JP2001017748A - Operation command data generating method of oscillation device, and oscillation device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To generate a highly realistic operation in a simulation ride device for imparting an artificial operation feeling by the combination with an image by generating the translation displacement component, translation speed compo nent, rotating speed component of operation command data by converting elements of different components. SOLUTION: A ride device 3 comprises an operation platform part 330 having seats 340... for passengers H mounted on a base part 310 through driving mechanisms 351-354. An image control device 210 and a motion control device 310 are time-synchronously operated according to the synchronous signal from a general control device 1, whereby the passengers H are made to bodily sense an artificial operation feeling through the image on a screen 230 and the ride device 3. At least one element of the translation displacement component, rotating displacement component, translation speed component and rotating speed component in the movement of the ride device 3 is realized by the movement of a different component having a mechanism of a different structure.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an operation control method for an operation mechanism, and more particularly to a device called a simulation ride for giving a human a bodily sensation of a simulated operation by combining with an image, for amusement, and the like. The present invention relates to a device called a motion ride, a similar operation mechanism, a method of generating motion of a shaking table and other devices.

[0002]

2. Description of the Related Art A device called a motion ride for amusement or a simulation ride (hereinafter, referred to as a ride device) is a device that operates a mechanism in combination with an image to thereby give a simulated experience to a person riding on the mechanism. Collectively). Representative examples thereof include, for example, U.S. Patent No. 5,499,920, Method of Gener
ating an Event Simulation. Focusing on technologies related to video and operation mechanisms, these devices include the following.

[0003] First, as for the video, there are a video using a real shot video, a video generating using a computer graphics (CG) technique, and a video using both. In each case, the motion of the object to be simulated, such as a spacecraft, is planned, and the image corresponding to this motion is
G, generally, are created by actual photography using a miniature model. In this case, the operation of the ride device is similarly created in accordance with the video. The operation of the ride device is created by using a method such as teaching by actually moving the ride device, teaching that gives an operation trajectory as a numerical value as a change in position with respect to time, as in an industrial robot or the like. . There is also a method of describing the motion of a moving body or the like simulated by the ride apparatus in the form of a mathematical expression or the like, and generating a calculation based on the description. Here, a content or story composed of a series of videos and actions to be experienced by the rider of the ride device is called content. Here, when necessary, these are referred to as video contents and operation contents.

[0004]

The operation of the ride apparatus is as follows.
As described above, it is usual to teach according to an image.
The teaching of this operation is generally given by designating the representative points of the operation trajectory of the ride apparatus and connecting these representative points by a spline curve or the like. This teaching work is a work that can also be called the design of a motion trajectory, but is a task that requires extremely skill because the purpose is to give a motion sensation and a bodily sensation to a person riding on the ride device. In addition, since the operating conditions of the ride device are limited and the stimulus that affects the occupant's sense of reality is given as a synergistic effect between vision and motion,
While creating the operation of the ride device according to the image,
Conversely, create and modify the video according to the operation of the ride device,
In some cases, this is a task that requires time and effort in addition to skill. Also, in a method in which the motion of the virtual object or the motion of the ride device to be subjected to the simulated experience is modeled as a model, and the control is performed while generating an operation command in real time based on this, not only the occupant's bodily sensation but also It is necessary to take into account the operating range of the ride device, the performance of the mechanism, etc., in order to give the occupant a sense of reality, not only the calculation based on mathematical formulas alone, but also It is usually used in combination with the operation trajectory design work requiring skill.

[0005] Such a work of designing the operation trajectory of the ride apparatus is generally performed in consideration of the characteristics such as the degree of freedom of the ride apparatus mechanism, and therefore depends on the mechanism of the ride apparatus. In other words, even if the contents use exactly the same video, the motion trajectory designed for a specific ride device mechanism cannot be basically applied to another ride device mechanism.

[0006] This problem will be further described using an analogy with the field of industrial robots. Industrial robots have mechanisms such as rectangular coordinate type, cylindrical coordinate type, polar coordinate type, and articulated type.In the past, displacement of each degree of freedom of each mechanism, that is, the position and angle of joints were stored. Even if it is necessary to operate the operating trajectory of the tip of the work tool attached to the hand, even if it is necessary to operate the operating trajectory exactly the same, the operation must be taught again for each individual mechanism. did not become. But "Rob" by Paul
As shown in "ot Manipulators" (MIT Press, 1981) or JP-A-51-25273, the motion trajectory of the hand tool is represented using a general rectangular coordinate system independent of the robot mechanism. By storing and controlling, the description of the motion trajectory independent of the mechanism,
Design became possible.

In this example of the industrial robot, it is necessary to control the motion trajectory of the tip of the working tool at the robot hand, that is, the motion position and the motion speed.
In the ride apparatus targeted by the present invention, it is necessary to make the occupant's bodily sensation the same as much as possible in the operation of the platform section on which a person rides. That is, unlike an industrial robot, a ride device is required to operate so as to give a pseudo-similar bodily sensation even when the operation trajectory is changed when the mechanism is different. In this sense, the two have completely different purposes and means.

An object of the present invention is to realize, in a ride apparatus, an operation that gives a occupant a sense of realism even in a limited operation range and mechanism performance.

Another object of the present invention is to facilitate the design of a motion trajectory in a ride apparatus.

[0010]

In order to achieve the above object, the present invention provides a translational displacement component, a rotational displacement component, a translational speed component, a rotational speed component, a translational acceleration component or a rotational acceleration of operation command data for a rocking device. Converting at least one element of the components into an element of a different component, or generating a translational displacement component, a rotational displacement component, a translational speed component, a rotational speed component, a translational acceleration component, or a rotational acceleration component in the motion of the rocking device. At least one element is realized by movement of different components.

As a result, a motion component that cannot be realized can be artificially realized by another component, so that an operation that gives a occupant a sense of reality can be realized even with a limited operation range and mechanism performance.

According to another aspect of the present invention, a translational displacement component, a rotational displacement component, a translational speed component, a rotational speed component, a translational acceleration component, or a rotational acceleration component of an operation command data for a rocking device are provided. At least one of the elements is generated by converting an element of a different component included in operation command data for a second device having a mechanism different from the mechanism of the rocking device.

[0013] According to this feature, since the motion trajectory is converted by focusing on acceleration, jerk, gravitational acceleration, and the like in the operation of the ride device, it is possible to realize the feeling of a person riding the ride device. In addition, it is possible to design an operation trajectory that can be applied to various types of ride device mechanisms for general use. Therefore, it is not necessary to separately design an operation trajectory for each of the differently configured ride mechanisms.

[0014]

DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of the present invention will be described with reference to FIG. FIG. 1 shows an embodiment of a system configuration according to the present invention. The operation mechanism directly targeted by the present invention is a ride device 3 called a motion ride, a simulation ride, or the like.

The ride device 3 is connected to the base 320 via drive mechanisms 351, 352, 353, and 354.
Operation platform 330 that operates relative to 20
And a platform unit 330
Is equipped with one or more seats 340 on which a person H can board. Platform section 330
Often constitutes a closed space for the purpose of giving a sense of realism, and is sometimes called a cabin or a capsule.

The entire system is connected by a network such as a LAN, and the time is managed by the general control device 1, and the video control device 210 and the motion control device 310 perform time synchronization by a synchronization signal from the general control device 1. By taking this, both the video and the ride device realize a smooth and natural operation.

The video control device 210 stores video data as a file (not shown). The video data may be video captured by actual shooting using a miniature model or the like, or may be generated by a computer using a technique such as computer graphics (CG). It is common that the file is in the form of a file. This file is, for example, 3
It is composed of a video data group for every one-tenth of a second. The video data is sequentially taken out at each time and output to the projection device (projector) 220 to be projected on the screen 230. In the present embodiment, the screen 230 is the base 320 of the ride device 3.
Shows an example of a screen fixed type which is fixed relatively to the floor 5 on which the screen 2 is installed.
Platform mounted type (cabin mounted type) 30 is fixed to platform 330 of ride device 3
It may be. Platform 33 of ride device 3
The person H who is riding on the vehicle 0 obtains a motion sensation such as acceleration by the motion of the platform 330 while watching the image projected on the screen 230, and has a simulated experience.

At this time, a translational displacement component, a rotational displacement component, a translational speed component,
If at least one element of the rotational speed component, the translational acceleration component or the rotational acceleration component is realized by the motion of the different components, when an image is displayed on the screen, for example, the occupant starts moving forward or backward,
By giving a pitching motion to the platform 330, the occupant is made to feel as if an acceleration in the front-rear direction acts. That is, the motion component to be felt by the occupant on the screen actually displayed is realized by another motion component. The same applies to the turning in the left-right direction and the upward / downward movement in the vertical direction.

In the motion control device 310, data representing the motion to be realized by the ride device 3 in order to give a motion sensation corresponding to the motion of the virtual object to be simulated by the rider, ie, a bodily sensation, is stored in the motion control device 310. Storage unit 31
1 is stored. The virtual object corresponds to a moving object as an entity, such as a spaceship or a racing car, which performs an operation to give passengers an experience. Also, the exercise to be realized by the ride apparatus 3 is an exercise to be implemented by the ideal ride apparatus, assuming the ride apparatus 30 having an ideal degree of freedom configuration.

As the ideal riding device 30, devices having various mechanisms can be considered. FIG. 4 shows one example of the ideal riding device. FIG. 4 shows a mechanism having three translational degrees of freedom X, Y, and Z orthogonal to each other, and three degrees of freedom of rotating roll, pitch, and yaw about these X, Y, and Z axes, for a total of six degrees of freedom. , And the six actuators 30
It is driven by 51 to 3056. The mechanism having such a configuration is called a Stewart platform.

The motion of the ride device is the motion of the platform with respect to the base of the ride device. A person rides on a seat fixed to the platform, and receives a rocking motion of the platform while receiving a motion. At the same time, you can enjoy a virtual experience by watching the video. Here, the ideal ride device 30 is defined as a mechanism capable of realizing all translation and rotation motions in a three-dimensional space without mutual interference, and it is necessary to prepare such a ride device as a real thing. Is not necessarily required, and may be defined as a virtual mechanism.

In the riding apparatus 3 according to the present embodiment,
The degree of freedom of the movement has only four degrees of freedom of front and rear, up and down, and pitch and roll. For example, since it has no degree of freedom for the translational movement in the left and right directions, it differs from the ideal riding device 30. It has become something. Although the details of this mechanism will be described later, the degree of freedom mentioned here is strictly the number of independent operation components that can be controlled. That is, for example, when the roll and the pitch are operated simultaneously,
Even a mechanism in which angular displacement in the yaw direction occurs due to mutual interference is said to have a degree of freedom in roll and pitch in the sense that the yaw displacement cannot be arbitrarily controlled.

The motion control device 310 stores data representing a motion corresponding to the ideal ride device 30 in its storage section 311. Specifically, the platform unit 30 with respect to the base unit 3020 of the ideal ride device 30
A plurality of sets of data including 30 three-dimensional positions and postures are stored as a data group. These data groups represent the trajectory of the continuous movement of the ride device by giving the output time interval between each adjacent data as a fixed sampling period. This sampling cycle may be the same as or different from the above-described cycle of extracting the video file 221. The motion trajectory is specified by giving a set of typical positions and postures on the trajectory by giving displacements for each degree of freedom, for example, using a table format as shown in FIG. Offline by interpolating with spline curves etc.
That is, it is generated by storing it before the operation of the ride device. A number of tools for designing and generating data groups as waveforms in such a form, that is, programs for personal computers are commercially available, and can be easily realized by using such methods. I can do it.

FIG. 2 shows a method of generating exercise data of the ride apparatus 3 according to the present embodiment and a control method using the same.
This will be described below. In the motion control device 310, the trajectory data group 231 stored in the storage unit 311 is subjected to data extraction processing 11 at each sampling cycle (hereinafter referred to as Δt).
Take out sequentially by 1. Data Pi extracted at time Ti, ie, data 232, is P (i-1), ie, data 233, which is data extracted at earlier sampling times T (i-1) and T (i-2). In addition, P (i-2), that is, the data 234 is also used, and is converted into a motion command 235 corresponding to the mechanism configuration of the ride apparatus 3 by the mechanism effect conversion processing 112. The motion command 235 is further processed by the mechanism coordinate conversion processing 113 to obtain the actuators 351 c, 3
Displacement command 23 corresponding to 52c, 353c, 354c
6, are converted into a speed command 237 and an acceleration command 238.
Incidentally, the actuator referred to herein is a term used as a general term for a link mechanism for driving the ride device platform 3030 and a motor for driving the link mechanism. In FIG. 3, the actuators 351 to 35 are used.
4 are denoted by 351c to 354c, and the rear part of the link machine is denoted by 351b to 354b. These commands 236, 237, 238
5 to 3-8 servo control systems 351a, 352a, 35
3a and 354a, and the operation of each actuator is controlled based on these commands. A servo control system realized by a known technique is used. FIG. 6 shows a specific example.

Next, the details of the mechanism effect conversion processing 112 will be further described. Now, the position / posture of the ideal ride device 30 at the time Ti is represented by Pi, and the speed /
The angular velocity is represented by Vi, and the acceleration / angular acceleration is represented by Ai. The exercise in question here is the movement of the platform with respect to the respective bases in the ideal ride apparatus 30 and the ride apparatus 3 that actually implements the exercise. For convenience, the exercise of the ride apparatus or the ride is described. It may be simply expressed as the position and orientation of the device.

Now, a base portion of the ideal riding device 30, that is, an orthogonal coordinate system fixed with respect to the floor surface 5 on which the ideal riding device 30 is installed is referred to as a base coordinate system. The posture Pi represented by a matrix of 4 rows and 4 columns in the homogeneous coordinate format is defined as mPi. That is,

[0027]

(Equation 1)

Where npi = (nxpi, nypi, nzpi) _t , opi = (oxpi, oypi, ozpi) _t , api = (axpi, aypi, azpi) _t is the direction cosine of the basis vector in Pi with respect to the base coordinate system. , And ppi = (pxpi, pypi, pzpi) _t is the position vector
Representation of Pi in base coordinate system. Note that _t of (x, y, z) _t indicates transposition.

In the following, expressions of position / posture, velocity / angular velocity, acceleration / angular acceleration, etc. may be represented by expressions of position, velocity and acceleration in order to avoid complication. In addition, these values can be expressed in various forms.In particular, a prefix m indicates a matrix, and a prefix e indicates a vector.
Content that does not depend on the expression format shall be used without a leading sign.

The motion control device 310 processes the position and orientation data of the ideal ride device 30 at regular time intervals as described above. Assuming that the position and orientation data taken out at time Ti is Pi, the speed Vi at this time is P
It can be approximately obtained as the deviation between i and P (i-1).
Now, if these are represented by a matrix of homogeneous coordinate format,

[0031]

(Equation 2)

However, mVi is a velocity expressed in a homogeneous coordinate format. Note that k is a diagonal matrix having 1 / Δt as an element, and Δt is the above-mentioned sampling period.
The same applies to the acceleration Ai.

[0033]

(Equation 3)

Can be obtained approximately. When the position and orientation data Pi is represented not by a matrix in the homogeneous coordinate format as described above but by a position vector and an orientation angle such as an Euler angle or a roll / pitch / yaw angle, each of the corresponding components The change amount is obtained as the difference between
By multiplying by t, the speed and the acceleration can be approximately obtained.

Although the case where the trajectory data 231 stored in the storage unit 311 is only the position and orientation data has been described here, the trajectory data 231 includes at least one of component elements such as speed / angular velocity, acceleration / angular acceleration. It is also possible to have a unit at the same time, or to have no position and orientation data component. When the acceleration Ai is directly stored as the trajectory data 231, Vi can be obtained by integrating or integrating Ai, and Pi can be obtained by integrating or integrating Vi.

Here, the mechanism for actually performing the exercise is the ride device 3, and the degree of freedom is set in the ideal ride device 3.
The difference from 0 is also mentioned above. FIG. 3 shows an example of the ride device 3 in the present embodiment. This mechanism has two orthogonal axes of up and down (Z) and front and back (X), and two degrees of freedom to realize rotation around the Y axis (φ: pitching) and rotation around the X axis (ρ: rolling). And a front-rear axis (X) 390 that slides them on a base 320 of the ride device 3, and three pantograph-shaped arms 360, 370 disposed between the slide part 390 and the platform part 330. Driven by 380. Assuming that the distances between the connecting portions of these arms to the slide portion 390 and the connecting portions to the platform 330 are L6, L7, and L8, respectively, the longitudinal position (x), the vertical position (z), and the roll angle (Ρ),
The relationship between the pitch angle (φ) and L6, L7, L8 can be uniquely determined geometrically. However, in this case, if an attempt is made to achieve a given roll and pitch angle, the operation of the mechanism may interfere, causing a displacement in the left-right direction (Y) or the yaw angle direction. This is a displacement that cannot be controlled, and basically the number of degrees of freedom of the drive mechanism is equal to the number of displacement component elements in the orthogonal coordinate system that can be arbitrarily controlled. Therefore, the base 320
Given the four positions and posture components X, Z, ρ, and φ of the platform unit 330 with respect to
6, the values of L7, L8 are obtained, and the position control of the platform section 330 can be realized by the position servo control systems 351a, 352a, 353a, 354a having respective degrees of freedom.

Now, based on the trajectory data group 231 stored as a file, the position / posture Pi, the velocity / angular velocity Vi, the acceleration /
It has been shown that information on the angular acceleration Ai can be obtained.
Since these relate to an ideal riding device, each has six independent component elements. They are,
Although it can be expressed in various ways,
Here, the position is represented by X, Y, Z, and the posture is represented by roll (ρ), which is rotation around the X axis, pitch (φ), which is rotation around the Y axis, and yaw (η), which is rotation around the Z axis. This will be explained as follows. The mechanism of the ride device 3 is X, Z,
Since the four components of ρ and φ are mainly realized, unlike the ideal riding device 30 in this case, it is impossible to arbitrarily realize the operation of the component in the left and right, that is, the component in the Y direction and the component in the yaw angle direction. It is possible. Therefore, how to deal with these operations is the point of the mechanism effect conversion processing 112 here.

First, the translation component in the Y direction needs to be approximately realized basically by the operation in the roll direction in which the tangential direction of the operation substantially coincides with the Y axis. The position, velocity, and acceleration in the left-right direction are represented as Y, Y ', Y'', respectively.
Assuming that the position in the roll direction, that is, the roll angle is ρ, ρ = Kr1 · Y + Kr2 · Y ′ + Kr3 · Y ″ (Equation 4) where Kri is the roll coefficient as a conversion coefficient between the left-right motion and the roll motion. Can be converted to an angle (ρ). In the above, the conversion coefficient Kri has both the physical meaning as the reciprocal of the virtual radius of gyration and the weighting coefficient of conversion with respect to position, velocity, and acceleration, and is not necessarily a physical factor. It is not necessary to match the turning radius, and it is not necessary that Kr1 = Kr2 = Kr3.
In addition, since the gravitational acceleration acting on the roll angular displacement receives the acceleration component in the translation direction, Kr3 is used to simulate the bodily sensation by using the acceleration component. It is also conceivable to change the weighting coefficient as a function of the roll angle as in Kr3 = Kr4 · sin (ρ) (Equation 5) using the roll angle value ρ (i-1) at Here, the angle ρ has the origin in the positive Z-axis direction.

Although the value of Kri depends on the definition of the positive direction of the roll axis angle, it is not necessarily required to be a positive value.
Negative numbers can be used, and simplification can be achieved by setting some coefficients to zero. Further, for example, instead of Kr3 in (Equation 4), a method of focusing on the time history of Y ″ and reflecting the time response calculated using a high-pass filter on the roll angle ρ may be considered. This method uses a part of the idea of the so-called washout method,
The purpose is to simulate the translational acceleration by using the gravitational acceleration that acts partially by rotational displacement. This method is a method for simulating an operation over a larger range than the mechanism by using a mechanism that originally has a finite movable range.For example, JS Freeman et al., The Iowa Drivin
An overview is disclosed in g Simulator, SAE Paper 950174, and the like.

In equation (4), the equation for calculating the roll angle ρ is shown, but the roll angular velocity and the angular acceleration can be converted by the same relational equation. However, it is conceivable that the time histories of the roll angle, the angular velocity, and the angular acceleration obtained by these formulas are not always consistent with each other. In this case, it is preferable to use a method of determining the conversion uniquely by determining the order of priority.

Next, regarding the operation of the yaw angle component, since the ride device 3 is not provided with a mechanism capable of arbitrarily driving and controlling the operation component, it is necessary to approximately realize the operation by a translation operation. Considering the translational motion components in the X and Y directions corresponding to the motion based on the yaw angle ψ, X ′ = Kh1 · ψ + Kh2 · ψ ′ + Kh3 · ψ ″ (Equation 6) Y ′ = Kj1 · ψ + Kj2 · ψ ′ + Kj3 · ψ ″ (Equation 7) Here, Khi and Kji obtain conversion coefficients. Here, a method of reflecting the change in the yaw angle to the speed in the X and Y directions is shown, but a method of reflecting the change in the acceleration in the X and Y directions or a method of combining these is also possible. Also, Kh
It is conceivable that this correction may be invalidated by taking all i and Kji to be zero, and instead of (Equation 6) and (Equation 7), the conversion is calculated using only one equation of the same form, and To X according to the magnitude of yaw angular velocity or angular acceleration, for example.
And K as a function of ψ 'or ψ'', where Khi = K · Kji (Equation 8) (i = 1,2,3) There is also a possible method. Note that the sign of each value of Khi and Kji can be arbitrarily selected.
Here, among the X and Y, since the ride device 3 does not have a degree of freedom regarding the translational movement in the Y direction,
This Y component can be applied to (Equation 4).

Although an example of the mechanism effect conversion processing 112 has been described above, when the ride device 3 does not have a specific degree of freedom of translational motion, the translational motion is free to rotate in the tangential direction. Replace with the degree component, act on behalf of,
Conversely, if the rotational motion does not have a degree of freedom component, the basic concept of this process is to replace and substitute using two degrees of freedom components of the translational motion orthogonal to the axis of the rotational motion. is there.

Considering the meaning of the above-described mechanism effect conversion processing 112, the conversion that is considered to be the most common from the viewpoint of human kinetic sensation is a conversion focusing on acceleration, and the substitution of translational motion by rotational motion is translational acceleration. It is considered that the weight of the rotation angle is increased and reflected in the rotation angle, and the weight of the rotation angle is increased and reflected in the translational acceleration in the substitution of the rotation motion by the translational motion. It can be interpreted that the relationship between the motion of the image and the physical motion should be taken into account, and the proportional term between the translational displacement and the rotational displacement should also be taken into account, because the effect of the prediction when capturing the image plays an important role. .

The gravitational components that can be used in place of the translational motion due to the rotation are the roll angle and the pitch angle motion, and the effect of the gravity cannot be used for the motion in the yaw angle direction. It is necessary to change the value of the weight parameter such as (Equation 4) depending on the direction and nature of the rotation because the kinetic sensation, particularly the inclination sensation in the roll direction and the pitch direction are not the same.

The parameter values in each of the above equations can be adaptively changed while monitoring the motion data taken out of the storage unit 3-1-1 in the motion control device 3-1. Alternatively, a method may be used in which the motion control device 3-1 stores the content in advance in accordance with the content of the content corresponding to the story of the assumed pseudo experience and uses the content.

Here, the contents of the present invention will be described with reference to the simplest specific example for further confirmation. Here, a device having only one degree of freedom of pitching, that is, one rotational degree of freedom is assumed as the actual riding device 3. Of course, it does not discuss whether such a device having only one degree of freedom actually has a meaning as a ride device, but in a discussion targeting a mechanism device having a plurality of degrees of freedom, Note that this is equivalent to discussing one particular degree of freedom of the device.

In a device having only such a degree of freedom of pitching, all of the translational motion (X, Y, Z) and rotational motion (roll, pitch, yaw) components in an arbitrary direction in a three-dimensional space are realized or approximated. It is difficult to achieve this in a practical manner. In FIG. 7, an operation representative point 902 assumed as the position of the rider of the ride apparatus 3 with respect to the pitching rotation axis 901 is considered. The degree of freedom of movement of the pitching motion is a rotational motion along the arc 909, and at a particular moment, the motion of the motion representative point 902 is
Is represented by a tangential motion vector 904. Here, a virtual rotation radius 903 is assumed and used.
This motion vector 04 can be decomposed into translation components 904x and 904z in the X and Z directions. From the above, it can be said that even an apparatus having only the degree of freedom of pitching can simulate not only the pitching movement but also the translation movement in the X and Z directions. More precisely, even with a device having only a degree of freedom of pitching, it is possible to perform a motion that at least partially gives the bodily sensation obtained in the pitching rotational motion and the translational motion in the X and Z directions. It can be said that In the case where the only degree of freedom that is actually provided is pitching, the direction of the translational motion that can realize the sensation to be imparted clearly depends on the pitching position, that is, the position of the motion representative point 902. However, in general, it is considered that the motion representative point 902 often drives a platform section (not shown) on which the occupant rides in an attitude near a substantially horizontal direction. It can be said that the components are dominant. At this time, it is assumed that a translation component X in the X direction is given as an operation corresponding to the ideal ride device 30. Since the acceleration of the motion greatly contributes to the occupant's bodily sensation, the acceleration included in the translational motion X is defined as X ″, and the motion of the image projected on the screen 230 (see FIG. The pitch angle φ is given as φ = φ0 + Kp1 · (X−X0) + Kp3 · X ″ (Equation 9) by using appropriate coefficients Kp1 and Kp3 in the sense of ensuring consistency. Here, φ0 and X0 are the pitch angle and the X-direction position of the ideal ride device at the time immediately before the execution of the present calculation, respectively.

This (Equation 9) indicates that the ideal riding device 30
Is an arithmetic expression in the case where only the translation component X is given as the operation of (1), but when the translation component X and the pitch component φref are given as the operation of the ideal riding device, (Expression 9)
May be set as φ = φ0 + Kp1 · (X−X0) + Kp3 · X ″ + Kp0 · φref (Equation 10). Here, Kp1 and Kp3 physically correspond to the distance between the pitch rotation center 901 and the occupant position 902, that is, the turning radius.However, any of the position X and the acceleration X '' is used for pitch operation. Weighting may be performed in accordance with the reflection, and may be set to a value different from the physical radius of rotation. Kp0 has a meaning as a coefficient for determining the weight between the translational motion component and the pitch rotation component.

Although the above description has been made with reference to the example of the one-degree-of-freedom ride apparatus, the same argument holds for the degrees of freedom in other directions, and the ride apparatus having a plurality of degrees of freedom does not interfere with each other. The method of the present invention can be realized by performing similar processing in combination in the direction of each degree of freedom. In the case where a real ride device having no degree of freedom to realize the motion of the component is used for a specific component of the motion of the given ideal ride device, the motion of the component is ignored. .

By the way, the analogy with the above-mentioned industrial robot will be described again. They share the idea of describing motion using a mechanism-independent coordinate system. However, in industrial robots,
While the purpose is to control the trajectory of the hand tool of the robot so as to satisfy the described motion trajectory, in the case of a rocking device such as the present invention, the described motion trajectory itself is at least positioned. The purpose of the present invention is to use a mechanism device that cannot always be satisfied at the posture level and to perform this motion on behalf of the degree of freedom of the mechanism, and focus on the difference between the two. Is clarified.

In the above-described embodiment, first, an operation trajectory is designed for a ride apparatus having an ideal mechanism or a partial mechanism thereof capable of generally realizing the movement of a rigid body in a three-dimensional space. , The motion trajectory of the mechanism of the ride device that is to realize the actual motion is converted and generated. In generating the conversion, a motion trajectory that can provide the same motion sensation and bodily sensation as the case of the ideal mechanism from the viewpoint of the occupant's motion sensation and bodily sensation
It is generated by conversion. The bodily sensation is an index having individual differences. Here, considering that a human has the ability to sense acceleration and jerk, acceleration, jerk, and action mainly in the operation of the ride device are taken into consideration. The above conversion is performed by paying attention to the gravitational acceleration that occurs.

The ideal mechanism is a mechanism capable of generating, for example, translational motion components in three orthogonal axes and rotational motion components around these three axes.

According to the embodiment described above, the exercise data stored in the storage unit of the ride apparatus can be made independent of the mechanism of the ride apparatus that is actually controlled.
Therefore, if the complicated design and input operation of the motion trajectory are performed only once irrespective of the mechanism configuration of the ride device, an effect that can be applied to a ride device having an arbitrary mechanism configuration is obtained. Further, in this case, in the motion trajectory design work, assuming a virtual ride device having an ideal degree of freedom arrangement, design and input each component of the position and orientation of the generalized rectangular coordinate system. For this reason, even when performing design work, it is easy to understand the physical meaning of the trajectory position, speed, acceleration, etc., and it is possible to perform it in a form independent of a specific mechanism, so that skilled workers have Also, there is an effect that the design work which has been carried out by multiplying by can be greatly reduced. Furthermore, for a ride having a mechanism configuration other than the ideal mechanism, the kinetic sensation of a person riding the ride device, that is, a motion component such as a position, a posture, a speed, and an acceleration included in a motion trajectory governing the bodily sensation is held. In order to control the ride device by executing the conversion with the criteria as a criterion, the rider's kinetic feeling and bodily sensation are maintained as much as possible, and a specific ride so that the bodily sensation in the case of a ride device with an ideal mechanism is minimized There is a great effect that the operation of the device can be generated and controlled. Further, since the conversion processing according to the present invention can be realized only by simple calculations, it can be easily incorporated into the real-time control processing for controlling the ride device,
Real-time execution is possible.

[0054]

According to the present invention, at least one of the translational displacement component, the rotational displacement component, the translational speed component, the rotational speed component, the translational acceleration component, and the rotational acceleration component in the motion of the rocking device is replaced with a different component. By realizing by motion, a motion component that cannot be realized can be pseudo-realized by other components, so that even in a limited motion range and mechanism performance, an operation that gives a occupant a real feeling is realized. be able to.

Further, according to the present invention, at least one of the translational displacement component, the rotational displacement component, the translational speed component, the rotational speed component, the translational acceleration component, and the rotational acceleration component of the operation command data is converted into the motion device data. By converting and generating elements of different components included in the operation command data for the second device having a mechanism different from the mechanism, the motion data of the riding device is converted to the mechanism of the riding device that is actually controlled. Can be independent, which facilitates the design of the motion trajectory.

[Brief description of the drawings]

FIG. 1 is a system configuration diagram according to an embodiment of the present invention.

FIG. 2 is a flowchart of a method of generating and controlling exercise data.

FIG. 3 is a diagram showing a mechanism configuration of the ride device.

FIG. 4 is a diagram showing an example of an ideal riding device.

FIG. 5 is a diagram showing a table for giving a motion trajectory.

FIG. 6 is a diagram showing an embodiment of a servo control system.

FIG. 7 is a diagram illustrating a translational motion and a rotational motion.

[Explanation of symbols]

110: general control device, 210: video control device, 220
... Projector, 230 ... Screen, 3 ... Ride device, 310 ... Motion control device, 311 ... Motion trajectory data storage unit, 320 ... Base, 330 ... Platform, 340 ... Seat, 351c ... Actuator a, 35
2c: Actuator b, 353c: Actuator c,
354c: Actuator d, 390: Platform slide unit, 351a: Actuator a position servo control system, 352a: Actuator b position servo control system, 3
53a ... actuator c position servo control system, 354a ...
Actuator d position servo control system, 30 ... Ride device having ideal mechanism, 4 ... Network, 1 ... Floor surface, 11
1 ... Exercise data extraction processing 112 ... Mechanism effect conversion processing 113 ... Mechanism coordinate conversion processing 221 ... Video data
231: Orbit data group.

 ────────────────────────────────────────────────── ─── Continuing on the front page (72) Inventor Hiroshi Sakairi 502 Kandate-cho, Tsuchiura-shi, Ibaraki Inside Machinery Research Laboratory, Hitachi, Ltd. (72) Inventor Masayuki Oshiro 7-1-1, Higashi-Narashino, Narashino-shi, Chiba Within Hitachi Industrial Equipment Group (72) Inventor Tsukasa Shiina 7-1-1, Higashi Narashino, Narashino City, Chiba Prefecture Inside Hitachi Keiyo Engineering Co., Ltd.

Claims (11)

[Claims] A mechanism having a plurality of degrees of freedom;
An operation command data generation method for an agitating device that gives a kinesthetic sense to a human by the operation of the mechanism, a translational displacement component of the operation instruction data for the agitating device,
A method for generating operation command data for a rocking apparatus, comprising: converting at least one of a rotational displacement component, a translational speed component, a rotational speed component, a translational acceleration component, and a rotational acceleration component into an element of a different component. . 2. A mechanism comprising a plurality of degrees of freedom,
An operation command data generation method for an agitating device that gives a kinesthetic sense to a human by the operation of the mechanism, a translational displacement component of the operation instruction data for the agitating device,
At least one element of the rotational displacement component, the translational speed component, the rotational speed component, the translational acceleration component, or the rotational acceleration component is included in the operation command data for the second device having a mechanism different from the mechanism of the rocking device. A method for generating operation command data for a rocking device, comprising converting and generating elements of different components. 3. The method for generating operation command data of a rocking device according to claim 2, wherein the conversion between the translational motion and the rotational motion assumes a virtual radius of rotation, and a tangent of the rotational motion at the virtual radius of rotation. A method for generating operation command data for a rocking device, wherein conversion is performed so that a direction component and a translation component become equal. 4. The motion command data generating method according to claim 2, wherein the conversion between the translational motion and the rotational motion saves the weighted sum of each of the displacement, speed and acceleration component of the motion. A method for generating operation command data for a rocking device, wherein the method is performed by associating the commands. 5. A mechanism comprising a plurality of degrees of freedom,
A method for generating operation command data of a rocking device that gives a human a sense of movement by the operation of the mechanism, wherein the operation command data is generated such that an acceleration component in a translational motion is realized by a tangential acceleration in a rotational motion. A method for generating operation command data for a rocking device. 6. A mechanism having a plurality of degrees of freedom,
A method for generating operation command data of a rocking device that gives a human a sense of movement by the operation of the mechanism, wherein the operation command data is generated such that a tangential acceleration in a rotational motion is realized by an acceleration component in a translational motion. A method for generating operation command data for a rocking device. 7. A mechanism comprising a plurality of degrees of freedom,
A motion device that gives a human a sense of motion by the operation of the mechanism, wherein at least one of a translational displacement component, a rotational displacement component, a translational speed component, a rotational speed component, a translational acceleration component, or a rotational acceleration component in the motion of the rocking device. Characterized in that the motions of different components are realized. 8. A mechanism having a plurality of degrees of freedom,
A motion device that gives a human a sense of motion by the operation of the mechanism, wherein at least one of a translational displacement component, a rotational displacement component, a translational speed component, a rotational speed component, a translational acceleration component, or a rotational acceleration component in the motion of the rocking device. , Based on operation command data generated by converting elements of different components. 9. A mechanism comprising a plurality of degrees of freedom,
A motion device that gives a human a sense of motion by the operation of the mechanism, wherein at least one of a translational displacement component, a rotational displacement component, a translational speed component, a rotational speed component, a translational acceleration component, or a rotational acceleration component in the motion of the rocking device. Operates based on operation command data generated by converting elements of different components included in operation command data for a second device having a mechanism different from the mechanism of the rocking device. Shaking device. 10. A method for generating operation command data of a rocking apparatus having a mechanism having a plurality of degrees of freedom and giving a kinesthetic sense to a person by the operation of the mechanism, comprising the steps of: A swaying device characterized by being realized at an acceleration of. 11. A swaying device having a mechanism composed of a plurality of degrees of freedom and giving a kinesthetic sense to a human by the operation of the mechanism, wherein the tangential acceleration in the rotational motion is realized by the acceleration component in the translational motion. A shaking device characterized by the above.