EP3436913B1 - Versatile translational and rotational motion simulator - Google Patents

Versatile translational and rotational motion simulator Download PDF

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Publication number
EP3436913B1
EP3436913B1 EP17776719.1A EP17776719A EP3436913B1 EP 3436913 B1 EP3436913 B1 EP 3436913B1 EP 17776719 A EP17776719 A EP 17776719A EP 3436913 B1 EP3436913 B1 EP 3436913B1
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EP
European Patent Office
Prior art keywords
rotational
translational
motion
accordance
rotational motion
Prior art date
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EP17776719.1A
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German (de)
English (en)
French (fr)
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EP3436913A4 (en
EP3436913A2 (en
Inventor
Nicholas G. SUTTELL
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Priority claimed from PCT/US2017/025202 external-priority patent/WO2017173180A2/en
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    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63G—MERRY-GO-ROUNDS; SWINGS; ROCKING-HORSES; CHUTES; SWITCHBACKS; SIMILAR DEVICES FOR PUBLIC AMUSEMENT
    • A63G31/00—Amusement arrangements
    • A63G31/16—Amusement arrangements creating illusions of travel

Definitions

  • This disclosure relates generally to virtual reality; more specifically, it relates to an integrated system for generating and combining real translational and rotational motion of a simulator user and virtual scenes perceived by the simulator user.
  • Prior art related to devices that move people including rollercoasters and other amusement rides, perform accelerations and velocities in specific directions under specific G-forces to produce an exciting and euphoric sensation within a user.
  • Other people movers such as elevators have the sole purpose of transporting people vertically from one location to another.
  • Motion simulators for training also move people in preparation for dangerous, real world tasks.
  • linear propulsion or linear lift systems to produce such accelerations.
  • linear motion systems can incorporate a variety of apparatus including, but not limited to, rotary motors with pulleys and steel cables, hydraulic motors, linear induction motors, linear synchronous motors or any other suitable linear actuator.
  • VR virtual reality
  • Virtual reality headsets are already capable of providing what is known as "presence" which is the perception of being physically present in a non-physical world.
  • Presence is the perception of being physically present in a non-physical world.
  • the problem with virtual reality today is that developing experiences involving motion of the user is extremely difficult to do.
  • the majority of VR content currently being developed consists of sitting or standing experiences or walking around a confined space only. Because VR technology has seen so much improvement, motion simulators need to catch up in order to maintain the feeling of presence within the user during motion.
  • Conventional motion simulators lack the fidelity required for a user to maintain presence, and the disconnect between the virtual motion and real motion confuses the body's vestibular system causing nausea.
  • a conventional roller coaster may be defined as an amusement, park attraction that consists of a fixed track with many tight turns and steep slopes, on which people ride in small fast cars.
  • Another drawback is that manufacturing techniques are very time-consuming and expensive. During the process of manufacturing rollercoasters, straight pieces of steel are heated and then permanently formed into desired shapes. The manufactured shapes of the rails need to be accurate to within a tenth of a millimeter of their designed shapes, and significant metal fatigue can result from the process.
  • the NASA Ames Research Center at Moffett Field, California includes a Vertical Motion Simulator (VMS) wherein the motion base features six degrees of freedom, meaning that a cab, with the pilot inside, can be driven in the six ways that an aircraft or space capsule is capable of moving.
  • VMS Vertical Motion Simulator
  • Providing the vertical degree of freedom is a vertical structure including a platform, which spans the 70-foot height of the building and supports the mechanisms for the remaining degrees of freedom. Supporting the platform are two columns that extend into 75-foot deep shafts. Guides on either end and on one side of the platform keep it aligned.
  • Moving the 70-ton weight of the platform and its load quickly is made possible by an equilibrator that pressurizes the two supporting columns with nitrogen, neutralizing the immense load.
  • Eight 150-horsepower motors drive the columns, accelerating the platform vertically up to 22 feet/second/second, or almost 3/4 g.
  • Providing lateral movement is a lateral carriage, which can translate 40 feet and is driven by four 40-horsepower electric motors. Longitudinal movement is provided by a longitudinal carriage, with a range of 8 feet, driven by telescoping hydraulic actuators.
  • a rotating center post provides yaw movements
  • pitch and roll hydraulic actuators provide pitch and roll movements.
  • Out-the-window (OTW) graphics provide computer-generated images that simulate the outside world for a pilot.
  • the VMS maintains two image generators, one with five channels and one with six. Each channel corresponds to the image displayed in a single window.
  • the image generators are capable of independent eyepoints; in other words, they can display the scene from different positions simultaneously. This enables the pilot and copilot to view the scene accurately from their slightly different positions.
  • WO 03/082421 discloses an amusement ride utilising a track system and vehicle assembly movable along the track, the vehicle assembly have a seat for a rider including means for fully rotating the seat assembly about first, second and third exes independent of the track system.
  • the invention provides a combined translational and rotational motion simulator according to claim 1.
  • the path of real motion is completely dynamic.
  • the real motion path can be changed at any time, in any dimension, in an infinite number of ways, simply by altering the enabling software and motion controls.
  • This dynamic freedom is possible due to the arrangement of the linear and rotary motors.
  • the experiences can be random or interactive, letting a user select the outcome of the experience or manipulate the virtual environment.
  • the system can be operated like a conventional movie theater where a plurality of persons share a common real world ride but experience individual virtual reality rides. Also, in a movie theater, people return repeatedly to enjoy new experiences as they become available.
  • a fourth motorized gimbal may be included in a gimbal assembly to prevent "gimbal lock", as is well known in the gimbal arts.
  • Gimbal lock is the loss of one degree of freedom when the axes of rotation of two gimbals of a three-gimbal assembly are driven into a parallel configuration. In this configuration, there is no gimbal to accommodate rotation along one axis. As the axis of rotation of the two gimbals come into alignment, the assembly experiences a discontinuous motion (gimbal lock). Having a fourth gimbal can avoid gimbal lock by intelligently controlling it so that at most only two gimbal axes of rotation line up.
  • a four-gimbal assembly can still experience gimbal lock when all four gimbals align on two axes of rotation (two sets of gimbals in parallel). This configuration neglects one axis of rotation. As long as no more than two gimbal axes of rotation are parallel, the gimbal assembly will not lock, and continuous motion will always be possible. In the case of a four-gimbal assembly, the entire simulator system will have seven degrees of freedom instead of six.
  • the first, second, and third gimbals are independently directable in speed, acceleration, and direction about their respective rotational axes.
  • rotary deceleration of any of the three gimbals is assisted by regenerative braking.
  • At least one user position is disposed within the third gimbal for occupancy by the user, and at least one positional tracking sensor and/or reference device are disposed within the third gimbal operable to track the position of the user's head and/or other limbs.
  • a fifth apparatus comprising a virtual reality device is disposed within the third gimbal and is wearable by the user and is operable to create a virtual reality scene within the mind of the user.
  • a sixth apparatus disposed within the third gimbal and wearable by the user, is operable to create an auditory sensation within the mind of the user.
  • a seventh apparatus disposed within the third gimbal and containing microelectronics is operable to supply graphical processing power to the fifth apparatus and auditory amplification to the sixth apparatus, and together with the at least one positional tracking sensor and the fifth and sixth apparatus define a virtual motion assembly.
  • One or more programmable controllers are operationally connected to the first apparatus, the second apparatus, the third apparatus, the first motorized gimbal, the second motorized gimbal, the third motorized gimbal, the optional fourth motorized gimbal, the fifth apparatus, and the seventh apparatus; wherein the simulator is operable to translate the user forward or backward in the first, second, and third linear directions and the first, second, and third rotational directions simultaneously and to provide virtual visual and audio stimulation in sync with the produced motion.
  • a versatile translational and rotational motion simulator in accordance with the present invention is operable to create a virtual reality experience in the mind of a user that is synchronized with a real motion experience of the body of the user.
  • the real motion portion of the invention comprises 1:1 high fidelity real motion along three linear Cartesian axes and around three rotational axes simultaneously.
  • 1:1 real motion is defined as being physically identical to the apparent translations and accelerations inherent in virtual motion scenes presented to the user.
  • an exemplary electromechanical system 10 is shown for moving an apparatus along any of the infinite number of paths 2 just described in real space 1.
  • the motive force for translation used in the currently-preferred example is provided by one or more linear synchronized motors (LSMs) and/or linear induction motors (LIMs), although the invention fully comprehends use of other motive devices, including but not limited to rotary motors with pulleys and steel cables and hydraulic motors and pistons.
  • LSMs linear synchronized motors
  • LIMs linear induction motors
  • stator primary
  • stationary component stationary component
  • moving component moving component
  • a stationary stator arrangement (primary) is known in the art as a "long stator” design (and connected to the electrical grid) because the track comprises the stator in this situation and is longer than the car (the moving part).
  • the present invention may employ either type of stator arrangement or may use a combination of LIMs and LSMs since one can be less expensive whereas the other can be lighter and more efficient.
  • System 10 comprises a first horizontally-operable structure 12 (first apparatus) having, e.g., three first LSMs 14,16,18 operable in parallel to move overhead apparatus along the Y axis direction shown in FIGS. 1 and 2 , and, e.g., two guide rails 20,22.
  • Each first LSM 14,16,18 includes a linear primary 24 and at least one secondary 26.
  • a guide car 27 is operable on guide rails 20 and 22.
  • a first power distribution device 28 provides power to each first LSM and transfers power to the rest of the simulator system via cable chain 30 in known fashion.
  • System 10 further comprises a third vertically-operable and rectangular structure 40 (third apparatus) having preferably at least four, but could theoretically have just one, LSM/LIMs 42,44,46,48 disposed at the four corners of structure 40 and operable in parallel along the Z axis direction shown in FIGS. 1 and 2 .
  • Each third LSM/LIM includes at least one primary and at least one secondary. The secondaries move in synchrony along the primaries.
  • a third power distribution device 49 receives power from second power distribution device 38 and provides power to each vertically-operable LSM and transfers power to the remaining simulator system via a cable chain in known fashion.
  • a fourth power distribution device 50 receives power from third power distribution device 49 and provides power to the gimbal array and VR devices described below.
  • LSM/LIMs 42,44,46,48 support a platform 52 (fourth apparatus) for vertical motion within third structure 40. It will now be seen that structure 10 as described thus far is capable of moving platform 52 to any desired position within real space 1 ( FIG. 2 ).
  • structures 12,32, and 40 define a first electromechanical subsystem 41 for rectilinear motion of a point P along three orthogonal translational axes in three-dimensional space.
  • an optional counterweight 54 hung via a cable on a pulley at the top of structure 40, is passed through an opening 53 at the center of platform 52, the cable being connected at its free end to platform 52.
  • Counterweight 54 offsets the weight of, and load on, platform 52 which decreases the response time and energy required for vertical movement of platform 52.
  • additional LSM/LIMs 56,58 may be provided through opening 53, operable in parallel with LSM/LIMs 42,44,46,48 to increase the vertical motive force of simulator 10.
  • a currently preferred embodiment of a versatile translational and rotational motion simulator 100 comprises at least one gimbal assembly 60 mounted on platform 52.
  • a plurality of gimbal assemblies 60 are mounted on first and second mounts 62 on platform 52, as shown in FIG. 6 , to accommodate a plurality of system users 64a,64b simultaneously as described above.
  • Gimbal assembly 60 comprises a first gimbal 66 (fifth structure) mounted on mounts 62 for controlled motorized rotation (motor not shown) about a first axis of rotation 68.
  • a second gimbal 70 (sixth structure) is mounted within first gimbal 66 for controlled motorized rotation (motor not shown) about a second and orthogonal axis of rotation 72.
  • a third gimbal 74 (seventh structure) is mounted within second gimbal 70 for controlled motorized rotation (motor not shown) about a third axis of rotation 76.
  • the first, second, and third axes of rotation 68,72,76 intersect at a common point in space (not shown).
  • third gimbal 74 is mounted at least one user position 78a,78b for placing a system user 64a,64b on third axis 76.
  • Each user position 78a,78b corresponds to Point P shown in FIGS. 1 and 2 .
  • Gimbal assembly 60 defines a second electromechanical subsystem 80 for rotation of a Point P about three orthogonal rotational axes in space.
  • first subsystem 41 and second subsystem 80 define a novel six-dimensional versatile translational and rotational motion simulator for real motion by a system user wherein a user can experience translation along any of three orthogonal translational axes X, Y, and Z, and the full 360° of rotation about each of three rotational axes 78,82,86 (also referred to herein as ⁇ , ⁇ , and ⁇ ) independently.
  • each user position 78a,78b is equipped with a virtual reality (VR) dedicated CPU (not shown) and a VR display device 82.
  • VR virtual reality
  • a currently preferred VR display device includes a face mask worn by a user and audio ear buds or headphones, although other types of VR devices are fully comprehended by the present invention.
  • two side-by-side users in a single gimbal assembly may be seated on a transverse track (not shown), allowing each user to be positioned laterally such that the center of mass of the users coincides with the point of intersection of the three rotational axes. This is also useful for centering a single user of a gimbal assembly.
  • Gimbal assembly 60 further comprises at least one motion sensor reference device connected to power supply 50. It is not tethered to the headset.
  • Prior art headsets may employ either of two different motion tracking techniques: one in which the standalone sensor is an optical sensor connected to the gimbal CPU, and the other is simply a reference point that emits lasers for motion sensors on the headset to pick up. It basically acts as a "lighthouse" for the headset to determine its location in space. In the latter case, the standalone sensors are not tethered to the gimbal CPU, just to the power supply.
  • the motion sensor reference device is connected to the CPU, it will be the same CPU that controls the GPU and, therefore, the VR headset 82, to track accurately a user's head so that when a user moves his head to look left or right or up or down the VR display in the face mask will follow the user's head motion. Tethering the CPU/GPU apparatus to VR display device 82 all within the third gimbal minimizes motion-to-photon latency to improve real-time fidelity of the user's experience.
  • Electrical power to the three gimbals is provided via slip rings 84 in the rotational couplings between the first and second gimbals and between the second and third gimbals.
  • hybrid real/virtual motion system 10 is operable to create a virtual reality experience in the mind of a user that is synchronized with a real motion experience in the body of the user along three orthogonal linear axes and three orthogonal rotational axes, defined herein as a six-dimension hybrid real/virtual motion system.
  • a fourth gimbal 88 may be included in a gimbal assembly to prevent "gimbal lock", as is well known in the gimbal arts.
  • Gimbal lock is the loss of one degree of freedom in a three-dimensional, three-gimbal mechanism that occurs when the axes of two of the three gimbals are driven into a parallel configuration, "locking" the system into rotation in a degenerate two-dimensional space. The word lock is misleading: no gimbal is restrained. All three gimbals can still rotate freely about their respective axes of suspension.
  • a third embodiment 110 of a gimbal assembly in accordance with the present invention is a simplified variant of first embodiment 60 ( FIG. 6 ), wherein outer gimbal 66 is replaced by a stand assembly 112 having two supportive uprights 114 rotatable by a motor 116 about vertical axis 68 and supported by horizontal bearings 123.
  • the housing of motor 116 is mounted to platform 52 ( FIG. 5 ) .
  • the remainder of the gimbal assembly is substantially the same as shown in FIG. 5 .
  • Gimbal 70 is driven by motor 73 about axis 72, and gimbal 74 is driven by motor 77 about axis 76.
  • a fourth embodiment 120 of a gimbal assembly in accordance with the present invention is a variant of embodiment 110 ( FIG. 9 ) wherein the entire gimbal assembly is rotatably mounted, via horizontal bearings 123 attached to the underside of gimbal assembly 66, on a wheeled carriage 122.
  • Motor 116 (not visible in FIG. 10 ) is mounted to the deck 124 of carriage 122.
  • Carriage 122 includes first and second horizontal flanges 126 that project between wheels 128 for engagement with clamps 128 on platform 52 to secure embodiment 120 to platform 52 during operation of the simulator.
  • an exemplary method is shown for loading and unloading a plurality of gimbal assemblies 120 from platform 52.
  • An important operating consideration of simulator 100 is the time required and difficulty of loading users into and out of operating position.
  • One possible solution is to provide an extra set 150 of gimbal assemblies 120 into which users can be loaded and secured off-site (not shown) while the simulator is running on a previous ride.
  • the previous users in a first set 140 of gimbal assemblies are driven off platform 52 via removable ramp 142, for passengers to be discharged off-site and the gimbal assemblies reloaded with new users, while the next set of users in a second set of gimbal assemblies is being driven onto platform 52 via removable ramp 152 and clamped into place.
  • a Main Controller drives the motors within the physical environment.
  • the Server Machine drives the virtual environment.
  • Both the Main Controller and the Server Machine are preloaded with the position vs. time data (assuming non-real-time motor control).
  • the Main Controller would take an analog input signal corresponding to a desired acceleration and convert it to control variables for the motors.
  • the Main Controller sends and receives positional data to and from the controller for each set of motors corresponding to a degree of freedom.
  • the Main controller also sends the physical position of each individual motor set (p m ) to the Serve Machine. All motor controllers in this invention use a feedback loop to maintain positional accuracy at a high sampling rate, and they all work the same way.
  • the Main Controller sends the desired position in the x-direction (x*).
  • the x Controller takes x* and sends it to the proportional integral derivative controller (PID) for each motor.
  • PID proportional integral derivative controller
  • the PID 1 calculates the required velocity based on the desired position, x*, the actual position measured by the encoder, x 1 , and the offset between M 1 and M 2 (x 2 -x 1 ). This offset is calculated between adjacent motors, and the last one is compared to the first. This ensures that all motors operating in the same degree of freedom remain aligned.
  • PID 1 calculates the velocity required to obtain the desired position (v*)
  • it is sent to DRIVE 1 .
  • DRIVE 1 provides the necessary voltage and current levels for M 1 to carry out the operation effectively.
  • An encoder installed on the M 1 feeds x 1 back to the x Controller.
  • the average (x) of x 1 , x 2 , ..., and x q where q equals the number of motors operating in the x-direction is sent back to the Main Controller.
  • the operation for the controllers of the other degrees of freedom is the same.
  • a maximum of two motors per degree of freedom is possible, whereas there can be an infinite number of linear motors controlling one degree of freedom.
  • the ⁇ degree of freedom is only required for a four-gimbal assembly.
  • the Main Controller sends the current position (p m ) of each motor to the Server Machine.
  • the Input Stream accepts the motor positional data and translates it to a virtual engine friendly format (e).
  • the engine friendly variables get sent to the Server Instance where it uses e to determine the proper virtual orientation which may differ from rider to rider depending on their individual virtual experience.
  • the virtual experience does not have to be the same for all users riding at the same time, and the physical rotational motion may differ as well. However, the physical linear motion is the same for all users at any given time. Additionally, if a gimbal assembly has more than one rider, their rotational velocities will differ depending on the position of their seat. Although the real linear motion of all riders is the same, they can have different virtual linear motion.
  • the Server Machine runs on the same clock as the Main Controller, and they both can perform a feedback loop to determine if the motors (for the Main Controller) or virtual environment (for the Server Machine) need to speed up or slow down to maintain synchrony. Based on the gimbal assembly and seat each person is sitting in, the Server Machine sends the positional data to the individual CPUs on each gimbal assembly. Each Client Instance sends a client specific frame to the VR headset to be viewed by the user accompanied with audio via headphones. The positional data of the rider's head, hands, and whatever object being tracked can be sent back to the Client Instance to recalculate the client specific frame.
  • An important use of a simulator in accordance with the present invention is to reproduce real-world trips through time and space.
  • an accelerometer, gyroscope, other inertial measurement unit (IMU) or any combination thereof By mounting an accelerometer, gyroscope, other inertial measurement unit (IMU) or any combination thereof to any moving object, the rotational and translational motion of the object can be measured and recorded in real-time.
  • the data from these sensors can be mathematically split up into three-dimensional constituents and used to control all sets of motors within the motion simulator to exactly reproduce the original motion with high fidelity.
  • Some examples of potential moving objects to be recorded and later simulated include, but are not limited to, cars, jet skiis, skydivers, airplanes, and dune buggies.

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EP17776719.1A 2016-03-30 2017-03-30 Versatile translational and rotational motion simulator Active EP3436913B1 (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
US201662315111P 2016-03-30 2016-03-30
PCT/US2017/025202 WO2017173180A2 (en) 2016-03-30 2017-03-30 Versatile translational and rotational motion simulator

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EP3436913A2 EP3436913A2 (en) 2019-02-06
EP3436913A4 EP3436913A4 (en) 2020-01-15
EP3436913B1 true EP3436913B1 (en) 2021-11-24

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EP3904984B1 (de) * 2020-04-27 2023-03-01 Siemens Aktiengesellschaft Verfahren für eine immersive mensch-maschine-interaktion
WO2022101818A1 (en) * 2020-11-13 2022-05-19 Nunc-Amet Holding S.A. Virtual hyperreality amusement apparatus
CN115083228A (zh) * 2022-06-22 2022-09-20 李新华 一种卡丁车模拟器支架结构

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CN109154867B (zh) 2022-05-17
CN109154867A (zh) 2019-01-04
EP3436913A4 (en) 2020-01-15
EP3436913A2 (en) 2019-02-06

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