JP2000293093A - Simple bodily sensation device for drive simulator - Google Patents

Abstract

PROBLEM TO BE SOLVED: To give a driver a sensation of acceleration and deceleration according to his/her weight and posture, and to construct the device inexpensively and simply. SOLUTION: A seat 103 is supported on a base 101 by a stand pole 102, an arm 116 for pitching, and an arm 126 for rolling. When a 1st stepping motor 111 is rotated, it rotates a 1st rotary body 114 via a 1st coupling 112. The arm for pitching gives the seat pitching motion by the stand pole 102. A first rotary encoder 113 detects a rotation angle of the 1st rotary body 114. A 2nd stepping motor 121, a 2nd coupling 122, and a 2nd rotary body 124 move the arm for rolling 126 similarly at the time of pitching, and a 2nd rotary encoder 123 also acts similarly at the time of pitching. The arm 126 for rolling is rotated by the stand pole 102 to produce rolling motion. The seat is turned by the torque determined by the spring constants of respective couplings 112, 122 and an angular difference between the rotary angles of respective stepping motors 111, 121 and the detection angles of respective rotary encoders 113, 123.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a simple bodily sensation device for a driving simulator which gives a sense of G at the time of acceleration and deceleration and a sense of centrifugal force at the time of turning in a simulated vehicle.

[0002]

2. Description of the Related Art In a simulated vehicle used for a driving simulator, a simulated scene image is changed according to an operation of a driver, and a sense of deceleration during braking is given to the driver by pulling a seat belt 21 (FIG. 2). At the time of acceleration, a six-axis motion device gives a sense of acceleration. In this six-axis motion device, as shown in FIG. 3, a driver's seat 33 above the base 31 is mounted by two-axis support mechanisms 32a and 32b connected to respective vertices forming an equilateral triangle on the base 31. The cab 34 is rotatably supported, and the cab 34 is shaken by extending and contracting each of the support mechanisms 32. The sense of acceleration swings the cab 34 so as to raise the front of the cab 33. It is obtained by doing. The feeling of centrifugal force is obtained by swinging the cab 34 so as to swing the driver's seat 33 right and left.

[0003]

In the conventional method as described above, a sufficient acceleration / deceleration feeling cannot be given when the seat belt is pulled, and a device for moving the support mechanism when using a six-axis motion device. Was large and the price was too expensive.

An object of the present invention is to provide an inexpensive and simple bodily sensation device for a driving simulator by applying a force to a driver's body to give a sense of acceleration and deceleration.

[0005]

According to the present invention, there is provided a simplified sensation device for a driving simulator according to the present invention, wherein a base, a seat having a plane-symmetric weight distribution, and an initial state standing on the base and near an extension of the base. A stand pole rotatably supporting the seat so as to locate the center of gravity of the seat, a first stepping motor, and a first coupling having a torsion spring constant for transmitting rotation of the first stepping motor; A first rotary encoder for detecting a rotation angle of the first coupling, a first rotating body fixed to the first coupling, and one end rotatably connected to the first rotating body; A pitch arm having the other end rotatably connected to the seat such that a vertical line from the other end is within the plane of symmetry of the seat and away from the center of gravity, and a second stepping motor; A second coupling having a torsion spring constant for transmitting rotation of the stepping motor, a second rotary encoder for detecting a rotation angle of the second coupling, and a second coupling fixed to the second coupling; Rotator, and one end is rotatably connected to the second rotator, and the other end is in a vertical plane passing through the center of gravity with respect to the symmetry plane of the seat, and a vertical line from the other end is located from the center of gravity. And a roll arm rotatably connected to the seat at a distance.

[0006]

In the above construction, the seat is supported on the base by the stand pole, the pitch arm and the roll arm. When pitching the seat, if the first stepping motor is controlled to rotate by a predetermined angle, the first rotating body is rotated via the first coupling. The pitch arm changes the first rotating body into a linear motion and moves the seat up and down, that is, pitch motion so as to rotate the seat at the support point of the stand pole. The other end of the roll arm is rotatably connected to a vertical line in a vertical plane passing through the center of gravity with respect to the symmetry plane of the seat, and does not largely move due to the pitch movement of the seat. At this time, the first rotary encoder detects the rotation angle of the first rotating body. The seat has been rotated by a torque determined by the spring constant of the first coupling, the rotation angle of the first stepping motor, and the angle difference between the angle detected by the first rotary encoder. The angle of the rotating seat depends on the weight and posture of the driver sitting on the seat. When the seat is rolled, when the second stepping motor is controlled to rotate by a predetermined angle, the second rotating body is rotated via the second coupling. The roll arm converts the second rotating body into a linear motion and causes the seat to rotate left and right, that is, roll motion so as to rotate the seat at the support point of the stand pole. The pitch arm is
Since the other end is rotatably connected to a symmetry plane including the center of gravity, the seat does not largely move due to the roll motion of the seat. At this time, the second rotary encoder detects the rotation angle of the second rotating body. This means that the seat has been rotated by a torque determined by the spring constant of the second coupling, the rotation angle of the second stepping motor, and the angle difference between the angle detected by the second rotary encoder. The angle of the rotating seat varies depending on the weight and posture of the driver sitting on the seat.

[0007]

DESCRIPTION OF THE PREFERRED EMBODIMENTS One embodiment of the present invention will be described below with reference to the drawings. FIG. 1 is a configuration diagram of an embodiment, and FIG.
Is a left side view, and FIG. 1B is a plan view. However, the scales of both figures do not match. In FIG. 1, 101 is a base, 1
Reference numeral 02 denotes a stand pole made of a metal pipe that is erected to be fixed to the base 101, 103 denotes a seat, and 104 denotes a center of gravity of the seat 103. The seat 103 has a weight distribution that is plane-symmetric with respect to a vertical plane extending back and forth. 105
Is a universal joint provided at the tip of the stand pole 102. The stand pole 102 supports the seat 103 in the initial state so that its center of gravity 104 is located on an extension of the stand pole 102. Reference numeral 111 denotes a first stepping motor, and 112 denotes a first coupling having a torsion constant. One end of the coupling is connected to the first stepping motor 111 to transmit the rotation. 11
Reference numeral 3 denotes a first rotary encoder that is connected to the other end of the first coupling 112 and detects the rotation angle thereof.
The rotation shaft of the first stepping motor 111, the first coupling 112, and the first rotary encoder 113 are linearly connected. Reference numeral 114 denotes a first rotating body formed of a metal disk, and the surface of the disk is connected to the other end of the first coupling 112 so as to be perpendicular to the rotation axis of the first stepping motor 111. I do. 115 is the first
And a symmetrical surface that makes the weight distribution of the seat 103 plane-symmetrical, is a point where the bottom surface is cut off, and is provided on the front bottom surface of the seat 103 away from a vertical line from the center of gravity 104.
Reference numeral 116 denotes a pitch arm constituted by a metal column, and one end of the arm is positioned 5 degrees from the center on the surface of the first rotating body 114.
It is formed so as to be rotatably connected to one point of 0 mm and rotatably connected at the other end by the first link ball 115. 121 is a second stepping motor, 1
22 is a second coupling having a torsion constant,
One end is connected to the second stepping motor 121 to transmit the rotation. 123 is a second coupling 122
Is a second rotary encoder which is connected to the other end of the rotary encoder and detects its rotation angle. Second stepping motor 121
, The second coupling 122 and the second rotary encoder 123 are linearly connected. Reference numeral 124 denotes a second rotating body formed of a metal disk, and the surface of the disk is connected to the other end of the second coupling 122 so as to be perpendicular to the rotation axis of the second stepping motor 121. . Reference numeral 125 denotes a second link ball, where a vertical plane passing through the center of gravity at right angles to a plane of symmetry that makes the weight distribution of the seat 103 plane-symmetrical cuts the bottom surface. It is provided on the side bottom surface. Reference numeral 126 denotes a roll arm composed of a metal cylinder, one end of which is rotatably connected to a point 50 mm from the center on the surface of the second rotating body 124 and the other end of which is the second link ball 125. Are formed so as to be rotatable. 131 is a seat belt. In FIG. 1A, a second stepping motor 121, a second coupling 122, a second rotary encoder 123, a second
Although the rotating body 124, the second link ball 125, and the roll arm 126 are omitted, the second stepping motor 121 is mounted on the base 101 similarly to the first stepping motor 111, and is connected thereto. 1B, the first coupling 112, the first rotary encoder 113, the first rotating body 114, the first link ball 115, and the pitch arm 116 are also arranged as shown in FIG. You.

[0008] The seat 103 is in a stationary state similar to a real vehicle in an initial state in which no person sits and the pitch arm 116 and the roll arm 126 do not operate. In this initial state, the center of gravity 104 of the seat 103 alone is located in the space in front of the center of the backrest 103a as shown in FIG.
According to the measurement result, the position of the center of gravity is 104b slightly forward in the state where a person weighing a little over 50 kg is sitting, and 104c when a person weighing a little over 50 kg steps on the brake.
, The change of the position of the center of gravity is small, so that the extension line of the stand pole 102 is set up near the center of gravity 104 in the initial state. This allows the pitch arm 1
16 and the torque for raising and lowering the roll arm 126 can be reduced.

When pitching the seat 103, a control unit (not shown) controls the first stepping motor 111 to rotate by a predetermined angle. The rotation of the first stepping motor 111 causes the first rotating body 114 to rotate via the first coupling 112. First rotating body 11
When 4 rotates, the pitch arm 116 having one end connected to its surface changes the rotation of the first rotating body 114 into a linear motion, and moves the first link ball 115 connected to the other end up and down. The first link ball 115 causes the seat 103 to swing back and forth so as to rotate with the stand pole 102 as a support point, thereby performing a pitch motion. Since the perpendicular from the center of gravity 104 is near the stand pole 102, the first stepping motor 111 can use a small torque. The other end of the roll arm 126 is rotatably connected to a vertical line in a vertical plane passing through the center of gravity 104 with respect to the symmetry plane of the seat 103, and does not largely move due to the pitch movement of the seat 103. At this time, the first rotary encoder 113 detects the rotation angle of the first rotating body 114. This means that the seat 103 has been rotated by a torque determined by the spring constant of the first coupling 112, the rotation angle of the first stepping motor 111, and the angle difference between the angle detected by the first rotary encoder 113. This torque varies depending on the weight and posture of the driver sitting on the seat 103.

That is, for example, when giving a rotation such that the seat 103 is tilted forward to experience the acceleration at the time of stopping, the control unit (not shown) rotates the first stepping motor 111 by an angle θ1. When the control signal is sent, the first coupling 112 is rotated, and the rear of the seat 103 is raised via the pitch arm 116.
Rotational drive by the first stepping motor 111 is performed via the first coupling 112 and the seat 103
The first rotating body 114 has an angle θ2 in order to rotate against a load with a driver sitting thereon, and the angle θ2 is detected by the first rotary encoder 113.
At this time, the seat 103 has been moved by the torque of (θ2−θ1) × torsion spring constant = T (N · m).
The angle θ2 at which the first rotating body 114 rotates depends on the load of the seat 103 and the driver sitting thereon, and the smaller the weight of the heavy driver and the weight of the lighter person (θ2
−θ1) becomes large, so that it is moved with a large torque, and in the case of a light person, it is moved with a small torque.

When the seat 103 is rolled, a control unit (not shown) controls the second stepping motor 121 to rotate by a predetermined angle. The rotation of the second stepping motor 121 rotates the second rotator 124 via the second coupling 122. Second rotating body 12
When the roll 4 rotates, the roll arm 126 having one end connected to its surface changes the rotation of the second rotating body 124 into a linear motion, and moves the second link ball 125 connected to the other end up and down. The second link ball 125 causes the seat 103 to roll right and left so as to rotate about the stand pole 102 as a support point. Since the perpendicular from the center of gravity 104 is near the stand pole 102, the second stepping motor 121 can use a small torque. The other end of the pitch arm 116 is rotatably connected to the plane of symmetry of the weight distribution away from the center of gravity 104, so that the pitch arm 116 does not largely move due to the roll motion of the seat 103. At this time, the second rotary encoder 12
3 detects the rotation angle of the second rotating body 124. The spring constant of the second coupling 122, the rotation angle of the second stepping motor 121, and the second rotary encoder 12
That is, the seat 103 is rotated by the torque determined by the angle difference from the angle detected by the seat 3. This torque depends on the weight of the driver sitting on the seat 103.

That is, for example, when a rotation is made to tilt the seat 103 rightward in order to experience a roll feeling when turning counterclockwise, a control unit (not shown) rotates the second stepping motor 121 by an angle θ3. When the control signal is sent as described above, the second coupling 122 is rotated,
The right side of the seat 103 is raised via the roll arm 126. The rotation drive by the second stepping motor 121 is performed via the second coupling 122, and the second rotating body 124 is rotated at an angle θ4 to rotate against the load of the seat 103 and the driver sitting thereon. The angle θ4 is detected by the second rotary encoder 123. At this time, the seat 103 has been moved by the torque of (θ4−θ3) × torsion spring constant = T (N · m). The angle θ4 at which the second rotating body 124 rotates is the seat 1
03 and the driver sitting on it, a heavy driver and a lighter person are operated with a large torque because the heavy person is smaller (θ4−θ3) and larger with a lighter person. It will be moved by torque.

[0013]

As described above, according to the present invention, the seat is exercised through the coupling having the torsion spring constant, so that a feeling of acceleration and deceleration can be given by applying a force to the driver's body. Since the seat is supported and moved by the pitch arm and the roll arm, it is possible to provide an inexpensive and easy experience for a driving simulator.

[Brief description of the drawings]

FIG. 1 is a configuration diagram of an embodiment according to the present invention, which is a right side view and a plan view.

FIG. 2 is a diagram illustrating generation of an acceleration sensation by a seat belt.

FIG. 3 is a perspective view of a six-axis motion device.

[Explanation of symbols]

101: base, 102: stand pole, 103: seat, 104: center of gravity, 105: universal joint,
111: first stepping motor, 112: first coupling, 113: first rotary encoder, 1
14: first rotating body, 115: first link ball, 1
16: pitch arm, 121: second stepping motor, 122: second coupling, 123: second rotary encoder, 124: second rotating body, 125 ...
Second link ball, 126 ... roll arm, 131
…Seat belt.

Claims (1)

[Claims] 1. A base, a seat having a plane-symmetrical weight distribution, and a seat rotatably supported on the base such that the center of gravity of the seat in an initial state is positioned near an extension of the seat. A stand pole, a first stepping motor,
A first coupling having a torsion spring constant for transmitting the rotation of the first stepping motor, a first rotary encoder for detecting a rotation angle of the first coupling, and a first coupling. A first rotating body to be fixed, one end rotatably connected to the first rotating body, and the other end in the plane of symmetry of the seat and a vertical line from the other end separated from the center of gravity of the seat. Pitch arm rotatably connected to the second arm, a second stepping motor, a second coupling having a torsion spring constant for transmitting the rotation of the second stepping motor, and a rotation angle of the second coupling. A second rotary encoder for detecting the rotation, a second rotating body fixed to the second coupling, and one end rotatably connected to the second rotating body, and the other end connected to the seat. A vertical arm passing through the center of gravity with respect to the plane of symmetry, and a vertical line from the other end is separated from the center of gravity and comprises a roll arm rotatably connected to the seat. apparatus.