicle of Virtual Space that is used for calculating said simulating vehicle (160); Wherein, This riding simulator comprises and being used for the mutual angle comparison means (206) relatively of said virtual side rake angle (Roll_i) and the predetermined angular (Roll_is) that is provided with in advance; So that when virtual side rake angle (Roll_i) surpasses said predetermined angular (Roll_is), apply vibration to said simulating vehicle (16) from the side rake angle of control simulating vehicle (16) and the actuating unit (20) of the angle of pitch.Thereby this vibration increases along with the increase of said virtual side rake angle (Roll_i).
According to the embodiment of the present invention; Said riding simulator also comprises the supporting mechanism (24) that is set to inclination pivoting action and the pitching pivoting action said simulating vehicle of support (16); Wherein, said actuating unit (20) comprises a pair of left linear-motion actuator and the right linear-motion actuator (50) in the place ahead that is positioned at said simulating vehicle (16).Thereby moving by this of simulating vehicle (16) controlled left linear-motion actuator and right linear-motion actuator (50).
According to the embodiment of the present invention, said simulating vehicle (16) is set on the pedestal (12), and wherein, each in the said linear-motion actuator (50) comprises fixed part (54) and with respect to this fixed part (54) movable part (52) movably.Each fixed part (54) is connected to said pedestal (12) in its bottom through universal joint (58), and each movable part (52) is connected to said simulating vehicle (16) in the end above that.
According to the embodiment of the present invention, said virtual side rake angle calculation element (200) is based on by the corresponding steering torque of the detected and said operator's of handle torque detecting apparatus (82) (14) handle operation, calculate said virtual side rake angle (Roll_i) by the mobile corresponding inclination moment of torsion of the detected and said operator's of inclination torque detecting apparatus (94) (14) body weight and the speed of a motor vehicle of said virtual vehicle.
According to the embodiment of the present invention, said riding simulator also comprises loudspeaker (28), wherein, when said virtual side rake angle (Roll_i) surpasses said predetermined angular (Roll_is), produces simulated sound from said loudspeaker (28).
According to the embodiment of the present invention; Second predetermined angular (Roll_ic) that is equal to or greater than said predetermined angular (Roll_is) is set in advance; Wherein, When said virtual side rake angle (Roll_i) surpasses said second predetermined angular (Roll_ic), apply second vibration of amplitude to said simulating vehicle (16) greater than the amplitude of said vibration from said actuating unit (20).
According to the embodiment of the present invention; Through said simulating vehicle is applied to simulate pedal (pedal) that two wheeler and said predetermined angular be set to said simulating vehicle with the angle that contacts, can the said pedal (pedal) that makes said simulating vehicle with period of contacting apply vibration to said simulating vehicle.Therefore, can excessively use inclination and approach actual driving presence of advancing so that the operator can easily recognize for this operator provides.
And; Because apply vibration to said simulating vehicle from the said actuating unit of control side rake angle; So need not to be provided for vibrative actuator on pedal, handle etc. individually, and can realize effectively to the minimizing of operation and the reducing of cost of laying lead-in wire.Specifically, pedal (pedal) with time of contacting be the time of said simulating vehicle inclination.At this moment, the said actuating unit that is used to control said side rake angle is just driven.Therefore, can be fast and carry out side rake angle control and vibration control smoothly, and can create the better controlling state.
In addition, because vibration becomes big along with the increase of said virtual side rake angle, thus can be so that the operator can more clearly recognize the situation of excessive application inclination, and provide to this operator and more to approach actual driving presence of advancing.
According to the embodiment of the present invention; Through said simulating vehicle is applied to simulate pedal (pedal) that two wheeler and said predetermined angular be set to said simulating vehicle with the angle that contacts, can the said pedal (pedal) that makes said simulating vehicle with period of contacting apply vibration to said simulating vehicle.Therefore, can be so that the operator can easily recognize the excessive inclination of having used, and approach actual driving presence of advancing for this operator provides.
And, because apply vibration to said simulating vehicle, so need not to be provided for individually vibrative actuator on pedal, handle etc. from the said actuating unit of control side rake angle.Therefore, can realize effectively to the reducing of operation and reducing of cost of laying lead-in wire.
In addition, because vibration becomes big along with the increase of said virtual side rake angle, thus can be so that the operator can more clearly recognize the situation of excessive application inclination, and provide to this operator and more to approach actual driving presence of advancing.
And, not only produce vibration, and can only provide along the vibration of pitch orientation or along the vibration of inclination direction and pitch orientation this two to the operator along the inclination direction.In this situation; When pedal (pedal) with contact and during the simulating vehicle inclination; Because the actuating unit of control side rake angle and the angle of pitch is in the state of operating, thus can be fast and carry out side rake angle control smoothly, the angle of pitch is controlled and vibration control.Thereby, can create the better controlling state.
According to the embodiment of the present invention, because axle itself does not activated rotations such as device, so moving of simulating vehicle can be controlled by the low linear-motion actuator of output power.
According to the embodiment of the present invention, the posture of said simulating vehicle can change through moving movable part with respect to fixed part.For example; If two movable parts move along same direction; Then said simulating vehicle is carried out the luffing with respect to pedestal; If but another the opposite direction of direction of motion in edge in these movable parts and the said movable part move, then said simulating vehicle is carried out the inclination campaign with respect to said pedestal.
According to the embodiment of the present invention, because calculate said virtual side rake angle from steering torque, inclination moment of torsion and the speed of a motor vehicle, the operator can have the pseudo-experience of the sensation that more approaches actual vehicle.
According to the embodiment of the present invention, because except vibration, produce simulated sound, thus can be so that the operator can more easily recognize the situation of excessive application inclination, and provide to this operator and more to approach actual driving presence of advancing.
According to the embodiment of the present invention, through said simulating vehicle being applied to for example simulate the angle that two wheeler and said second predetermined angular are set to said virtual vehicle upset, can overturn so that the operator recognizes said simulating vehicle strongly.Compare with the alternative scenario of the generation of the demonstration of only using screen picture or simulated sound, can be so that the operator can recognize this upset strongly.
An object of the present invention is to solve above-mentioned prior art problems; And a kind of riding simulator is provided; Wherein, When the inclination campaign, produce yaw angle,, and need not to be provided for separately and independently changing the mechanism of the yaw angle on the simulation two wheeler so that the approaching sensation of sensation that provides with two wheeler by reality can be provided.
To achieve these goals; According to the embodiment of the present invention, riding simulator (1 ') comprise pedestal (16 ') that basic horizontal is provided with, the simulation two wheeler (2 ') on the top that is arranged on pedestal (16 ') and will simulate two wheeler (2 ') and be supported on the driving mechanism (11 ') on the pedestal (16 ').
The roll axis parts (12 ') that feasible simulation two wheeler (2 ') can the inclination campaign are provided, and the pitch axis parts (14 ') that feasible simulation two wheeler (2 ') can luffing are provided.Driving mechanism (11 ') supports inclination spindle unit (12 ') so that the axis of roll axis parts (12 ') (RC) according to respect to pedestal (16 ') downward-sloping forward concern setting.
According to the embodiment of the present invention, driving mechanism (11 ') is set at along the substantial middle position of the car body fore-and-aft direction of simulation two wheeler (2 ').The car body front side of simulation two wheeler (2 ') is through a pair of left linear-motion actuator and the right linear-motion actuator (10 ') of control are supported on the pedestal (16 ') arbitrarily by control part; And each in the said linear-motion actuator (10 ') is attached to the car body front side of simulation two wheeler (2 ') and forms with mobile side component (33 ') that the bonding station of fixation side parts (34 ') can change arbitrarily by the bar-shaped fixation side parts (34 ') that are attached to pedestal (16 ') through downside universal joint (35 ') and through upside universal joint (28 ').
According to the embodiment of the present invention; When in the side view of car body, watching; The axis of roll axis parts (12 ') (RC) is located to intersect with the axis (JC) along the pivot of car body fore-and-aft direction of downside universal joint (35 ') at intersection point (S), and intersection point (S) is set at the car body front side of downside universal joint (35 ').
According to the embodiment of the present invention; When in the side view of car body, watching; The axis of roll axis parts (12 ') (RC) is located to intersect with the axis (JC) along the pivot of car body fore-and-aft direction of downside universal joint (35 ') at intersection point (S), and the pivotal axis of intersection point (S) and the steering handle (4 ') of simulating two wheeler (2 ') (25c ') is identical or be arranged on the car body front side with respect to pivotal axis (25c ').
According to the embodiment of the present invention, driving mechanism (the 11 ') tilt component (53 ') that is provided with and has the dip plane (53a ') through the bottom at the roll axis supporting mechanism (50 ') that supports inclination spindle unit (12 ') to support inclination spindle unit (12 ') according to downward forward tilt relationship.
According to the embodiment of the present invention, the stop component (90 ') that extends along vehicle-width direction is attached to roll axis parts (12 '), and stop component (90 ') and tilt component (53 ') the inclination campaign with constraint simulation two wheeler (2 ') against each other.
According to the embodiment of the present invention; Respectively do for oneself plane form stop surface (12cf '; 12cr ') is formed on the opposed end of roll axis parts (12 '); And outstanding two retainers (29 ', 30 ') and stop surface along the car body downward direction from the vehicle body frame (7 ') of simulation two wheeler (2 ') (12cf ', 12cr ') butt is with the luffing of constraint simulation two wheeler (2 ').
According to the embodiment of the present invention, driving mechanism (11 ') is set between the main frame (20 ') of supporting base (13 ') that is fixed to pedestal (16 ') and the vehicle body frame (7 ') that constitutes simulation two wheeler (2 ').Do not carry out in any one the neutral state in inclination campaign and the luffing at simulation two wheeler (2 '), main frame (20 ') concerns setting with respect to pedestal (16 ') according to downward-sloping forward.
The 9th of having of riding simulator is characterised in that roll axis parts (12 ') are set to greater than the pitch angle (3 ') of main frame (20 ') with respect to pedestal (16 ') with respect to the pitch angle (α) of pedestal (16 ').
According to the embodiment of the present invention, stop surface (12cf ', 12cr ') has spill.
According to the embodiment of the present invention; Because driving mechanism supports the inclination spindle unit; So that the axis of roll axis parts concerns setting with respect to pedestal according to downward-sloping forward; So can on the car body of simulation two wheeler, produce yaw angle in response to the inclination campaign, and not increase the special entity that is used to produce yaw angle.
Therefore, the variation of the yaw angle that is produced by car body in the time of can being reproduced in the revolution of actual two wheeler obtains to approach the ride sensation of two wheeler about the actual two wheeler of front-wheel banked turn thus.
According to the embodiment of the present invention; Driving mechanism is set at along the substantial middle position of the car body fore-and-aft direction of simulation two wheeler, and the car body front side of simulation two wheeler is through a pair of left linear-motion actuator and the right linear-motion actuator of control are supported on the pedestal arbitrarily by control part.And each in the said linear-motion actuator is attached to the car body front side of simulation two wheeler and forms with mobile side component that the bonding station of these fixation side parts can change arbitrarily by the bar-shaped fixation side parts that are attached to pedestal through the downside universal joint and through the upside universal joint.Therefore; Can simulate two wheeler along car body fore-and-aft direction execution luffing through making left linear-motion actuator and right linear-motion actuator move in a similar direction to make, and simulate two wheeler along car body left and right directions execution inclination campaign through making left linear-motion actuator and right linear-motion actuator move to make along opposite direction.Therefore, can make the simulation two wheeler at random carry out banking motion in response to occupant's operation.And, eliminate necessity that power supply etc. is set near driving mechanism, and can simplify near the structure the driving mechanism.
According to the 3rd characteristic, when in the side view of car body, watching, the axis of roll axis parts is in the axes intersect along the pivot of car body fore-and-aft direction of intersection point place and downside universal joint, and this intersection point is set at the car body front side of downside universal joint.Therefore, the earth point of virtual front-wheel of simulation two wheeler is set to the similar position of earth point with the front-wheel of actual simulation two wheeler.The sensation of riding that approaches actual two wheeler when as a result, having realized that two wheeler is about the front-wheel banked turn.
According to the embodiment of the present invention; When in the side view of car body, watching; The axis of roll axis parts is in the axes intersect along the pivot of car body fore-and-aft direction of intersection point place and downside universal joint, and the pivotal axis of this intersection point and the steering handle of simulation two wheeler is identical or be set at the car body front side with respect to pivotal axis.Therefore, the earth point of virtual front-wheel of simulation two wheeler is set to the similar position of earth point with the front-wheel of actual simulation two wheeler.Thereby, realized the sensation of riding that approaches actual two wheeler when two wheeler is about the front-wheel banked turn.And; Through changing the position of intersection point; For example, be set to essentially identical position, can realize approaching the operation feeling of sports type vehicle through intersection point and pivot axis of movement; Perhaps, can obtain approaching the operation feeling of American version vehicle through making intersection point and pivot axis of movement each interval.
According to the embodiment of the present invention, through the bottom at the roll axis supporting mechanism that supports the inclination spindle unit tilt component with dip plane is set, driving mechanism supports the inclination spindle unit according to downward-sloping forward relation.Therefore, can only tilt component be set and the roll axis parts be set according to downward-sloping forward state through bottom at conventional driving mechanism.And, can be only change the pitch angle of roll axis parts through the shape that changes tilt component.Thereby, can easily change the sensation of riding.
According to the embodiment of the present invention, the stop component that extends along vehicle-width direction is attached to the roll axis parts, and stop component and the tilt component inclination campaign with constraint simulation two wheeler against each other.Therefore, the banked turn angle in the time of can retraining the inclination campaign is so that through easy configuration, this banked turn angle can be no more than predetermined value.
According to the embodiment of the present invention; The stop surface of plane form of respectively doing for oneself is formed on the opposed end of roll axis parts, and outstanding two retainers and these stop surface butts are simulated the luffing of two wheeler with constraint along the car body downward direction from the vehicle body frame of simulation two wheeler.Therefore, through with roll axis parts itself with the parts that act on the constraint luffing, simplification that can the expected structure aspect, and need not the retainer part that provides new.
According to the embodiment of the present invention; Driving mechanism is set at the supporting base that is fixed to pedestal and constitutes between the main frame of vehicle body frame of simulation two wheeler, and main frame is not carried out in any one the neutral state in inclination campaign and the luffing with respect to pedestal at the simulation two wheeler and concerned setting according to downward-sloping forward.Therefore, the simulation two wheeler is attached according to the relation that turns forward with respect to pedestal.Thereby, can obtain more to approach the sensation of riding of actual two wheeler.
According to the embodiment of the present invention, the roll axis parts are set to greater than the pitch angle of main frame with respect to pedestal with respect to the pitch angle of pedestal.Therefore, move the simulation two wheeler with respect to basement tilt and mobile roll axis parts can carry out each other compatiblely, so that can obtain more to approach the sensation of riding of actual two wheeler with respect to basement tilt this two.And; In the luffing of simulation two wheeler; Be convenient to make forward direction inclination allowed band greater than the back to the inclination allowed band; And can in the two wheeler of reality, reproduce the amount of front fork shrinks when slowing down amount front fork expansion when quickening, more approached the sensation of riding of actual motorcycle thus.
According to the embodiment of the present invention, said stop surface has spill.Therefore, the said stop surface that is arranged on the opposed end of roll axis parts can be formed can be more easily with from two outstanding shapes that retainer engages of vehicle body frame.
From the detailed description that hereinafter provides, further range of application of the present invention will become obvious.Yet; Be to be understood that; The variations and modifications in the spirit and scope of the present invention in indication preferred implementation of the present invention, only provide and describe in detail and concrete example, because will become obvious to those skilled in the art from this detailed description through illustration.
Description of drawings
The detailed description that provides from hereinafter and only provide through way of example and do not limit accompanying drawing of the present invention will more fully be understood the present invention.
Fig. 1 is the part abridged side view that the riding simulator (first simulator) according to first embodiment is shown;
Fig. 2 is the part abridged skeleton view that first simulator is shown;
Fig. 3 illustrates the front view that the part of the supporting mechanism of first simulator breaks away from;
Fig. 4 illustrates the control part of first simulator and the block diagram of operating portion;
Fig. 5 is configuration that the control circuit of first simulator is shown, carry out the functional block diagram of the configuration of inclination campaign in particular for the control simulating vehicle;
Fig. 6 is the process flow diagram (part 1) of operation of the control circuit of explanation first simulator;
Fig. 7 is the process flow diagram (part 2) of operation of the control circuit of explanation first simulator;
Fig. 8 is configuration that the control circuit of the riding simulator (second simulator) according to second embodiment is shown, be particularly useful for controlling the functional block diagram that simulating vehicle is carried out the configuration of inclination campaign and luffing;
Fig. 9 is the curve map of example of relation of virtual side rake angle Roll_i of basic side rake angle Roll_mo and the virtual vehicle of the simulating vehicle in the explanation work example;
Figure 10 is the curve map of the virtual side rake angle Roll_i of the virtual vehicle in the explanation work example with the variation of the full side rake angle Roll_mt of the angular velocity increase of 10 ° of per seconds;
Figure 11 is the curve map of the virtual side rake angle Roll_i of the virtual vehicle in the explanation work example with the variation of the full angle of pitch Pit_mt of the angular velocity increase of 10 ° of per seconds;
Figure 12 is the curve map with respect to variation with the variation of full side rake angle Roll_mt of the full angle of pitch Pit_mt of elapsed time in the explanation work example;
Figure 13 is the side view that the common configuration of riding simulator according to the embodiment of the present invention is shown;
Figure 14 is the side view of simulation two wheeler;
Figure 15 is the enlarged drawing of driving mechanism;
Figure 16 is the skeleton view of simulation two wheeler;
Figure 17 is the key drawing from the structure of the driving mechanism watched of front of simulation two wheeler;
Figure 18 is the side view of simulation two wheeler, the method to set up at the pitch angle of its explanation roll axis parts;
Figure 19 is the skeleton view of simulation two wheeler, the method to set up at the pitch angle of its explanation roll axis parts;
Figure 20 is that explanation utilizes the simulation two wheeler to produce the planimetric map of the mode of yaw angle;
Figure 21 is the skeleton view of roll axis supporting mechanism;
Figure 22 is the side view of roll axis supporting mechanism;
Figure 23 is the top view of roll axis parts;
Figure 24 is the top view of pitch axis parts;
Figure 25 is the key drawing (side along car body is watched) of the structure of the engagement state between explanation roll axis parts and the pitch axis parts;
Figure 26 is the key drawing (front along car body is watched) of the structure of the engagement state between explanation roll axis parts and the pitch axis parts;
Figure 27 is the side view of the simulation two wheeler of the relation between explanation car body and the yaw center;
Figure 28 is the synoptic diagram of the generation principle of explanation yaw angle;
Figure 29 is the view of watching along the A ' indicated direction among Figure 28; And
Figure 30 is the view of watching along the A indicated direction among Figure 28.
Embodiment
Hereinafter, referring to figs. 1 through Figure 12 description riding simulator according to the present invention is applied to the for example embodiment of motorcycle.
As depicted in figs. 1 and 2, the riding simulator of the motorcycle of first embodiment of the invention (the first simulator 10A hereinafter referred to as) comprises pedestal 12, is arranged on the simulating vehicle 16 to be driven by operator 14 on the pedestal 12.Actuating unit 20 is set between pedestal 12 and the simulating vehicle 16, applies bias force with the posture of change simulating vehicle 16 or to simulating vehicle 16.Control part 22 is set, and the actuating unit 20 that has a supporting mechanism 24 with control supports simulating vehicles 16 to carry out along the inclination pivoting action of inclination direction X (with reference to Fig. 3) with along the pitching pivoting action of pitch orientation Y (with reference to Fig. 1) with respect to pedestal 12.And the first simulator 10A comprises monitor 26 and loudspeaker 28.
But simulating vehicle 16 comprises front column 32 with the steering handle 30 that is arranged on the upper end and the seat part 34 that extends back from the lower end of front column 32.
Supporting mechanism 24 comprises the pedestal 36 that is fixed on the pedestal 12, be arranged on the pedestal 36 so that the vertical corresponding roll axis 38 of its direction of principal axis and simulating vehicle 16 and being arranged on the roll axis 38 so that its direction of principal axis pitch axis 40 corresponding with the Width of simulating vehicle 16.Roll axis 38 is installed to be through a pair of clutch shaft bearing 42 and on pedestal 36, rotates.Pitch axis 40 is connected and is fixed to roll axis 38 and is installed to be also to be rotated on the bottom surface through a pair of second bearing, 44 present bit positions 34.Therefore, simulating vehicle 16 moves along inclination direction (directions X) about roll axis 38 pivotally, and moves pivotally along pitch orientation (Y direction) about pitch axis 40.
If this moves up or down the movable part of linear-motion actuator 50 52 this two, then about the fulcrum that provides by pitch axis 40 forward upwards or downward forward pivoting action (that is luffing) be applied to simulating vehicle 16.Yet, if this to the movable part 52 of linear-motion actuator 50 each other along relative to upwards and downward direction move, be applied to simulating vehicle 16 about the horizontal pivoting action (that is inclination campaign) in edge of taking out 38 fulcrums that provide by inclination.Therefore, can use luffing, and can be, so that operator 14 can experience and similar vehicle behavior when driving actual vehicle in response to operator 14 body weight sports applications inclination campaign in response to operator 14 accelerated operation or brake operating.It should be noted that each in the linear-motion actuator 50 can be configured to use cylindrical hydrodynamic pressure type actuator.
The control part 22 and operating portion 62 of the first simulator 10A are described with reference to Fig. 4.
The information of sending from control circuit 64 comprises the current location data of the behavior that relates to simulating vehicle 16 basically, current yaw data, present speed data, current expedited data, current luffing data and current inclination data.CGI produces equipment 66 produces the travel path that comprises the landform of storing in advance in response to the data (being also referred to as the current behavior information data usually) of moment input image information.
Except handle 30, operating portion 62 comprises front brake lever 70, back brake rod 72, the oil door handle 74 as accelerator, clutch lever 76, grip switches 78 (switch of riding, dimmer switch, turning indicator control, starting switch, horn switch, emergency stop switch etc.) and gear shift pedal 80 etc.
Operating portion 62 comprises preceding brake-pressure sensor 85, the back brake-pressure sensor 88 that is connected to rear brake pedal 72 that is connected to front brake lever 70, the acceleration jaw opening sensor 90 that is connected to oil door handle 74, the clutch lever angular transducer 92 that is connected to clutch lever 76, inclination torque sensor 94 and the gear position switch 96 that is connected to gear shift pedal 80.
Each sensor in the operating portion 62, grip switches 78 and gear position switch 96 are connected to the distolateral of connector 98 through signal wire.And the linear-motion actuator 50 of steer motor of handle 80 84 and actuating unit 20 is connected to the distolateral of connector 102 through signal wire.
It should be noted that for example being used to monitor, the control desk 104 of operator 14 drive simulating is connected to the first simulator 10A.Control desk 104 comprises second control part 106 that also is operating as the principal computer that is used for control part 22.Second control part 106 comprises as the keyboard of input media 108 and mouse 110 and as the monitor 112 such as liquid crystal display etc. of display device.For example; Operator 14 images displayed on the screen of the monitor of watching during the drive simulating 26 produces equipment 66 through communication line 114 from CGI and is fed to second control part 106, and can on the screen of the monitor that is connected to second control part 106 112, show.
And; The first angle comparison means 206 that as shown in Figure 5, the control circuit 64 of the first simulator 10A comprises the virtual side rake angle calculation element 200 at the side rake angle (virtual side rake angle Roll_i) of the virtual vehicle of Virtual Space, the basic side rake angle calculation element 202 that is used to calculate the side rake angle corresponding with virtual side rake angle Roll_i (basic side rake angle Roll_mo) of simulating vehicle 16 that are used for calculating simulating vehicle 16, be used at least the first predetermined angular Roll_is that is provided with in advance and virtual side rake angle Roll_ic are compared each other, be used for based on the comparative result from the first angle comparison means 206 calculate angle of throw (the first vibration side rake angle Roll_ms) along the inclination direction the first vibration side rake angle arithmetic operating apparatus 208, the second angle comparison means 210 that is used for second predetermined angular Roll_ic that is provided with in advance and virtual side rake angle Roll_i are compared each other, be used for calculating full side rake angle arithmetic operating apparatus 214 and the artificial sound generation device 216 that second of angle of throw (the second vibration side rake angle Roll_mc) along the inclination direction vibrates side rake angle arithmetic operating apparatus 212, is used to calculate full side rake angle (side rake angle Roll_mt entirely) based on comparative result from the second angle comparison means 210.
The pedal (pedal) that the first predetermined angular Roll_is is set to virtual vehicle with the angle (for example, 50 °) that contacts, and for example be stored among the first register 218a.The second predetermined angular Roll_ic is set to the angle (for example, 55 °) of virtual vehicle upset, and for example is stored among the second register 218b.
Virtual side rake angle calculation element 200 is based on coming according to computes along the angle of inclination direction X than (angular velocity) from the inclination torque T l (kg*m) of inclination torque sensor 94 with from the steering torque Ts (Kg*m) of handle torque sensor 82; That is roll rate R_v (deg/sec):
R_V＝Ts×K1+T1×K2...(1)
Acquisition will be through multiply by inclination torque T 1 (kg*m) COEFFICIENT K 2 (deg/kg*m*sec) value that obtains and the value that obtains through another value addition calculation that steering torque Ts (kg*m) multiply by COEFFICIENT K i (deg/kg*m*sec) acquisition as roll rate R_v (deg/sec).In other words, use this configuration of roll rate R_v and inclination torque T l and the proportional variation of steering torque Ts.
Now, through following formula (2) calculation side inclination angle (be commonly referred to the calculation side inclination angle or estimate side rake angle) R_a (deg):
R_a＝R_a+R_v×S_time...(2)
In this embodiment; Will (R_v * S_time) calculates as the side rake angle R_a that will calculate in the indication of the left side of formula (2) with the value that obtains to value (the side rake angle R_a on the right) addition in the last circulation of each frame of TV signal or a field time (for example, being set to 17ms or 33ms to each cycling time of S_time (sec)) through multiply by the value that cycling time, S_time obtained according to the roll rate R_v that formula (1) is calculated.Specifically, calculation side inclination angle R_a to each cycling time S_time upgrade and be calculated as operator 14 body weight amount of exercise and the time integral value of the operational ton of handle 30.
And for the inclination campaign that the centrifugal force of accurately representing actual two wheeler produces on virtual vehicle, virtual side rake angle calculation element 200 calculates the side rake angle (virtual side rake angle Roll_i) of virtual vehicle according to following formula (3):
Roll_i＝R_a+T1×K3+V×K4...(3)
Will through will with the side rake angle of the proportional variation of inclination torque T l that produces by body weight motion (Tl * K3) (K3 is a coefficient) and with the side rake angle of the proportional variation of speed V (V * K4) (K4 is a coefficient) calculates as virtual side rake angle Roll_i (deg) with the value that the R_a addition of calculation side inclination angle obtains.Therefore, inclination campaign like the inclination motion class of the two wheeler of execution of the virtual vehicle in the Virtual Space and reality.
Speed V can be calculated through the acceleration G that is produced that is directed against each cycling time of S_time is carried out integration.The acceleration G that is produced can be calculated as G=(damping force of engine torque * gear ratios-braking)/vehicle weight (weight that also comprises operator 14).In this situation, engine torque can be calculated as and engine speed and the corresponding moment of torsion of accelerator open degree through oil door handle 74 according to engine characteristics.Calculate gear ratios according to sprocket ratio and the gear position that identifies from gear position switch 96.Come to confirm the damping force of braking with reference to damping force characteristic (corresponding relation between damping force and the brake pressure) based on another output in response to the output of the back brake-pressure sensor 88 of the operation of rear brake pedal 72 and the preceding brake-pressure sensor 86 corresponding with the operation of front brake lever 70.Can speed V be calculated as the cycling time of V=of the speed of a motor vehicle+G * S_time * 9.8 before according to the acceleration G of the generation of calculating according to aforesaid way.
Basic side rake angle calculation element 202 calculates the side rake angle corresponding with virtual side rake angle Roll_i (side rake angle Roll_mo basically) of simulating vehicle 16 according to being stored in side rake angle information mapping 220 in the storer (correspondence mappings between virtual side rake angle and the basic side rake angle).Come the calculation side obliquity information to shine upon 220 through waiting the basic side rake angle Roll_mo corresponding calculate simulating vehicle 16 in advance via experiment and when the virtual side rake angle that is calculated is not this representational virtual side rake angle, the virtual side rake angle that is calculated being approximately with the corresponding basic side rake angle of nearest representative virtual side rake angle with representational virtual side rake angle Roll_i.
The first angle comparison means 206 is with the first predetermined angular Roll_is and the second predetermined angular Roll_ic and come the virtual side rake angle Roll_i of self-virtualizing side rake angle calculation element 200 to compare.Then, at virtual side rake angle Roll_i but when being equal to or less than the second predetermined angular Roll_ic greater than the first predetermined angular Roll_is, the pedal (pedal) of judging virtual vehicle with contact, and, for example export high level signal.When virtual side rake angle Roll_i is equal to or less than the first predetermined angular Roll_is perhaps greater than the second predetermined angular Roll_ic, the output low level signal.
The first vibration side rake angle arithmetic operating apparatus 208 calculates the first vibration side rake angle Roll_ms according to following formula (4) based on the input from the high level signal of the first angle comparison means 206:
Roll_ms＝Rls×[Roll_i-Roll_is]×sin(ωs×t) (4)
Wherein, Rls * [Roll_i-Roll_is] is the parameter that is used for confirming amplitude, and show with the virtual side rake angle Roll_i and the first predetermined angular Roll_is between the corresponding amplitude of difference.Rls representes coefficient and is provided so that the amplitude corresponding with being about 0.2 ° angle to the maximum that obtain.Should be noted in the discussion above that ω s indication pedal (pedal) with the angular frequency and the ω s=2 π fs in period of contacting, and for example, can the frequency of about 10Hz be chosen as frequency f s.
And the first vibration side rake angle arithmetic operating apparatus 208 is set to 0 based on the input first vibration side rake angle Roll_ms from the low level signal of the first angle comparison means 206.
The second angle comparison means 210 virtual side rake angle Roll_i and the second predetermined angular Roll_ic of self-virtualizing side rake angle calculation element 200 in the future compares each other.Then,, judge virtual vehicle because excessive inclination is overturn, and for example export high level signal during at virtual side rake angle Roll_i greater than the second predetermined angular Roll_ic.When virtual side rake angle Roll_i is equal to or less than the second predetermined angular Roll_ic, the output low level signal.
The second vibration side rake angle arithmetic operating apparatus 212 calculates the second vibration side rake angle Roll_mc according to following formula (5) based on the input from the high level signal of the second angle comparison means 210:
Roll_mc＝Rc×sin(ωc×t) ...(5)
The Rc indication is used for confirming the coefficient of amplitude and is provided so that the amplitude corresponding with for example about 0.5 ° angle that obtain.Wherein, the angular frequency and the ω c=2 π fc of ω c indication expression upset for example, can be chosen as the frequency of about 15Hz frequency f c.
The second vibration side rake angle arithmetic operating apparatus 212 begins counting from the clock of timer 2 24 from the time point tc that exports the second vibration side rake angle Roll_mc, and for example arrives 1/ (2 * fc) the time point td second vibration side rake angle Roll_mc is set to 0 beginning elapsed time from time point tc.Specifically, use the second half the vibration side rake angle Roll_mc that wavelength equals sinusoidal wavelength.
And the second vibration side rake angle arithmetic operating apparatus 212 is set to 0 based on the input second vibration side rake angle Roll_mc from the low level signal of the second angle comparison means 210.
Full side rake angle arithmetic operating apparatus 214 calculates full side rake angle Roll_mt in the Calais with basic side rake angle Roll_mo, the first vibration side rake angle Roll_ms with the second vibration side rake angle Roll_mc mutually, and to the full side rake angle Roll_mt of linear-motion actuator 50 outputs.Linear-motion actuator 50 moves movable part 52, to meet applied full side rake angle Roll_mt.
Artificial sound generation device 216 based on from the waveform of the waveform modulated sound source 226 of the first vibration side rake angle Roll_ms of the first vibration side rake angle arithmetic operating apparatus 208 producing first artificial sound, and first artificial sound that is produced to loudspeaker 28 outputs.And; Artificial sound generation device 216 based on from the waveform of the waveform modulated sound source 226 of the second vibration side rake angle Roll_mc of the second vibration side rake angle arithmetic operating apparatus 212 producing second artificial sound, and second artificial sound that is produced to loudspeaker 28 outputs.
Explain the operation of the first simulator 10A below with reference to Fig. 6 and Fig. 7.
At first; Step S1 at Fig. 6; The steering torque Ts that operation produced through 14 pairs of handles 30 of operator is detected by handle torque sensor 82; The inclination torque T l that body weight motion through operator 14 produces is detected by inclination torque sensor 94, and the information of obtaining accelerator open degree through oil door handle 74 etc. is to obtain the speed of a motor vehicle of virtual vehicle.
At step S2, virtual side rake angle calculation element 200 is carried out arithmetical operation based on steering torque Ts, inclination torque T 1, the speed of a motor vehicle and various coefficient according to above-mentioned formula (1) to (3), to calculate virtual side rake angle Roll_i.
At step S3, basic side rake angle calculation element 202 is confirmed the side rake angle corresponding with virtual side rake angle Roll_i (basic side rake angle Roll_mo) of simulating vehicle 16.
At step S4, the first angle comparison means 206 virtual side rake angle Roll_i of self-virtualizing side rake angle calculation element 200 in the future compares with the first predetermined angular Roll_is and the second predetermined angular Roll_ic each other.If virtual side rake angle Roll_i is equal to or greater than the first predetermined angular Roll_is and in addition is equal to or less than the second predetermined angular Roll_ic; Then the first angle comparison means 206 is judged pedal (pedal) contiguously, and processing proceeds to next step S5.
At step S5, the first vibration side rake angle arithmetic operating apparatus 208 vibrates side rake angle Roll_ms based on the above formula that provides (4) with arithmetic mode computing first.
At step S6; Full side rake angle arithmetic operating apparatus 214 will be confirmed full side rake angle Roll_mt with the first vibration side rake angle Roll_ms from the first vibration side rake angle arithmetic operating apparatus 208 mutually from the basic side rake angle Roll_mo of basic side rake angle calculation element 202, and export full side rake angle Roll_mt to linear-motion actuator 50.
At step S7, linear-motion actuator 50 moves movable part 52, thereby meets the full side rake angle Roll_mt that is supplied.During this period, generation is based on the vibration of the first vibration side rake angle Roll_ms.
At step S8, artificial sound generation device 216 is modulated the waveform of sound source 226 based on the first vibration side rake angle Roll_ms, and to loudspeaker 28 output institute modulated waveform.
After the processing of completing steps S8 or when judging that at step S4 virtual side rake angle Roll_i is equal to or less than the first predetermined angular Roll_is or is higher than the second predetermined angular Roll_ic, then handle the step S9 that proceeds to Fig. 7.
At the step S9 of Fig. 7, the second angle comparison means 210 virtual side rake angle Roll_i and the second predetermined angular Roll_ic of self-virtualizing side rake angle calculation element 200 in the future compares.If virtual side rake angle Roll_i is equal to or greater than the second predetermined angular Roll_ic, then the second angle comparison means 210 is judged virtual vehicle owing to excessive inclination is overturn, and processing proceeds to next step S10.
At step S10, the second vibration side rake angle arithmetic operating apparatus 212 vibrates side rake angle Roll_mc based on the above formula that provides (5) with arithmetic mode computing second.
At step S11; Full side rake angle arithmetic operating apparatus 214 will be confirmed full side rake angle Roll_mt with the second vibration side rake angle Roll_mc from the second vibration side rake angle arithmetic operating apparatus 212 mutually from the basic side rake angle Roll_mo of basic side rake angle calculation element 202, and export full side rake angle Roll_mt to linear-motion actuator 50.
At step S12, linear-motion actuator 50 moves movable part 52, so that meet the full side rake angle Roll_mt that is supplied.At this moment the phase, produce vibration based on the second vibration side rake angle Roll_mc.
At step S13, artificial sound generation device 216 is modulated the waveform of sound source 226 based on the second vibration side rake angle Roll_mc, and to loudspeaker 28 output institute modulated waveform.
After the processing of completing steps S13 or when judging that at step S9 virtual side rake angle Roll_i is equal to or less than the second predetermined angular Roll_ic, handle and proceed to step S14, at step S14, judge whether receive ending request (power interruption etc.).
If judge not receive ending request, then handle turning back to step S1, so that the processing of these steps that repeat to begin from step S1.Each unit interval (for example, a frame period (1/60 second) of TV signal or a field duration (1/30 second)) afterwards, a series of processing of repeating step S1 to S14.Thereby, make the pedal of virtual vehicle (pedal) with after period of contacting, produce vibration, and produce first artificial sound based on the waveform of the first vibration side rake angle Roll_ms based on the first vibration side rake angle Roll_ms.And, at the time point of virtual vehicle, produce vibration, and produce second artificial sound based on the second vibration side rake angle Roll_mc based on the second vibration side rake angle Roll_mc along inclination direction over-tilting and upset.
Then, judge the period that receives ending request, the processing of finishing control circuit 64 at step S14.
When carrying out the processing of above-mentioned step S1 to S14, action below carrying out.
Specifically; When operator 14 at first operated the clutch lever 76 as the oil door handle 74 or the front brake lever 70 that are arranged on the accelerator on the handle 30, the output signal, the output signal of preceding brake-pressure sensor 86 or the output signal of clutch lever angular transducer 92 that quicken jaw opening sensor 90 were supplied to control circuit 64.And if rear brake pedal 72 is operated, then the output signal of back brake-pressure sensor 88 is supplied to control circuit 64.And in response to the operation of the gear shift pedal 80 of the operation through clutch lever 76, the gear position information of gear position switch 96 (gear position and for example the primary importance information or the neutral position information of 5 speed) is supplied to control circuit 64.
In addition, the moving direction or the amount of movement of the operator's 14 on the simulating vehicle 16 body weight are detected by inclination torque sensor 94, and the output signal of inclination torque sensor 94 is sent to control circuit 64.
Based on said output signal, the driving of control circuit 64 control actuating units 20 and the driving of control monitor 26 etc.
For example, if the operation that operator 14 carries out front brake lever 70 is to apply braking, then linear-motion actuator 50 is in response to being driven by preceding brake-pressure sensor 86 detected brake pressures, so that simulating vehicle 16 turns forward the behavior when reproducing braking thus.On the other hand; When the operation of oil door handle 74 throws open accelerator; Linear-motion actuator 50 is driven in response to quickening jaw opening sensor 90 detected apertures similarly, and simulating vehicle 16 recedes the behavior when reproducing accelerated operation thus under the action of linear-motion actuator 50.
In addition, move if operator 14 carries out body weight, then linear-motion actuator 50 is driven based on the moving direction of body weight and amount of movement and gait of march (speed of a motor vehicle), and simulating vehicle 16 tilts along vehicle-width direction, reproduces the behavior when turning round (turning) thus.Handle 30 turns to the body weight moving direction when this body weight moves.In other words, carry out go to action.At this moment; The steering torque corresponding with the operational ton of handle 30 detected by handle torque sensor 82; And steer motor 84 is driven in response to detected steering torque by control circuit 64; So that the edge is applied to handle 30 with the direction in the opposite direction that handle 30 turns to antistress, realize being similar to the sensation that turns to of actual vehicle thus.
When carrying out the aforesaid various operation of being undertaken by operator 14; On real time basis, the current behavior information data of simulating vehicle 16 is provided to CGI from control circuit 64 and produces equipment 66, and will be presented on the monitor 26 based on the image of the travel path of the image that comprises landform and different vehicle of the travel condition of simulating vehicle 16 on the real time basis.Therefore, operator 14 can obtain to be similar to the sensation of advancing of actual vehicle.
When virtual vehicle is carried out above-mentioned inclination campaign in the Virtual Space of simulating vehicle 16, make pedal (pedal) with period of contacting, the displacement movement through linear-motion actuator 50 produces the vibration based on the first vibration side rake angle Roll_ms.As a result, can so that operator 14 can easily recognize excessive used inclination and provide to this operator approach actual driving presence of advancing.Specifically, because calculate virtual side rake angle Roll_i, so the operator can have the pseudo-experience of the sensation that the actual vehicle of approaching provides according to steering torque, inclination moment of torsion and the speed of a motor vehicle.
And; Because apply vibration to simulating vehicle 16 from the linear-motion actuator 50 of control side rake angle; So need not to be provided for vibrative actuator on pedal, turning member etc. separately, and can realize effectively to the minimizing of operation and the reducing of cost of laying lead-in wire.Specifically, pedal (pedal) with time of contacting be the time of simulating vehicle 16 inclinations, and this moment, the actuating unit 20 that is used to control side rake angle is driven.Therefore, can fast and carry out side rake angle control and vibration control smoothly.Thereby, can create the better controlling state.
In addition, because vibration becomes big along with the increase of virtual side rake angle Roll_i, thus can be so that operator 14 can more clearly recognize the situation of excessive application inclination, and provide to this operator and more to approach actual driving presence of advancing.
Because the axle such as roll axis itself does not wait through actuator and rotates, so the motion of simulating vehicle 16 can be controlled through the low linear-motion actuator 50 of output power.This is favourable for reducing power consumption.
Because the movable part 52 in the handle 30 can move to change the posture of simulating vehicle 16, so can for example make simulating vehicle 16 carry out luffing through making two movable parts 52 move along identical direction with respect to fixed part 54.And, can be for example move and make simulating vehicle 16 carry out the inclination campaigns through another the opposite direction of moving direction in the edge and the said movable part 52 that make in the said movable part 52.
And, because except vibration, also produce artificial sound, thus can be so that operator 14 can more easily recognize the situation of excessive application inclination, and provide to operator 14 and more to approach actual driving presence of advancing.
The second angle comparison means 210 is set; So that judge that when virtual side rake angle Roll_i is equal to or higher than the second predetermined angular Roll_ic virtual vehicle is owing to excessive inclination is overturn; And the second vibration side rake angle arithmetic operating apparatus 212 is confirmed the second vibration side rake angle Roll_mc of amplitude greater than the amplitude of the first vibration side rake angle Roll_ms; To apply vibration to simulating vehicle 16, can be so that operator 14 can recognize that vehicle overturns through somatosensory.Compare with the situation of the generation of the demonstration of only using screen picture or simulated sound, this can be recognized by operator 14 consumingly.
With reference to Fig. 8 the riding simulator (the second simulator 10B hereinafter referred to as) according to second embodiment is described.
Although the control circuit 64 of the second simulator 10B has the control circuit 64 basic similarly configurations with the above-mentioned first simulator 10A, difference is that the control circuit 64 of the second simulator 10B additionally comprises the device that relates to the angle of pitch.
As shown in Figure 8, this device that relates to luffing comprises: based on the vibration of the speed of a motor vehicle calculate basic angle of pitch Pit_mo basic angle of pitch calculation element, based on from the comparative result of the first angle comparison means 206 with the first vibration angle of pitch arithmetic operating apparatus 232 of the vibration angle (the first vibration angle of pitch Pit_ms) of arithmetic mode computing pitch orientation, based on from the comparative result of the second angle comparison means 210 with the arithmetic mode computing along second vibration angle of pitch arithmetic operating apparatus 234 of the vibration angle (the second vibration angle of pitch Pit_mc) of pitch orientation and the full angle of pitch arithmetic operating apparatus 236 of confirming total displacement (full angle of pitch Pit_mt) along pitch orientation.
Basic angle of pitch calculation element 230 calculates the basic angle of pitch Pit_mo corresponding with vibration width in response to the acceleration motion of the virtual vehicle variation of the speed of a motor vehicle (that is, in response to).
The first vibration angle of pitch arithmetic operating apparatus 232 according to following formula (6) based on from the output of the high level signal of the first angle comparison means 206 with the arithmetic mode computing first vibration angle of pitch Pit_ms:
Pit_ms＝P1s×[Roll_i-Roll_is]×sin(ωs×t)...(6)
Wherein, P1s * [Roll_i-Roll_is] is the parameter that is used for confirming amplitude, and show with the virtual angle of pitch Roill_i and the first predetermined angular Roll_is between the corresponding amplitude of difference.Pls representes coefficient and is provided so that the amplitude corresponding with being about 0.2 ° angle to the maximum that obtain.
And the first vibration angle of pitch arithmetic operating apparatus 232 is set to 0 based on the input first vibration angle of pitch Pit_ms from the low level signal of the first angle comparison means 206.
The second vibration angle of pitch arithmetic operating apparatus 234 calculates the second vibration angle of pitch Pit_mc according to following formula (7) based on the input from the high level signal of the second angle comparison means 210:
Pit_mc＝Pc×sin(ωc×t)...(7)
Wherein, the Pc indication is used for confirming the coefficient of amplitude and is provided so that the amplitude corresponding with for example about 0.5 ° angle that obtain.
Similar with the above-mentioned second vibration side rake angle arithmetic operating apparatus 212; The second vibration angle of pitch arithmetic operating apparatus 234 begins counting from the clock of timer 2 24 from the time point tc that exports the second vibration angle of pitch Pitl_mc, and for example arrives 1/ (2 * fc) the time point td second vibration angle of pitch Pit_mc is set to 0 beginning elapsed time from time point tc.Specifically, use the second vibration angle of pitch Pit_mc with the half the wavelength that equals sinusoidal wavelength.
And the second vibration angle of pitch arithmetic operating apparatus 234 is set to 0 based on the input second vibration angle of pitch Pit_mc from the low level signal of the second angle comparison means 210.
Full angle of pitch arithmetic operating apparatus 236 will be from the basic angle of pitch Pit_mo of basic angle of pitch calculation element 230, confirm full angle of pitch Pit_mt from the first vibration angle of pitch Pit_ms of the first vibration angle of pitch arithmetic operating apparatus 232 mutually with the second vibration angle of pitch Pit_mc from the second vibration angle of pitch arithmetic operating apparatus 234, and exports full angle of pitch Pit_mt with full side rake angle Roll_mt to linear-motion actuator 50.Linear-motion actuator 50 moves movable part 52 to meet applied full side rake angle Roll_mt and full angle of pitch Pit_mt.
Although the second simulator 10B and the above-mentioned first simulator 10A operate similarly; But from the pedal (pedal) of virtual vehicle be set to period of contacting begin to produce vibration based on the first vibration side rake angle Roll_ms and the first vibration angle of pitch Pit_ms, and produce artificial sound based on the waveform of the first vibration side rake angle Roll_ms.Then, at the time point of virtual vehicle, produce vibration, and produce artificial sound based on the waveform of the second vibration side rake angle Roll_mc based on the second vibration side rake angle Roll_mc and the second vibration angle of pitch Pit_mc along inclination direction over-tilting and upset.
Utilize the second simulator 10B; Can provide along the vibration of inclination direction and pitch orientation this two for operator 14; Make the operator further be convenient to recognize the situation of vehicle over-tilting thus, and more approach actual driving presence of advancing for the operator provides.In this situation; Although pedal (pedal) with contact and the simulating vehicle inclination; But because the actuating unit 20 of the control side rake angle and the angle of pitch is being operated; So can be fast and carry out side rake angle control, angle of pitch control and vibration control smoothly, and can create the better controlling state.
Use the second simulator 10B as representative, during motion, situation is shown in the curve map of Fig. 9 to Figure 12 when the virtual side rake angle of simulating vehicle 16 in the virtual vehicle of confirming to advance with fixed speed.
At first; The relation of the basic side rake angle Roll_mo of simulating vehicle 16 and the virtual side rake angle Roll_i of virtual vehicle makes indicated like the block curve Lx of Fig. 9; Virtual side rake angle Roll_i at 0 ° to about 15 ° scope; Basic side rake angle Roll_mo non-linearly increases in response to the increase of virtual side rake angle Roll_i, and after virtual side rake angle Roll_i was through 15 ° period, virtual side rake angle Roll_i (pro rata) linearly increased.
When the virtual side rake angle Roll_i of virtual vehicle increases with the angular velocity of 10 ° of per seconds shown in the dashed curve La of Figure 10; On the period 1 Ta (cycle till elapsed time becomes 5 seconds) reach the first predetermined angular Roll_is (being 50 ° here) up to virtual side rake angle Roll_i till, the full side rake angle Roll_mt that is provided to linear-motion actuator 50 is the basic side rake angle Roll_mo (with reference to block curve Lb) corresponding to virtual side rake angle Roll_i.Specifically, the information of only basic side rake angle Roll_mo is provided to linear-motion actuator 50, and 50 pairs of movable parts 52 of linear-motion actuator are shifted, so that meet basic side rake angle Roll_mo.At this moment; If for example edge direction inclination to the right of simulating vehicle 16; Then the movable part 52 of the linear-motion actuator on the right side 50 moves down and the basic corresponding length of side rake angle Roll_mo, and the movable part 52 of the linear-motion actuator 50 on the left side moves up and the basic corresponding length of side rake angle Roll_mo.Therefore, simulating vehicle 16 is along to the right the directions basic side rake angle Roll_mo that tilts.And, in this period 1 Ta,,, indicated like the block curve Lc of Figure 11 so full angle of pitch Pit_mt keeps 0 ° because the virtual vehicle of the second simulator 10B advances with fixed speed.
In the period of elapsed time through 5 seconds, the virtual side rake angle Roll_i of virtual vehicle surpasses the first predetermined angular Roll_is, therefore, the pedal (pedal) that makes virtual vehicle with contact.After phase at this moment; With as basic side rake angle Roll_mo and the first vibration side rake angle Roll_ms's and the relevant information of angle be used as full side rake angle Roll_mt and be provided to linear-motion actuator 50, and with basic angle of pitch Pit_mo and the first vibration angle of pitch Pit_ms's and the relevant information of angle be provided conduct angle of pitch Pit_mt entirely.Therefore, the vibration that generation amplitude increases along with effluxion gradually.Shown in the up-sizing of Figure 12; After basic side rake angle Roll_mo becomes the time point that equals about 5.7 °; Amplitude increases with the angular frequency of 10Hz gradually; And produce as along the vibration (with reference to the waveform Sa of Figure 10 and Figure 12) of maximum 0.2 ° of inclination direction with along the vibration of 0.2 ° of pitch orientation maximum and vibration, the amplitude of this vibration increases with the same angular frequency of 10Hz gradually.
After elapsed time was through 5.5 seconds period, the virtual side rake angle Roll_i of virtual vehicle surpassed the second predetermined angular Roll_ic (being 55 ° here), and therefore, virtual vehicle is owing to excessive inclination is overturn.After this period; Basic side rake angle Roll_mo and the second vibration side rake angle Roll_mc's and the information of angle be used as full side rake angle Roll_mt and be provided to linear-motion actuator 50, and basic angle of pitch Pit_mo and the second vibration angle of pitch Pit_mc's and the information of angle be provided conduct angle of pitch Pit_mt entirely.Therefore, the vibration that generation amplitude increases along with effluxion gradually.Shown in the up-sizing of Figure 12; Through period of 5.5 seconds, produce along the inclination direction have 15Hz angular frequency and 0.5 ° amplitude vibration (with reference to the vibrational waveform Sc of Figure 10 and Figure 12) and have similarly along pitch orientation 15Hz angular frequency and 0.5 ° amplitude vibration and vibration.This vibration generation cycle has the time span of a half-wavelength that equals aforesaid sine wave.
In this manner; In the work example; When the inclination campaign of virtual vehicle; Make pedal (pedal) with after period of contacting, as along the vibration of inclination direction with along the vibration of pitch orientation with and the vibration that increases along with the increase of side rake angle of amplitude can be applied to operator 14, and can also be convenient to the situation that operator 14 recognizes excessive application inclination.And, when virtual vehicle when excessively inclination is overturn, apply greater than pedal (pedal) with the vibration of the vibration that produced when contacting.Therefore, can be so that operator 14 can recognize that simulating vehicle 16 is owing to excessive inclination overturn (similar with virtual vehicle).In other words, utilize this work example, can provide to the operator and more approach actual driving presence of advancing.
Hereinafter, describe preferred implementation of the present invention in detail with reference to accompanying drawing.Figure 13 is the side view that the common configuration of riding simulator 1 ' according to the embodiment of the present invention is shown.In the following description, the four headed arrow mark shown in the upper right quarter of accompanying drawing is corresponding with the direction of simulation two wheeler 2 '.
Riding simulator 1 ' is such equipment: wherein; Simulation two wheeler 2 ' is carried out to tilt to move along predetermined direction in response to the operation of occupant M; And the image of advancing is displayed on the display unit 18 ' of display device 17 ' in the place ahead that is arranged on occupant M, so that occupant M has the pseudo-experience of the travel condition of two wheeler.
The vehicle body frame 7 ' of simulation two wheeler 2 ' at an upper portion thereof and the left side and the right be coated with virtual fuel tank 3 ', seat 5 ' and base plate 6 '.Foot-receiving pedal 15 ' is attached to the bottom of vehicle body frame 7 ', and steering handle 4 ' is attached at the place ahead of virtual fuel tank 3 '.
Vehicle body frame 7 ' is supported on the supporting base 13 ' that is fixed to pedestal 16 ' through the driving mechanism 11 ' that is arranged on the bottom of simulating two wheeler 2 '.Can drive bottom that driving mechanism 11 ' that simulation two wheeler 2 ' tilts forward, backward, to the left or to the right is included in vehicle body frame 7 along the directed pitch axis parts 14 ' of the Width of vehicle.The roll axis parts 12 ' that are fixed to pitch axis parts 14 are directed along the fore-and-aft direction of car body.Supporting mechanism is set supports said spindle unit.Should be noted in the discussion above that base plate 6 ' is illustrated by part with excising, so that driving mechanism 11 ' to be shown.
Vehicle body frame 7 ' is supported on the place, car body front side on the pedestal 16 ' through a pair of left linear-motion actuator and right linear-motion actuator 10 '.Therefore; Simulation two wheeler 2 ' through left linear-motion actuator and right linear-motion actuator 10 ' along equidirectional the time move and come fore-and-aft direction to carry out luffing along car body, but through said linear-motion actuator 10 ' along opposite directions the time the next left and right directions execution inclination campaign of moving along car body.Linear-motion actuator 10 ' is coated with protecgulum 8 at an upper portion thereof, and the instrumentation 9 ' that is used for the speed of a motor vehicle, engine speed etc. of display simulation two wheeler 2 ' is set at the top of protecgulum 8 '.
Display device 17 ' with display unit 18 ' is set on the floor G on the car body front side of pedestal 16 '.Be used to export advance sound, voice guide etc. loudspeaker, various warning indicator, be used to reproduce the advance fan etc. of wind and can be set at display device 17 '.
Figure 14 is the side view of simulation two wheeler 2 '.The Reference numeral identical with above-mentioned Reference numeral represented element identical or equivalence.On the car body front side of the main frame 20 ' of vehicle body frame 7 ', be provided with along the crooked upwards upstanding portion 7a ' of the upwards direction of car body.Main frame 20 ' is roughly in the Width setting of middle heart along vehicle, and the pivot action that is used to steering handle 4 ' provides the supporting bracket 26 ' of the handle motor 27 ' of any resistance to be attached to the upwards upper end of upstanding portion 7a '.The turning axle 25 ' of handle motor 27 ' is connected to the handle anchor clamps 24 ' that support steering handle 4 '.
A pair of handle 37 ' and a pair of grip switches 36 ' are attached to the opposite end of steering handle 4 ' along the Width of vehicle.On in grip switches 36 ' each, the various switches be similar to actual two wheeler are set, such as conducting-cut-outs switch, be used for optical axis transformation switch, turning indicator control, horn switch and the start button of head lamp.And, at the opposed end of steering handle 4 ' front brake lever and clutch lever (not shown) are set.
Be used to support a pair of left socle of linear-motion actuator 10 ' and the upwards below of upstanding portion 7a ' that right support 19 ' is attached to main frame 20 '.Linear-motion actuator 10 ' forms by being supported on the fixation side parts 34 ' on the pedestal 16 ' through downside universal joint 35 ' and engaging with the mobile side component 33 ' that vertically moves along fixation side parts 34 ' with fixation side parts 34 respectively.Moving side component 33 ' is supported on the support 19 ' through the upside universal joint 28 ' with grip 28a '.Can simulation two wheeler 2 be tilted along predetermined direction through change the position of moving side component 33 ' with respect to fixation side parts 34 '.Carry out by the control part (not shown) that is contained in the display device 17 ' with respect to the amount of movement of fixation side parts 34 ' and the control of translational speed moving side component 33 '.
Afterframe 21 ' is couple to the car body rear side of main frame 20 '.Forwards be attached to afterframe 21 ' downwards along car body to the reinforcement framework 22 ' that extends and support the subframe 23 ' of foot-receiving pedal 15 ' and be connected to this subframe 23 '.In this embodiment, main frame 20 ' is made up of the bend pipe material with afterframe 21 ', and subframe 23 ' is made up of the pipe material with reinforcement framework 22 '.
The pitch axis parts 14 ' of riding simulator 1 ' are supported on the pitch axis supporting mechanism 60 ' of the bottom surface that is attached to main frame 20 '.Be provided for luffing is constrained to the front side retainer 29 ' and rear side retainer 30 ' of predetermined angular along the car body fore-and-aft direction of pitch axis supporting mechanism 60 '.The paired preceding retainer 29 ' of the pipe form that integral type is provided with on the bottom surface of main frame 20 ' contacts with the stop surface (with reference to Figure 15) of the opposed end that is formed on roll axis parts 12 ' in its bottom with back retainer 30 ', with the constraint luffing.
The roll axis parts 12 ' that are couple to pitch axis parts 14 ' are supported on the roll axis supporting mechanism 50 ' on the top that is attached to supporting base 13 '.In order to make car body can carry out the inclination campaign; According to the simulation two wheeler 2 ' of this embodiment provide according to tilt relationship be provided with along the directed roll axis parts 12 ' of the fore-and-aft direction of car body; So that when when the side of car body is watched, the front side of car body is set to lower (the car body rear side is set to higher).Through according to downward-sloping forward relation roll axis parts 12 ' being set by this way, can on car body, produce yaw angle in response to the inclination campaign of simulation two wheeler 2 '.
Figure 15 is the enlarged drawing of driving mechanism 11 '.The Reference numeral identical with above-mentioned Reference numeral represented element identical or equivalence.In this embodiment, the axis RC of roll axis parts 12 ' is downward forward (making progress backward) tilt alpha degree of H (for example, 10 degree) with respect to the horizontal plane.
Roll axis parts 12 ' have major diameter part 12a ' and at a pair of small diameter portion 12b ' of the opposite end of this major diameter part 12a, and on the car body upside of small diameter portion 12b ', form a pair of stop surface 12cf ' and the 12cr ' of plane form.Roll axis supporting mechanism 50 ' comprises two the bearing supporters 52 ' of the small diameter portion 12b ' that is used to support inclination spindle unit 12 ' and the tilt component 53 ' that is fixed to the end face of upper support plate 55 '.Each bearing supporter 52 ' is fixed to tilt component 53 ' through the pair of bolts 51 ' along the Width of vehicle, and upper support plate 55 ' is fixed to downside back up pad 56 ' through 4 bolts 54 ', and this downside back up pad 56 is fixed to supporting base 13 '.
Pitch axis parts 14 ' have at the major diameter part 14a ' at center and are arranged on a pair of small diameter portion 14b ' of the opposite end of major diameter part 14a '.Pitch axis parts 14 ' are coupled to each other at their major diameter part 14a ' and the part place of 12a ' with roll axis parts 12 '.The pitch axis supporting mechanism 60 ' of the small diameter portion 14b ' of supporting pitch spindle unit 14 ' is attached to the back up pad 61 ' on the bottom surface that is arranged on main frame 20 '.
In this embodiment; Do not carry out under any one the neutral state in inclination campaign and the luffing at simulation two wheeler 2 '; This face FC downward-sloping forward β degree of H (for example, 6 degree) with respect to the horizontal plane when the face FC parallel with the bottom surface of main frame 20 ' is provided so that and watches in the side of car body.The angle of inclination beta of main frame 20 ' is set to the pitch angle less than roll axis parts 12 '.
In this embodiment; Because roll axis parts 12 ' are set to greater than the angle of inclination beta of main frame 20 ' with respect to pedestal 16 ' with respect to the inclined angle alpha of pedestal 16 '; Make to tilt and mobile roll axis parts 12 ' make that tilt with respect to pedestal 16 can be compatible so move simulation two wheeler 2 ', so that can obtain more to approach the sensation of riding of actual two wheeler with respect to pedestal 16.And; In the luffing of simulation two wheeler 2 '; Be convenient to make forward direction inclination allowed band greater than the back to the inclination allowed band; And front fork amount of contraction front fork elongation when quickening in the time of can reproducing the deceleration in the actual two wheeler approaches the sensation of riding of the sensation of riding of actual motorcycle with formation.
As stated, the luffing of simulation two wheeler 2 ' retrains through preceding retainer on the bottom surface that is arranged on main frame 20 ' 29 ' and the butt of back retainer 30 ' with roll axis parts 12 '.In addition, the butt that the inclination of simulation two wheeler 2 ' moves through stop component 90 ' and tilt component 53 ' retrains, and this stop component 90 ' is attached to the major diameter part 12a ' of roll axis parts 12 ' and extends along the Width of vehicle.
Foot-receiving pedal 15 ' is configured to make pedal to be attached to base plate 40 ' to 41 ' with heel protection 45 ', and this base plate 40 ' is attached to the bottom of subframe 23 '.On the left pedal that illustrates, the gear shift pedal 44 ' with cylindrical operation part 43 ' is supported moving pivotally by pivot 42 ', and on unshowned right-side pedal, supports rear brake pedal to move pivotally.
Figure 16 is the skeleton view of simulation two wheeler 2 '.The Reference numeral identical with above-mentioned Reference numeral represented element identical or equivalence.In Figure 16, the removed state in cover part such as virtual fuel tank 3 ' and seat 5 ' has been described.The extension 16b ' that the pedestal 16 ' (with reference to Figure 13) that is fixed to floor G comprises roughly semicircular increased width portion 16a ' and is formed on the essentially rectangular shape on the car body rear side of increased width portion 16a '.The anchor 32 ' that is connected to the downside universal joint 35 ' of linear-motion actuator 10 ' is gone up supported being rotated at increased width portion 16a ', and roll axis supporting mechanism 50 ' is fixed to extension 16b '.Indicate the axis of the pivoting action of downside universal joint 35 ' along the directed axis JC of the fore-and-aft direction of car body.
Figure 17 is the key drawing of the structure of the driving mechanism 11 ' when watching in the front of simulation two wheeler 2 '.As stated, the small diameter portion 12b ' of roll axis parts 12 ' is supported by two bearing supporters 52 '.The mounting flange 52a ' that extends along the Width of vehicle is formed on the bearing supporter 52 '.Bearing supporter 52 ' is fixed to tilt component 53 ' and upper support plate 55 ' through the bolt 51 ' (with reference to Figure 15) that inserts from mounting flange 52a ' top.
In addition, pitch axis parts 14 ' are supported on the pitching supporting mechanism 60 ' that is formed by bearing supporter 63 '.Be used for the bearing 62 ' that the small diameter portion 14b ' of supporting pitch spindle unit 14 ' is rotated and be inserted in bearing supporter 63 '.Bearing supporter 63 ' is attached to the back up pad 61 ' on the bottom surface that is arranged on main frame 20 ' through (not shown) such as secure components.
Figure 18 and Figure 19 are respectively the side view and the skeleton views of simulation two wheeler 2 ', the method to set up at the pitch angle of its explanation roll axis parts 12 '.The structure of simulation two wheeler 2 ' is with identical with the described structure of Figure 17 above with reference to Figure 13, and the Reference numeral identical with above-mentioned Reference numeral represented element identical or equivalence.
In this embodiment, the point of intersection S place of axis JC on the car body front side of downside universal joint 35 ' of each in the axis RC that the pitch angle of roll axis parts 12 ' is provided so that roll axis parts 12 ' and the downside universal joint 35 ' that supports linear-motion actuator 10 ' intersects each other.And, if in the skeleton view of Figure 19, watch, then the axis RC of roll axis parts 12 ' with comprise that the plane P of the axis JC of left downside universal joint and lower right side universal joint 35 ' intersects each other in point of intersection S.Should be noted in the discussion above that axis W shown in Figure 19 representative along the Width of vehicle extend and with the crossing axis of the axis JC of left downside universal joint and lower right side universal joint 35 '.
Above-mentioned point of intersection S is corresponding with the point of the similar position of position contacting, virtual road surface with the front-wheel that the virtual front-wheel K of simulation two wheeler 2 is arranged on common two wheeler.In other words; In this embodiment; The plane P of axis JC that comprises downside universal joint 35 ' is corresponding with the virtual road surface of reference as the banking motion of simulation two wheeler 2 '; And can the point of intersection S between the axis RC of virtual road surface and roll axis parts 12 ' (that is the earth point of virtual front-wheel K) be set to position like the position class with the nosewheel contact point of common two wheeler through roll axis parts 12 ' are set according to downward-sloping forward relation.Therefore, can realize approaching the sensation of riding that two wheeler provides about the two wheeler by reality of front-wheel banked turn.And the intersection point with respect between the axis JC of the rotation 25c ' of the turning axle 25 ' (the output power axle of handle motor 27 ') of steering handle 4 ' and downside universal joint 35 ' is arranged on vehicle front side with point of intersection S.Should be noted in the discussion above that and in the position identical point of intersection S to be set with the position of rotation 25c '.Then; Through changing the position of intersection point, for example, through intersection point and axis of pivotal movement are set to essentially identical position; Can realize approaching the operation feeling of the little sports type vehicle of front fork side-play amount or track amount; Perhaps, separate each other, can obtain to approach the operation feeling of the big American version vehicle of front fork side-play amount or track amount through making intersection point and axis of pivotal movement.
Figure 20 is that explanation utilizes simulation two wheeler 2 ' to produce the planimetric map of the mode of yaw angle.The Reference numeral identical with above-mentioned Reference numeral represented element identical or equivalence.As stated, in simulation two wheeler 2 ', because roll axis parts 12 ' are set on the car body according to downward-sloping forward relation, so can on car body, produce yaw angle in response to the inclination campaign.Although should be noted that in yaw angle to produce in the structure according to this embodiment, only if the tilting of car body turning, otherwise do not produce yaw angle, for the ease of explanation, the upwards yaw angle of erectility is shown.
In this embodiment, yaw center YC is set in position away from the car body rear side of simulating two wheeler 2 '.In Figure 20, the total length of simulation two wheeler 2 ' is the length from car body front end 2Mb (the circular mark of the black the figure) 2Ub to the car body rear end (the black mark among the figure).Then, if the banked turn to the right of simulation two wheeler 2 ' then under the upwards erectility by car body 2L ' and car body center line CR indication, produces yaw angle OR with respect to car body center line C.On the other hand, if the banked turn to the left of simulation two wheeler 2 ' then under the upwards erectility by car body 2L ' and the indication of car body centre line C L, produces yaw angle 6L ' with respect to car body center line C.Produce the reason of yaw angle when hereinafter, being described in banked turn with reference to Figure 27 to Figure 29.
Figure 27 is the side view of simulation two wheeler 2 ', the relation between its explanation car body and the yaw center YC.The Reference numeral identical with above-mentioned Reference numeral represented element identical or equivalence.In this embodiment, the yaw center YC of simulation two wheeler 2 ' be through the occupant along the intersection point between the axis RC of directed car body center line C of the seating position of car body above-below direction and along continuous straight runs and roll axis parts 12 '.Therefore, inclined angle alpha and the size from roll axis parts 12 ' to axis RC of axis RC that can be through changing roll axis parts 12 ' change yaw center YC.
Figure 28 is the synoptic diagram of the generation principle of explanation yaw angle.In addition, Figure 29 is the view that the direction A ' along Figure 28 watches, and Figure 30 is the view that the direction A along Figure 28 watches.A ' direction shown in Figure 28 is the direction of principal axis (y ' direction of principal axis) of the axis RC of roll axis parts 12 ', and the A direction is the fore-and-aft direction (y direction of principal axis) of car body.In Figure 28, the line segment 2Mb-2Ub of erectility representes the car body of simulation two wheeler 2 ' by being in upwards, and is indicated by the length that replaces-two short dash line of 2Ma-2Ua according to the state of angle θ banked turn.Car body and roll axis parts 12 ' were connected to each other through phantom 2Jb before banked turn, and after banked turn, were connected to each other through dummy line 2Ja.And the indication of x axle is along the directed axle of the Width of car body; The indication of y axle is along the directed angle of the fore-and-aft direction of car body; And the axle that the indication of z axle is vertically directed.And, the axle that the axis RC that x ' axle, y ' axle and z ' axle are to use roll axis parts 12 ' tilts as the reference of y axle.And; Through will be after banked turn intersection point when car body front end 2Ma draws perpendicular line to project the line that the axis RC of roll axis parts 12 ' obtained from the A direction be car body front end center MC, and through will be banked turn after from the car body rear end intersection point during 2Ua drafting perpendicular line to project the line that the axis RC of roll axis parts 12 ' obtained from the A direction be car body rear end center UC.
Shown in Figure 29 (view of watching along the direction A ' of Figure 28), when watching, the height of car body front end 2Mb is provided by the position of L1+L2 from the direction of principal axis of the axis RC of roll axis parts 12 ' (y ' direction of principal axis) under the upwards erectility at car body.On the other hand, the turning tiltangle if car body is tilted to the right, then the height of car body front end 2Ma (the blank circular mark among the figure) is reduced to the position of L1.
Shown in Figure 30 (view of watching along the direction A of Figure 16), if watch this banked turn campaign from the fore-and-aft direction (y direction of principal axis) of car body, then the height of car body front end 2Mb is provided by the position of L3+L4.On the other hand, the turning tiltangle if vehicle is tilted to the right, then the height of car body front end 2Ma (the blank circular mark among the figure) drops to the position of L3 after banked turn.At this moment, at vehicle front 2Ma during with respect to the right side displacement x1 of z axial view, the right side of car body rear end 2Ua in figure only move than apart from x1 little apart from x2.Then, car body front end 2Ma becomes θ 1 with respect to the angle of z axle after banked turn, and car body rear end 2Ua becomes the θ 2 littler than θ 1 with respect to the angle of z axle after banked turn.
Through being provided with according to tilt relationship that roll axis parts 12 ' are confirmed the relation of angle θ 2＜θ 1 and apart from the relation of x2＜x1 with respect to the angled α of fore-and-aft direction of car body.Difference between θ 2 and the θ 1 or yaw angle (under the situation of right bank turning, shown in figure 20 the is θ R) correspondence that causes when the banked turn apart from the difference between x1 and the x2 and car body.Should be noted in the discussion above that if in the upwards erectility of car body shown in Figure 28, represent by L6 to the distance of vehicle front 2Mb (before banked turn) from the tie point between car body and the dummy line 2Jb; Represent by L7 from the distance of the 2Ub (after banked turn) of the tie point between car body and the dummy line 2Jb to the car body rear end; Represent by L8 to the distance of car body front end 2Ma (after banked turn) from the tie point between car body and the dummy line 2Jb; Represent by L9 from the distance of the 2Ua (after banked turn) of the tie point between car body and the dummy line 2Jb to the car body rear end; And the banked turn angle of car body is represented by θ and distance L 3+ distance L 4=distance L 5, and then the length of various piece can be calculated in such a way.
The x1=of Figure 30 (L5cos α+L6sin α) * sin θ
The x2=of Figure 30 (L5cos α+L7sin α) * sin θ
The L8=L6-of Figure 28 (L5cos α+L6sin α) * sin θ * (1-cos θ)
The L9=L6-of Figure 28 (L5cos α+L7sin α) * sin θ * (1-cos θ)
The L3=L5-of Figure 28 (L5cos α+L6sin α) * cos α * (1-cos θ)
The L9=L5-of Figure 28 (L5cos α+L7sin α) * cos α * (1-cos θ)
Figure 21 and Figure 22 are respectively the skeleton view and the side views of inclination supporting mechanism 50 '.The Reference numeral identical with above-mentioned Reference numeral represented element identical or equivalence.The mounting flange 52 ' that is provided with bolt hole 59 ' is formed on each in the bearing supporter 52 ' that supports the bearing 57 ' with through hole 58 ', and bearing supporter 52 ' is fixed to tilt component 53 ' through the bolt 51 ' (with reference to Figure 15) that is inserted in the bolt hole 59 '.
Left bank parts and right bank parts 53 form the approximate wedge shape shape with dip plane 53 ' in couples, make two bearing supporters 52 ' to be arranged on the upper support plate 55 ' of along continuous straight runs setting according to tilt relationship.Therefore, can come easily to change the pitch angle of roll axis parts 12 ' through the shape that changes tilt component 53 '.Should be noted in the discussion above that and under the situation of not using tilt component 53 ', upper support plate 55 ' and bearing supports 52 ' directly to be coupled each other.
In the tilt component 53 ' each is fixed to upper support plate 55 ' through the bolt (not shown) that is inserted among the bolt hole 53b ' that is formed among the 53a ' of dip plane.Be used for 4 bolt 54a ' that upper support plate 55 ' is couple to the bolt 54 ' (with reference to Figure 15) of downside back up pad 56 ' are formed on the place, 4 angles of upper support plate 55 '.Should be noted in the discussion above that upper support plate 55 ' can be set to have and downside back up pad 56 ' similar size.
Figure 23 is the top view of roll axis parts 12 '.The Reference numeral identical with above-mentioned Reference numeral represented element identical or equivalence.The face that couples 73 ' that is used to be couple to pitch axis parts 14 ' is formed on the position of the roll axis parts 12 on the car body upside of major diameter part 12a '.4 bolts hole 70 ' are formed in the face of coupling 73 '.And engaging groove 71 ' (stop component 90 ' of plate-like form (with reference to Figure 25 and Figure 26) utilizes this engaging groove 71 ' to engage) and two bolts hole 72 ' that are used for fixing stop component 90 ' are formed on the car body downside of major diameter part 12a '.Go up to form at small diameter portion 12b ', with can be formed spill from the outstanding preceding retainer 29 ' of main frame 20 ' and the stop surface 12cf ' and the 12cr ' of back retainer 30 ' (with reference to Figure 15) butt, make them easily to engage with preceding retainer 29 ' and back retainer 30 ' respectively.And, be used for forming with the stop surface 12cf ' of front side retainer 29 ' butt and the part that is used for neighboring that can be through the small diameter portion 12b ' that cuts sth. askew with the stop surface 12cr ' of rear side retainer 30 ' butt.
Figure 24 is the top view of pitch axis parts 14 '.The Reference numeral identical with above-mentioned Reference numeral represented element identical or equivalence.4 bolts hole 80 ' that are inserted with the bolt (not shown) that is used for being couple to roll axis parts 12 ' are formed on the major diameter part 14a ' of pitch axis parts 14 '.And; Be used for being formed on the bottom surface of small diameter portion 14b ' with the face that couples 81 ' of the face that the couples 73 ' butt of roll axis parts 12 '; And be inserted in 4 bolts in the bolt hole 80 ' and be screwed in 4 bolts hole 70 ' that are formed in the roll axis parts 12 ', so that roll axis parts 12 ' are secured to one another with pitch axis parts 14 '.
Figure 26 is the key drawing of structure, roll axis parts 12 ' and engagement state pitch axis parts 14 ' between of its explanation when watching in the side of car body.In addition, Figure 26 is the key drawing of the structure of in the front of car body, watching.The Reference numeral identical with above-mentioned Reference numeral represented element identical or equivalence.As stated, the stop component 90 ' of plate-like form is attached to the bottom surface of the major diameter part 12a ' of roll axis parts 12 '.Stop component 90 ' makes stop component 90 ' be contained in the engaging groove 71 ' through being inserted in the bolt in the bolt hole 92 '.Dip plane 91 ' is formed on the bottom surface of stop component 90 ', makes the inclination campaign of car body retrained by the dip plane 91 ' with the dip plane 53a ' butt of tilt component 53 '.According to this stop component 90 ', can retrain the inclination campaign of car body through simple configuration, so that be no more than predetermined angular.Can make the size along the Width of car body of stop component 90 equal tilt component 53 ' for example along the size between the opposite end of the Width of car body.
As stated; Utilization is according to riding simulator of the present invention; Be supported on driving mechanism 11 ' the support inclination spindle unit 12 ' on the pedestal 16 ' because will simulate two wheeler 2 '; Make the axis RC of roll axis parts 12 ' extend according to downward-sloping forward relation, so can under the situation that does not increase the special entity that is used to produce yaw angle, when inclination campaign, on the car body of simulating two wheeler, produce yaw angle with respect to car body.Therefore, the variation of the yaw angle that is produced by car body in the time of can utilizing simple configuration to be reproduced in actual two wheeler revolution is to obtain to approach the ride sensation of two wheeler about the two wheeler of the reality of front-wheel banked turn thus.
Should be noted that; Being provided with etc. of the earth point of the shape of the shape of shape, pitch axis supporting mechanism and the roll axis supporting mechanism of shape or the structure of simulation two wheeler, structure, pitch axis parts and the roll axis parts of driving mechanism or structure, tilt component, structure etc., virtual front-wheel be not limited in the above-mentioned embodiment illustrative those, but can carry out various modifications.Should be noted in the discussion above that and utilize above-mentioned riding simulator, except the incline structure of roll axis, can come further to regulate operation feeling through position (position of taking one's seat) or the turning member that changes the seat.And if roll axis concerns setting according to downward backward, then seat side moves very in a large number, therefore, obtains to be limited trailing wheel the rotation of earth point, and obtains this sensation that front-wheel rotates a great circle.On the contrary, if roll axis according to downward-sloping forward state setting, then obtains this sensation that front-wheel stops.
Should be noted in the discussion above that riding simulator according to the present invention is not limited to above-mentioned embodiment, but can under the situation that does not depart from purport of the present invention, adopt various configurations naturally.
Therefore described the present invention, clearly, the present invention can change according to a lot of modes.These variations were not regarded as the departing from of the spirit and scope of the present invention, and be apparent that to those skilled in the art, be intended to all such modifications are included in the scope of following claim.
The application requires the right of priority of Japanese patent application No.2011-039025 that submitted on February 24th, 2011 and the Japanese patent application No.2011-039866 that submitted on February 25th, 2011, incorporates its full content into this paper by reference.
Claims (17)
1. riding simulator; Wherein, Make this operator (14) have the pseudo-experience of driving condition based on operator (14) to the operation of simulating vehicle (16); And this riding simulator comprises the virtual side rake angle calculation element (200) at the virtual side rake angle (Roll_i) of the virtual vehicle of Virtual Space that is used for calculating said simulating vehicle (16), and this riding simulator comprises:
Be used for the mutual angle comparison means (206) relatively of said virtual side rake angle (Roll_i) and the predetermined angular (Roll_is) that is provided with in advance,
Wherein, when said virtual side rake angle (Roll_i) surpasses said predetermined angular (Roll_is), apply vibration to said simulating vehicle (16) from the actuating unit (20) of the side rake angle of controlling said simulating vehicle (16); And
Said vibration increases along with the increase of said virtual side rake angle (Roll_i).
2. riding simulator; Wherein, Make this operator (14) have the pseudo-experience of driving condition based on operator (14) to the operation of simulating vehicle (16); And this riding simulator comprises the virtual side rake angle calculation element (200) at the virtual side rake angle (Roll_i) of the virtual vehicle of Virtual Space that is used for calculating said simulating vehicle (16), and this riding simulator comprises:
Be used for the mutual angle comparison means (206) relatively of said virtual side rake angle (Roll_i) and the predetermined angular (Roll_is) that is provided with in advance,
Wherein, when said virtual side rake angle (Roll_i) surpasses said predetermined angular (Roll_is), apply vibration to said simulating vehicle (16) from the side rake angle of controlling said simulating vehicle (16) and the actuating unit (20) of the angle of pitch; And
Said vibration increases along with the increase of said virtual side rake angle (Roll_i).
3. riding simulator according to claim 1 and 2, wherein, said riding simulator also comprises:
Be set to support the supporting mechanism (24) that said simulating vehicle (16) carries out inclination pivoting action and pitching pivoting action;
Said actuating unit (20) comprises a pair of left linear-motion actuator and the right linear-motion actuator (50) in the place ahead that is positioned at said simulating vehicle (16); And
Moving of said simulating vehicle (16) by said a pair of left linear-motion actuator and right linear-motion actuator (50) control.
4. riding simulator according to claim 3, wherein,
Said simulating vehicle (16) is set on the pedestal (12);
In the said linear-motion actuator (50) each comprises fixed part (54) and the movable part (52) that can move with respect to this fixed part (54);
Each fixed part (54) is connected to said pedestal (12) in its bottom through universal joint (58); And
Each movable part (52) end above that is connected to said simulating vehicle (16).
5. according to any described riding simulator in the claim 1 to 4, wherein,
Said virtual side rake angle calculation element (200) is based on the said virtual side rake angle of following calculation of parameter (Roll_i):
Detected by handle torque detecting apparatus (82), with said operator's (14) the corresponding steering torque of handle operation;
Detected by inclination torque detecting apparatus (94), with the mobile corresponding inclination moment of torsion of said operator's (14) body weight; And
The speed of a motor vehicle of said virtual vehicle.
6. according to any described riding simulator in the claim 1 to 5, wherein, said riding simulator also comprises:
Loudspeaker (28), and
Wherein, when said virtual side rake angle (Roll_i) surpasses said predetermined angular (Roll_is), produce simulated sound from said loudspeaker (28).
7. according to any described riding simulator in the claim 1 to 6, wherein,
Second predetermined angular (Roll_ic) that is equal to or greater than said predetermined angular (Roll_is) is set in advance; And
When said virtual side rake angle (Roll_i) surpasses said second predetermined angular (Roll_ic), apply second vibration of amplitude to said simulating vehicle (16) greater than the amplitude of said vibration from said actuating unit (20).
8. a riding simulator (1 '); The simulation two wheeler (2 ') on the top that this riding simulator (1 ') comprises pedestal (16 ') that basic horizontal is provided with, be arranged on said pedestal (16 ') and said simulation two wheeler (2 ') is supported on the driving mechanism (11 ') on the said pedestal (16 '); This driving mechanism (11 ') comprises to make said simulation two wheeler (2 ') can carry out the roll axis parts (12 ') of inclination campaign and makes said simulation two wheeler (2 ') can carry out the pitch axis parts (14 ') of elevating movement; And
Said driving mechanism (11 ') supports said roll axis parts (12 '), makes the axis (RC) of said roll axis parts (12 ') concern setting with respect to said pedestal (16 ') according to downward-sloping forward.
9. riding simulator according to claim 8, wherein,
Said driving mechanism (11 ') is set at the substantial middle position on the car body fore-and-aft direction of said simulation two wheeler (2 ');
Wherein, the car body front side of said simulation two wheeler (2 ') is through a pair of left linear-motion actuator and the right linear-motion actuator (10 ') of control are supported on the said pedestal (16 ') arbitrarily by control part; And,
In the said linear-motion actuator (10 ') each is connected to the car body front side of said simulation two wheeler (2 ') and forms with mobile side component (33 ') that the bonding station of said fixation side parts (34 ') can change arbitrarily by the bar-shaped fixation side parts (34 ') that are connected to said pedestal (16 ') through downside universal joint (35 ') and through upside universal joint (28 ').
10. according to Claim 8 or 9 described riding simulators, wherein,
When in the side view of car body, observing, the axis of said roll axis parts (12 ') (RC) is located to intersect with the axis (JC) along the pivot of car body fore-and-aft direction of said downside universal joint (35 ') at intersection point (S), and,
Said intersection point (S) is set at the car body front side of said downside universal joint (35 ').
11. according to Claim 8 or 9 described riding simulators, wherein,
When in the side view of car body, observing, the axis of said roll axis parts (12 ') (RC) is located to intersect with the axis (JC) along the pivot of car body fore-and-aft direction of said downside universal joint (35 ') at intersection point (S), and,
The pivotal axis of said intersection point (S) and the steering handle (4 ') of said simulation two wheeler (2 ') (25c ') is identical or be set at the car body front side with respect to said pivotal axis (25c ').
12. any described riding simulator in 11 according to Claim 8; Wherein, said driving mechanism (the 11 ') tilt component (53 ') that is provided with and has the dip plane (53a ') through the bottom at the roll axis supporting mechanism (50 ') that supports said roll axis parts (12 ') supports said roll axis parts (12 ') according to downward-sloping forward relation.
13. riding simulator according to claim 12, wherein,
The stop component (90 ') that extends along the Width of vehicle is attached to said roll axis parts (12 '), and
Said stop component (90 ') is against each other with said tilt component (53 '), to retrain the inclination campaign of said simulation two wheeler (2 ').
14. any described riding simulator in 13 according to Claim 8, wherein,
The stop surface (12cf ', 12cr ') of plane form of respectively doing for oneself is formed on the opposed end of said roll axis parts (12 '), and
Outstanding two retainers (29 ', 30 ') of vehicle body frame (7 ') along the downward direction of car body from said simulation two wheeler (2 ') and said stop surface (12cf ', 12cr ') butt, to retrain the luffing of said simulation two wheeler (2 ').
15. any described riding simulator in 14 according to Claim 8, wherein,
Said driving mechanism (11 ') is set between the main frame (20 ') of supporting base (13 ') that is fixed to said pedestal (16 ') and the vehicle body frame (7 ') that constitutes said simulation two wheeler (2 '), and
Do not carry out under any one the neutral state in inclination campaign and the luffing at said simulation two wheeler (2 '), said main frame (20 ') concerns setting with respect to said pedestal (16 ') according to downward-sloping forward.
16. riding simulator according to claim 15, wherein, said roll axis parts (12 ') are set to greater than the pitch angle (R) of said main frame (20 ') with respect to said pedestal (16 ') with respect to the pitch angle (α) of said pedestal (16 ').
17. riding simulator according to claim 14, wherein, said stop surface (12cf ', 12cr ') has spill.
Applications Claiming Priority (4)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2011-039025 | 2011-02-24 | ||
| JP2011039025A JP5681522B2 (en) | 2011-02-24 | 2011-02-24 | Riding simulator |
| JP2011-039866 | 2011-02-25 | ||
| JP2011039866A JP5688802B2 (en) | 2011-02-25 | 2011-02-25 | Riding simulator |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN102651179A true CN102651179A (en) | 2012-08-29 |
Family
ID=46693179
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2012100420507A Pending CN102651179A (en) | 2011-02-24 | 2012-02-22 | Riding simulator |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN102651179A (en) |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104055263A (en) * | 2013-11-25 | 2014-09-24 | 苏州天鸣信息科技有限公司 | Safety helmet with warning and reminding functions |
| CN106448338A (en) * | 2016-09-26 | 2017-02-22 | 公安部交通管理科学研究所 | Interactive motorcycle safety driving imitating and experiencing device |
| CN106730828A (en) * | 2016-11-25 | 2017-05-31 | 朱雪梅 | A kind of virtual reality motorcycle game experiencing equipment |
| CN110337681A (en) * | 2017-03-01 | 2019-10-15 | 三菱电机株式会社 | Information processing system |
| CN110546702A (en) * | 2017-01-19 | 2019-12-06 | 株式会社艾洛克 | Seat supporting mechanism of driving simulator of four-wheel automobile |
| CN112154494A (en) * | 2018-05-30 | 2020-12-29 | 维格拉德股份有限公司 | Device for simulating driving of a motorcycle and corresponding method |
| CN113906488A (en) * | 2019-06-19 | 2022-01-07 | 4灵动系统股份有限公司 | Single lane simulation vehicle tilting mechanism |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1164910A (en) * | 1995-09-08 | 1997-11-12 | 世嘉企业股份有限公司 | Operating device for motorcycle simulator |
| JP2003228277A (en) * | 2002-02-01 | 2003-08-15 | Honda Motor Co Ltd | Device and method for calculating behavior of riding simulator |
| CN1525151A (en) * | 2003-02-14 | 2004-09-01 | ���＼�й�ҵ��ʽ���� | Motorcycle riding simulation system |
| CN1751329A (en) * | 2003-02-14 | 2006-03-22 | 本田技研工业株式会社 | Riding simulation device |
| CN1896564A (en) * | 2005-06-14 | 2007-01-17 | 本田技研工业株式会社 | Transmission for motorcycle, motorcycle and motorcycle simulation system |
-
2012
- 2012-02-22 CN CN2012100420507A patent/CN102651179A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1164910A (en) * | 1995-09-08 | 1997-11-12 | 世嘉企业股份有限公司 | Operating device for motorcycle simulator |
| JP2003228277A (en) * | 2002-02-01 | 2003-08-15 | Honda Motor Co Ltd | Device and method for calculating behavior of riding simulator |
| CN1525151A (en) * | 2003-02-14 | 2004-09-01 | ���＼�й�ҵ��ʽ���� | Motorcycle riding simulation system |
| CN1751329A (en) * | 2003-02-14 | 2006-03-22 | 本田技研工业株式会社 | Riding simulation device |
| CN1896564A (en) * | 2005-06-14 | 2007-01-17 | 本田技研工业株式会社 | Transmission for motorcycle, motorcycle and motorcycle simulation system |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104055263A (en) * | 2013-11-25 | 2014-09-24 | 苏州天鸣信息科技有限公司 | Safety helmet with warning and reminding functions |
| CN106448338A (en) * | 2016-09-26 | 2017-02-22 | 公安部交通管理科学研究所 | Interactive motorcycle safety driving imitating and experiencing device |
| CN106730828A (en) * | 2016-11-25 | 2017-05-31 | 朱雪梅 | A kind of virtual reality motorcycle game experiencing equipment |
| CN110546702A (en) * | 2017-01-19 | 2019-12-06 | 株式会社艾洛克 | Seat supporting mechanism of driving simulator of four-wheel automobile |
| CN110337681A (en) * | 2017-03-01 | 2019-10-15 | 三菱电机株式会社 | Information processing system |
| CN112154494A (en) * | 2018-05-30 | 2020-12-29 | 维格拉德股份有限公司 | Device for simulating driving of a motorcycle and corresponding method |
| CN112154494B (en) * | 2018-05-30 | 2022-06-17 | 维格拉德股份有限公司 | Device for simulating driving of a motorcycle and corresponding method |
| CN113906488A (en) * | 2019-06-19 | 2022-01-07 | 4灵动系统股份有限公司 | Single lane simulation vehicle tilting mechanism |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN102651179A (en) | Riding simulator | |
| CN108791301B (en) | Intelligent automobile driving process transverse dynamic control method based on driver characteristics | |
| US9396667B1 (en) | Automated vehicle simulation training system | |
| TWI660872B (en) | Device for obtaining angular velocity of inclined vehicle around axis in vertical direction of road surface | |
| US20060063137A1 (en) | Wheeled vehicles and control systems and methods therefor | |
| US7806810B2 (en) | Bicycle simulation system | |
| CN1873734B (en) | Bicycle simulation system | |
| KR200194797Y1 (en) | A bicycle sports/game device | |
| US20210269111A1 (en) | Systems and methods to assist balancing of human-supported vehicles | |
| US7195487B2 (en) | Two-wheeled vehicles and control systems and methods therefor | |
| JP2006330573A (en) | Bicycle simulation system | |
| JP6797472B2 (en) | Vehicle system | |
| JP3711300B2 (en) | Driving simulator | |
| JP2006184068A (en) | Method and device for vibration test of railroad vehicle | |
| CN102997929A (en) | Interactive simulated navigation method, computer program product, and navigation device | |
| JP3331355B2 (en) | Game device and game control method | |
| JP5688802B2 (en) | Riding simulator | |
| JP3561071B2 (en) | Weight shift type steering apparatus and game apparatus using the same | |
| Nagasaka et al. | Development of a riding simulator for motorcycles | |
| JP6815041B2 (en) | Virtual competition system | |
| JPS6036787B2 (en) | Cycling simulation device | |
| KR101635514B1 (en) | Simulator of bicycle | |
| JP2006326248A (en) | Training device | |
| JP3766758B2 (en) | Driving simulator | |
| Cossalter et al. | A motorcycle riding simulator for assessing the riding ability and for testing rider assistance systems |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C02 | Deemed withdrawal of patent application after publication (patent law 2001) | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20120829 |