JP2008212651A - Motion data making apparatus, motion data making method, and motion data making program - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a device for controlling the posture of a motion platform, a motion data making device capable of easily making motion data for controlling the posture of the motion platform relating to a motion data making program, a motion data making device, and a motion data making program. <P>SOLUTION: The motion data making device 101 for making the motion data controlling the posture of the motion platform based on the operation of an input device 102 has a posture data making section 111 displaying the image of the motion platform in a display device 103 and making the posture data according to the posture of the image of the motion platform when the image of the motion platform is operated by the input device 102, and a motion data making section 112 making the motion data based on the posture data. <P>COPYRIGHT: (C)2008,JPO&INPIT

Description

  The present invention relates to a motion data creation device, a motion data creation method, and a motion data creation program, and in particular, a motion data creation device and motion data creation for creating motion data for controlling the attitude of a motion platform. The present invention relates to a method and a motion data creation program.

  There are simulators such as simulation game devices in which a driver rides on a simulated vehicle and performs a car race and a rally while watching a simulation screen (for example, see Patent Documents 1 and 2). When the driver selects a course and starts the simulation, the simulation progresses by a program built in advance along the route, and various events such as a vehicle collision, jump, and slip occur. In response to this event, the movement of the simulated vehicle is controlled. At this time, events such as a collision, a side slip, and a jump occur as the vehicle travels. Then, control data for the movement of the simulated vehicle prepared in advance corresponding to the event is read from the table in the memory and given to the control mechanism of the simulated vehicle. As a result, the simulation vehicle shows a movement such as a collision, acceleration, slip, etc., and gives the driver a sense of realism of the simulation.

  At this time, in order to give a more realistic feeling, an impact vibration is applied in accordance with an impact sound or the like.

  When impact vibration such as a collision is applied to the riding section, an impact sound is generated from the speaker in accordance with the impact image. At this time, for such vibration, the developer manually creates a vibration waveform by matching the movement of the actuator with the scene.

  Therefore, when 6-axis control or the like is performed, 6-axis vibration waveforms are created for each impact sound. For this reason, it took time and effort to create content easily. For this reason, it is not possible to easily exchange contents.

In addition, in the boarding section that can be controlled by the passenger, a plurality of patterned control data and flags are associated with each other, the flags are sequentially arranged according to the operation, and the control data is synthesized according to the arrangement of the flags, Control data has been created (for example, see Patent Document 3)
As a method for creating motion data, there has been a proposal to edit motion data using a screen in which a time axis is set on the horizontal axis and a motion channel is set on the vertical axis (see, for example, Patent Document 4).
Japanese Patent Laid-Open No. 11-313983 JP 2003-66825 A Japanese Patent No. 3823265 JP 2002-103258 A

  However, the motion data of the conventional simulation system is determined by the designer operating the waveform of the motion platform posture data.

  For this reason, it is difficult for the designer to intuitively grasp the posture of the motion platform. Therefore, it has been necessary to perform many corrections by actually driving the simulation system after creating the motion data. For example, there are inconveniences such as a mismatch between the posture of the video and the motion platform, or a disadvantage that the set posture is different from the intended posture.

  The present invention has been made in view of the above points, and a motion data creation device capable of creating motion data for controlling the attitude of a motion platform that can be easily performed as intended by a designer, and motion data It is an object to provide a creation method and a motion data creation program.

  The present invention is a motion data creation device for creating motion data for controlling the attitude of a motion platform based on the operation of the input device, displaying a motion platform image on a display device, and inputting the motion platform image. When operated by the apparatus, the apparatus has a posture data creation unit that creates posture data corresponding to the posture of the image of the motion platform, and a motion data creation unit that creates motion data based on the posture data.

  In addition, an attitude data graph in which attitude data is plotted with respect to a time axis is displayed on the display device.

  Furthermore, a motion platform image corresponding to the posture data is displayed on the display device.

  Further, the posture data graph is created by interpolating the posture data plotted in a range selected based on the operation of the input device.

  The motion platform image displayed on the display device is a stereoscopic model image of the motion platform.

  Further, the display device displays an image corresponding to the time specified by the posture data graph.

  Further, the present invention is characterized in that a waveform serving as an error elimination boundary of the posture data graph is displayed together with an error occurrence portion in the posture data graph. In addition, when the posture data graph is changed, the posture data graph before the change is displayed together.

  In addition, the present invention receives observation position and direction information in a virtual space where the motion platform is placed, and inputs the observation position and direction information from the observation position and the observation direction based on the motion platform attitude data. It is characterized by displaying an image in a virtual space where a motion platform is arranged when viewed.

  According to the present invention, when an image of a motion platform is displayed in a posture input area set in the display device so as to be operable by the input device, and the motion platform image displayed in the posture input region is operated by the input device. By creating posture data according to the posture of the motion platform and creating motion data based on the posture data, the designer can determine the posture of the motion platform while visually grasping the posture of the motion platform, It is possible to create motion data that can be easily performed as intended by the designer.

  In addition, according to the present invention, observation position and direction information in the virtual space where the motion platform is arranged is input, and the observation direction and the observation direction based on the input observation position and direction information and motion platform attitude data are input. By displaying an image in the virtual space where the motion platform is viewed when viewed from the front, you can experience the motion seen by the passenger on the motion platform before trying the created motion data on the actual machine, and the designer's It becomes easier to reflect the intention in the motion data.

  FIG. 1 shows a system configuration diagram of an embodiment of the present invention.

  A motion data creation system 100 according to the present embodiment includes a motion data creation device 101, an input device 102, and a display device 103. The motion data creation device 101 creates motion data for controlling the attitude of the motion platform based on the operation of the input device 102, and is composed of a computer system. The motion data creation device 101 mainly includes an attitude data creation unit 111 and a motion data creation unit 112. The input device 102 includes a keyboard 121, a mouse 122, and the like. Further, the display device 103 includes a CRT, an LCD, and the like.

  FIG. 2 is a diagram illustrating an example of a motion data creation screen displayed on the display device 103 by the motion data creation device 101.

  The motion data creation screen M0 includes a numerical value input unit M11, an axis selection unit M12, a time axis display unit M13, an attitude data graph display unit M14, a 3D model input unit M15, a 3D model display unit M16, an actuator information display unit M17, and a video display. It comprises a part M18, a time axis display part M19, and a mouse pointer position display part M20. In FIG. 2, P0 indicates a mouse pointer.

  The numerical value input unit M11 receives the numerical value of the data for the selected axis and time.

  The axis selection unit M12 is divided into areas corresponding to a plurality of axes for determining posture data, for example, pitch, roll, yaw, X axis, Y axis, and Z axis, and a pointer is positioned in each area, Click to select an axis.

  The time axis display portion M13 displays the time from the start of control.

  The posture data graph display unit M14 displays a posture data graph for each control axis of the axis selection unit M12. In each posture data graph, the horizontal axis is the time axis, and the vertical axis is the posture control amount.

  The three-dimensional model input unit M15 displays a three-dimensional model image of the motion platform. The stereo model image displayed on the stereo model input unit M15 is a three-dimensional computer graphics image, and an interface is configured so that the posture can be changed by operating the input device 102. As a result, the designer can determine the posture by moving the stereoscopic model image of the motion platform displayed on the stereoscopic model input unit M15. For this reason, the designer can intuitively determine the posture of the motion platform.

  The three-dimensional model display unit M16 displays a three-dimensional model image of the motion platform. The three-dimensional model image of the motion platform displayed on the three-dimensional model display unit M16 is a three-dimensional computer graphics image of the motion platform, and a three-dimensional model image of the posture corresponding to the posture data displayed on the posture data graph display unit M14. is there.

  The actuator information display unit M17 displays the actuator displacement amount data as a numerical value. The actuator displacement amount data is data obtained by converting the posture data into the displacement amount of the actuator that drives the motion platform. The actuator displacement amount data displayed on the actuator information display unit M17 is that the actuator length is outside the proper range in which the actuator length is set in advance, for example, 0 to 300 [mm], and the expansion / contraction speed of the actuator is outside the proper range. If an error condition occurs, the display shows that. For example, the displayed numerical color is black when it is within the range, and red when it is out of the proper range. Note that the background color of the displayed numerical value may be changed depending on whether it is within the range or outside the range. As a result, the designer can easily recognize errors in the motion data and adjust the posture of the motion platform.

  The video at the designated time indicated by the alternate long and short dash line is displayed on the video display unit M18. The video is a video projected on a screen in an actual simulation system, and is displayed in synchronization with the time axis of the posture data graph displayed on the posture data graph display unit M14. For this reason, the times of the video data and the attitude data graph are associated with each other. Thereby, the designer can determine the posture of the motion platform while viewing the video displayed on the actual screen. Therefore, the correspondence between the video and the motion data can be ensured, and the realistic motion data can be created.

  In FIG. 2, P0 is a mouse pointer display, and the mouse pointer P0 indicates “840” on the time axis. The actuator information display section M17 displays the lengths of the six actuator axes for composing the posture in the pitch, roll, yaw, X, Y, Z on the time axis “840” indicated by the mouse pointer P0. Is done. For example, the length of each Leg Number “0” to “6” for identifying the actuator axis is displayed in [mm] units. In FIG. 2, the actuator of the Leg Number “0” is “111” [mm], the Leg Number “1” is “−80 (displayed in red)” [mm], and the Leg Number “2” is the actuator. The length of the actuator of “350 (displayed in red)” [mm], the length of the actuator of Leg Number “3” is “180” [mm], and the length of the actuator of Leg Number “4” is “97” [mm] , The length of Leg Number “5” is “99” [mm].

  In this embodiment, since the appropriate length range of the actuator is 0 to 300 [mm], the actuator length of Leg Number “1” is “−80 (displayed in red)” [mm], Leg Number “2”. The length of the actuator “350” (indicated in red) “mm” exceeds the appropriate length range, resulting in an error. For this reason, it is displayed in red.

  In addition, the actuator information display section M17 displays a numerical value of the speed “Speed” [mm / s] in each Leg Number. In FIG. 2, the expansion speed of the actuator of Leg Number “0” is “−184” [mm / s], the displacement speed of Leg Number “1” is “21” [mm / s], and the actuator of Leg Number “2” is The expansion / contraction speed of the actuator of “−91” [mm / s], Leg Number “3” is “−78” [mm / s], and the expansion speed of the actuator of Leg Number “4” is “100” [mm] / S], the expansion speed of the actuator of Leg Number “5” is “10” [mm / s].

  The image displayed on the video display unit M18 is a time-axis line indicated by a one-dot chain line, that is, a still image on the time axis “770”, and the time axis of the image is displayed on the time-axis display unit M19 [Line: 770]. In FIG. 2, the time axis line is displayed with a one-dot chain line for easy understanding of the display, but in an actual display, for example, it is displayed with a red solid line.

  The mouse pointer position display section M20 indicates the position of the mouse pointer P0 as a numerical value. In FIG. 2, the mouse pointer P0 has a time axis of “840 (7.00 sec)” and a posture data pitch of “0”. Is present. The time axis “840” is composed of 120 frames per second and indicates that 7 × 7 is 120 × 7 = 840.

  The posture data creation unit 111 displays a 3D model image of the motion platform on the 3D model input unit M15 set in the display device 103 so as to be operable by the input device 102, and the 3D model input unit M15 displayed by the input device 102. When the 3D model image of the motion platform is operated, posture data corresponding to the posture of the motion platform is created. Further, the motion data creation unit 112 creates motion data based on the posture data.

  In addition, the posture data creation unit 111 causes the three-dimensional model display unit M16 to display a three-dimensional model image of the motion platform having a posture corresponding to the posture data displayed on the posture data display unit M14. Further, the posture data creation unit 111 can create posture data based on the posture data graph displayed on the posture data graph display unit M14 based on the operation of the input device 102. The posture data graph displayed on the posture data graph display unit M14 is an interpolation method in which a time range for creating posture data is selected, and points plotted within the selected time range based on the operation of the input device 102 are set in advance. Interpolation processing is performed by

  FIG. 3 is a block diagram of the motion data creation apparatus 101.

  The motion data creation device 101 of this embodiment includes a processing device 131, a file device 132, an interface circuit 133, a display control circuit 134, a memory 135, a replaceable disk storage device 136, a communication circuit 137, a bus 138, and the like. Has been.

  The processing device 131 is composed of a CPU and the like, and executes a motion data creation program installed in the file device 132 to execute processing for generating motion data for controlling the attitude of the motion platform.

  The file device 132 includes a hard disk drive and the like, and includes a program file 141, a data file 142, and a setting file 143. A motion data creation program or the like is installed in the program file 141. The data file 142 stores posture data, motion data, and the like.

  The posture data is, for example, data related to the posture of the motion platform, and includes data such as motion platform pitch data, roll data, yaw data, heave data, surge data, and sway data.

  The pitch data is information on the magnitude of the pitch angle of the riding section. The roll data is data indicating the size of the roll angle of the riding section. The yaw data is data indicating the magnitude of the yaw angle of the riding section. The heave data is information indicating the magnitude of the vertical displacement of the riding section. The surge data is information indicating the magnitude of displacement of the front and rear method of the riding section. The sway data is data indicating the magnitude of the horizontal displacement of the riding section.

  The setting file 143 is a file for setting information regarding the motion base of the actuator type to be applied. The setting file 143 includes motion-based movable axis information, the number of actuators, motion-based origin position information, each actuator's neutral mounting position information, each actuator's minimum length information, each actuator's neutral actuator length information, each It includes information on the maximum length of the actuator, information on the maximum expansion / contraction speed of each actuator, and the like.

  The motion-based movable axis information is information for selecting data to be used from six types of axis information, for example, X-axis (sway), Y-axis (surge), Z-axis (heave), pitch, roll, and yaw. Yes, it is information for setting the motion-based degree of freedom (DOF). The user sets the movable axis corresponding to the motion base type used from the above six types of information. The relationship between the X-axis, Y-axis, and Z-axis and the sway, surge, and heave will be different each time. The X-axis (sway), Y-axis (surge), and Z-axis (heave) are examples. ing.

  For example, when creating 6-axis Stewart type motion-based motion data, all six types of axis information become movable axes. Further, when creating motion data based on 3-axis motion, for example, pitch, roll, yaw, or X, Y, and Z axes are movable axes. Further, when creating 4-axis motion-based motion data, for example, the Z-axis, pitch, roll, and yaw are movable axes. As an example of creating motion data based on 3-axis motion, pitch, roll, yaw, or X axis, Y axis, and Z axis are used as movable axes. This is just an example. It goes without saying that combinations of these are also conceivable. Similarly, as an example of creating 4-axis motion-based motion data, the case where the Z axis, pitch, roll, and yaw are used as movable axes has been raised. However, this is an example, and other combinations are possible. Needless to say.

  As the number of actuators, the number of actuators mounted on the applied motion base is set.

  In the motion base origin position information, the position information of the motion base origin is set by the three-dimensional coordinate information. In the neutral mounting position information of each actuator, the neutral mounting position of each actuator mounted on the motion base is set by three-dimensional coordinates.

  In the minimum length information of each actuator, a value of the minimum length of each actuator mounted on the motion base is set. In the actuator length information of each actuator at the neutral time, a value of the actuator length at the neutral time of each actuator mounted on the motion base is set.

  In the maximum length information of each actuator, a value of the maximum length of each actuator mounted on the motion base is set.

  In the maximum expansion / contraction speed information of each actuator, the maximum value of the expansion / contraction speed of each actuator mounted on the motion base is set.

  The processing operation of the motion creation program is executed based on the set value.

  The interface circuit 133 interfaces with the input device 102 and the bus 138.

  The display control circuit 134 controls the display device 103 in accordance with an instruction from the processing device 131 and causes the display device 103 to display an attitude operation display area, an attitude data display area, and an attitude display area.

  The memory 135 is used as a working storage area of the processing device 131. The replaceable disk storage device 136 is a drive device that reads a replaceable disk such as a CD-ROM, CD-R, CD-RW, DVD-ROM, DVD-R, DVD-RW, and the like. Read data from CD-R, CD-RW, DVD-ROM, DVD-R, DVD-RW, etc., as well as CD-ROM, CD-R, CD-RW, DVD-ROM, DVD-R, DVD-RW It is a device for writing data to.

  By using the removable disk storage device 136, the motion data creation program stored and provided on the removable disk is read and installed in the program file 141 of the file device 132 or created by the motion data creation program. Motion data can be stored on a removable disk.

  The communication circuit 137 is a circuit for performing communication with a network. By using the communication circuit 137, a motion data creation program is installed from the server into the program file 141 of the file device 132, or the motion data stored in the data file 122 is provided to the motion platform drive device via the network. can do.

  Next, the processing operation of the motion data creation program will be described.

  FIG. 4 shows a process flowchart of the motion data creation program.

  First, the processing device 131 starts video reproduction processing in step S1-0. In the video playback process, when a motion data file is specified by a designer or the like, a video corresponding to the specified motion data file is read from the data file 142 and displayed on the video display unit M18. At this time, if the designer designates the time on the time axis display unit M13 or the posture data graph display unit M14, the video displayed at the designated time is displayed on the video display unit M18. This makes it possible to accurately grasp the video at a specific time and the attitude of the motion platform.

  The processing device 131 reads the information set in the setting file 143 in step S1-01. Thus, motion data corresponding to the motion base of the axis configuration set by the user in the setting file 143 is created.

  In step S1-1, the processing device 131 determines whether or not the posture data is input by the model. If the posture data is input by the model in step S1-1, the processing device 131 displays the motion platform stereoscopic model image on the file device 132 posture input display unit M15 in step S1-2.

  Next, after the time range and time for setting the posture are specified in step S1-3, the processor 131 operates the input device 102 by the designer in step S1-4, and the motion displayed in the posture operation display area. When the attitude of the 3D model image of the platform is operated, the attitude of the 3D model image of the motion platform displayed in the attitude operation display area in step S1-5 is reflected in the 3D model image of the attitude display area. In step 6, line interpolation is performed within the time range specified for the posture data graph displayed in the posture data display area.

  Examples of the line interpolation method include linear interpolation (Linear), Bezier curve (Bezier), and polynomial curve (Cubic).

  FIG. 5 is a diagram for explaining an example of line interpolation. FIG. 5A shows an example of line interpolation by linear interpolation, FIG. 5B shows an example of line interpolation by a Bezier curve, and FIG. 5C shows an example of line interpolation by a polynomial curve.

  Linear interpolation forms a line obtained by interpolating plots p1, p2, and p3 with straight lines within a time range T1 set as shown in FIG.

  Line interpolation using a Bezier curve is a line interpolation that interpolates between plots p1 and p2, and between p2 and p3 with a smooth curve using a Bezier curve, as shown in FIG.

  Line interpolation by a polynomial curve is a line interpolation method for deriving and interpolating curves that pass through all designated plots p1, p2, and p3 as shown in FIG.

  Next, the processing device 131 performs waveform shaping on the posture information interpolated in step S1-7 by operating the input device 102 by the designer.

  Examples of waveform shaping include cut / copy / paste, insertion / addition, average synthesis, constant value, vertex deletion, smoothing, offset, etc., and waveform generation includes noise addition, sine wave addition, voice addition, etc. is there.

  Cut / copy / paste is a waveform shaping operation in which a waveform that has already been created is selected from a graph, and the selected graph is cut / copied into a selection range and pasted.

  Insertion is a waveform shaping operation that inserts a graph cut out from a specified time.

  Addition is a waveform shaping operation that changes the graph of the selected range to a copied or cut graph.

  Mixing is an operation of shaping the waveform into an average graph of the graph of the selected range and the graph copied or cut.

  The constant value is a waveform shaping operation that aligns the data in the selected range to a constant value.

  Vertex deletion is a waveform shaping operation that deletes plotted points.

  Smoothing is a waveform shaping operation that rounds data as a whole by taking the average of previous and subsequent frames.

  The offset is a waveform shaping operation that shifts the graph in the selected range as a whole by a certain value.

  Amplification / attenuation is a waveform generation operation for amplifying / attenuating a graph in a selected range with a value of 0 as the center.

  Noise addition is a waveform generation operation in which block noise having the maximum amplitude and period designated by the designer is randomly generated and added to a graph in the selected range.

  The sine wave addition is a waveform generation operation in which a sine wave having an amplitude and a period designated by the designer is generated and added to a graph in a selection range.

  Sound source addition is a waveform generation operation for adding the waveform of a designated sound source to a graph.

  The processing device 131 executes posture data conversion processing in step S1-8. In the posture data conversion process, posture data is converted into actuator length data of each of the six actuators constituting the six-axis actuator using inverse kinematics theory.

  Here, the principle for converting the attitude data into the actuator length data will be described.

  FIG. 6 is a diagram for explaining the conversion operation to the actuator length.

  The coordinate system of the motion platform upper part 201 is an upper coordinate system {M}, and the lower part 202 is a lower coordinate system {L}. O represents the origin of the lower coordinate system, and O ′ represents the origin of the upper coordinate system.

In the upper coordinate system {M}, the vector to the actuator upper mounting position A ′
^M P is,

The vector of the upper coordinate system {M} viewed from the lower coordinate system {L} is

The vector from the lower coordinate system {L} to the mounting position of the upper part 201 of the actuator is

And

  If the motion platform upper part 201 is displaced to a certain position / posture, the absolute coordinates of the mounting position of the upper part 201 of the actuator are

Can be expressed as

Here, _MR is a rotation matrix for rotating to a certain posture,

Thus, it is possible to obtain the upper mounting position of the actuator when moving to a certain posture on the origin O ′ of the upper coordinate system {M}.

  Also,

Is a movement vector to a certain position after displacement in the upper coordinate system {M}, and indicates movement in the vertical and horizontal directions. Therefore,

Thus, the upper mounting position of the actuator when it changes to a certain position / posture in the upper coordinate system {M} can be obtained.

  For example, the initial condition

And from the initial position

Let us consider a case where the motion platform upper part 201 is rotated by θ around the z axis (vertical direction).

  At this time, the rotation matrix is

Therefore, the upper mounting position of the actuator after displacement is

Can be expressed as

  Therefore, the length of the actuator that connects the upper and lower parts of the motion platform is the same as the lower mounting position of the actuator in the lower coordinate system.

If

It can be expressed as

  This is described in, for example, Hirose Shigeo, “Robotics (revised edition)-Vector analysis of mechanical systems”, Saika Huafusa, p.18-p.21 published on September 20, 2001, 15th edition. There is a description.

  The above-mentioned calculation is also performed for the other legs that couple the motion platform 201 and the base 202, so that the legs that couple the base 202 and the motion platform 201 from pitch, roll, yaw, heave, surge, and sway. A length of 203 can be determined.

  By controlling the length of the leg portion 203 by the actuator, the motion platform 201 changes so as to have a posture corresponding to the posture data with respect to the base 202.

  FIG. 7 shows a waveform diagram of an example when the posture data is converted into a 6-axis actuator length.

  7A is a pitch waveform, FIG. 7B is a roll waveform, FIG. 7C is a yaw waveform, FIG. 7D is a heave waveform, FIG. 7E is a surge waveform, and FIG. 7 (F) shows the waveform of the sway, and FIGS. 7 (G) to (L) show the waveform of the actuator length.

  The posture data designated as shown in FIGS. 7A to 7F is converted into, for example, the actuator lengths shown in FIGS. 7G to 7L according to the theory of inverse kinematics.

  Next, when obtaining the actuator length data in step S1-8, the processing device 131 performs an error check on the actuator length data in step S1-9. In the error check, it is checked whether each actuator length data is within a preset range. The setting range is set to the range of the extension / contraction length of the actuator that drives the leg 203.

  When an error occurs in step S1-10 as a result of the error check in step S1-9, the processing device 131 determines that the actuator length data exceeds the range of the expansion / contraction length of the actuator driven by the data. Then, an error is displayed to the user, and the process returns to step S1-1 to continue the process.

  If no error occurs in step S1-10, the processor 131 determines that the actuator length data for all six axes is within the range of the extension / contraction length of the actuator driven by the data, and step S1-11. Is registered in the data file 122 as motion data of the simulator.

  8 and 9 are diagrams showing screen displays when an error occurs.

  When an error occurs in the motion data, the created posture data graph shown by the solid line in FIG. 8 and the posture data graph that the error shown by the broken line in FIG. Is displayed. The posture data graph that will eliminate the error is displayed differently from the created posture data graph, for example, in a different color. By displaying the posture data graph that will eliminate the error indicated by the broken line in FIG. 8, the designer can recognize that an error occurs in the motion data in the created posture data graph.

  Here, as shown in FIG. 9, when the posture data graph of the pitch in the posture data graph is deformed, the motion data changes based on this, and other postures such as roll, yaw, X, Y, Z, etc. The data graph is also affected. For this reason, when the pitch attitude data graph is deformed by the designer, it is reflected in a display that will eliminate errors in other attitude data graphs such as roll, yaw, X, Y, and Z shown by broken lines in FIG. Let This may reduce the difference between the created posture data graph and the posture data graph from which the error will be resolved. This makes it possible to eliminate the error without deforming all the posture data graphs.

  For example, as shown in FIG. 8, after the posture data graph of unnecessary motion or low priority operation is deformed when an error occurs in all posture data graphs, the deformation amount of other posture data graphs is reduced. By deforming the posture data graph so that the error is eliminated, the error can be eliminated without significantly changing the posture intended by the designer.

  FIG. 10 is a diagram showing a display screen when the posture data graph is deformed. Note that FIG. 10 is a display screen when the pitch is deformed in the posture data graph, and other posture data graphs are omitted.

  When the posture data graph is deformed, as shown by the broken line and the alternate long and short dash line in FIG. 10, the posture data graph before the deformation is displayed differently from the post-deformation posture data graph indicated by the solid line, for example, in a different color. The As a result, the state of the posture data graph before the deformation can be easily recognized, and the posture data graph being deformed by the designer can be easily grasped.

  As described above, motion data of the motion platform desired by the designer is generated.

  The motion data generated by the motion data creation system 100 is stored in the exchangeable disk 151 by the exchangeable disk storage device 136 and registered in the simulation system, for example. In addition, you may make it register to a simulation system via a network.

  Next, a simulation system driven by the motion data generated by the motion data creation system 100 will be described.

  11 is a perspective view of the simulation system, FIG. 12 is a plan view of the simulation system, and FIG. 13 is a layout diagram of the acoustic system.

  The simulation system 1 includes a first stage 3 which is an area where an experienced person gets on the boarding unit 2 and a second stage 4 which is a main area where a virtual user is allowed to experience the rider on the boarding part 2. A double door automatic door 6 which is a closing means that can be opened and closed is provided between the first stage 3 and the second stage 4.

  The automatic door 6 is opened and closed by an opening / closing control signal. In addition, illuminations 7 are fixed on the ceiling of the first stage 3, and these illuminations 7 are blinked by an illumination blinking control signal.

  Moreover, in this simulation system 1, the boarding part 2 is comprised in the shape of the vehicle which has a seat which an experienced person can board, such as a vehicle and a boat, for example, and this boarding part 2 is the 1st stage 3 and 1st by a moving means. It can move between the two stages 4. For example, the moving means may be constituted by a traveling device including a rail laid between the first stage 3 and the second stage 4 and a vehicle that moves on the rail with a hydraulic motor or the like. You may comprise with the traveling apparatus which consists of the flat floor surface provided between the stage 3 and the 2nd stage 4, and this trolley which moves this floor surface with a hydraulic motor etc.

  On this traveling device, a 6-axis actuator which is a behavior applying means is mounted. The riding section 2 is fixed on the actuator, and the actuator causes the riding section 2 to behave individually or in a manner such as roll, pitch, yaw, sway (left and right), heave (up and down) surge (front and rear). They are given in a compound state.

  In addition, the second stage 4 is provided with a huge semi-cylindrical (R-shaped) screen 8 having a shape in which the front center is at the back and the left and right are protruding toward the front. Images are projected from three video projectors 9a, 9b, and 9c provided at the center, left, and right of the front ceiling.

  A machine room 10 is provided on the left side of the screen 8 of the second stage 4, and the second stage 4 and the machine room 10 are partitioned by a wall 11. The second stage 4 and the machine room are separated from each other. 10 is provided with a door DR that does not leak sound or the like. Reference numerals 12a to 12f are pillars of a building where the simulation system 1 is installed.

  Further, the machine room 10 includes a computer device 13 as a control means for performing various controls, an audio visual device 14 as a video image generation means for supplying sound generation means and video when supplying sound, and a six-axis hydraulic actuator. A hydraulic unit 15 that supplies hydraulic pressure to 51a to 51f is provided. In addition, a blower 16 is provided for supplying wind so as to face the riding section from above the screen 8.

  The first stage 3 is provided with an elevated floor getting-on / off floor 17, which makes it easy for an experienced person to get on and off the riding section 2. As shown in the figure, stairs 18a and 18b are provided on the boarding / alighting floor 17, respectively, so that the user can easily climb up and down the boarding / alighting floor 17. An operation panel 19 is provided on the left and right sides of the automatic door 6 on the getting-on / off floor 17. The operation panel 19 includes an operation panel for providing various commands to the computer device 13, an operation panel provided with an emergency stop switch for urgently stopping the actuator in an emergency, and the operation status of the riding section 2 in the second stage 4. A monitoring monitor is provided for monitoring the state of the experience person on the boarding unit 2.

  In addition, for example, the riding section 2 is provided with three rows of seats 20. The seat 20 is composed of, for example, a bench seat. For example, four experiencers can board a row, and a total of 12 experiencers can board in three rows.

  In this simulation system 1, four stereo sound circuits and one monaural sound system (SP9, 10, for speech) are provided, and speakers SP1 to SP10 of each system are arranged in each part. First, the speakers SP1 to SP4 of the two systems of stereo acoustic circuits that give the effect sound of the simulation are arranged as follows. In one system of speakers SP1 and SP2, the speaker SP1 is disposed on the ceiling on the back side of the screen 8, and the speaker SP2 is disposed on the ceiling on the wall 5 side. Further, in one system of the speakers SP3 and SP4, the speaker SP3 is disposed on the left floor surface in front of the screen 8 and the speaker SP4 is disposed on the right floor surface in front of the screen 8.

  Further, the speakers SP5 and SP6 of one system of stereo acoustic circuits are arranged in front of the boarding / alighting floor 14 of the first stage 3 as shown in FIG. 12, and the speaker SP6 as shown in FIG. Are arranged below the boarding / exiting floor 14 respectively.

  Further, the speakers SP7 and SP8 of the one-system stereo acoustic circuit are arranged such that the speaker SP7 is on the left end ceiling of the second stage 4 as shown in FIG. 12, and the speaker SP8 is a boarding / exiting floor 14 of the first stage 3 as shown in FIG. Are arranged below the left end of each.

  Further, the speakers SP9 and SP10 of one stereo audio circuit are provided in front of the experience person's seat. The computer device 13 controls the speakers SP1 to SP4 and the speech SP9 and SP10.

  FIG. 14 shows a system configuration diagram of the simulation system.

  The computer device 13 is composed of a computer system, and comprehensively processes the progress of simulation, and controls various devices in accordance with the progress of simulation. Although not shown, the computer device 13 includes a central processing unit (CPU) that processes various processes and controls according to a program, and a sound source control board that operates under the control of the CPU, digital / analog (DA) conversion. Equipped with a bowl. Further, the computer device 13 is provided with a synchronization signal input port 31, a serial port 32, an acoustic output port 33, an analog output port 34, an input / output port 35, and other ports 36 and 37.

  The audio visual device 14 is connected to the synchronization signal input port 31, the serial port 32, and the sound output port 33. The hydraulic unit 15 is connected to part of the analog output port 34 and the input / output port 35. Further, the operation panel 19, the illumination 7, and the blower 16 are connected to the input / output port 35. A keyboard 39 is connected to the other port 36, and a monitor 40 is connected to the other port 37.

  The audio visual device 14 includes a synchronization signal generation circuit 40, video players 41a to 41c, scan converters 42a to 42c, an audio player 43, and a power amplifier 44.

  The synchronization signal generation circuit 40 outputs a vertical synchronization (V SYNC) signal and a composite synchronization (COMPSIT SYNC) signal.

  The synchronization signal generation circuit 40 is connected to the synchronization signal input port 31 of the computer device 13 and supplies a vertical synchronization signal to the synchronization signal input port 31. The synchronization signal generation circuit 40 is connected to the synchronization input terminals of the video players 41a to 41c, and supplies a composite synchronization signal to each of the video players 41a to 41c.

  The video players 41 a to 41 c are connected to the serial port 32 of the computer device 13 and are reproduced by the video players 41 a to 41 c based on the control signal from the computer device 13 and the composite synchronization signal from the synchronization signal generation circuit 40. The images to be synchronized can be taken.

  The video players 41a to 41c are connected to the scan converters 42a to 42c, and supply the reproduced image signals to the scan converters 42a to 42c. The scan converters 42a to 42c convert the image signals from the video players 41a to 41c into image signals that can be driven by the video projectors 9a, 9b, and 9c. The image signals converted by the scan converters 42a to 42c are supplied to the video projectors 9a, 9b and 9c. Note that the scan converters 42a to 42c have an effect of making the scanning lines inconspicuous (reduce flickering due to the scanning lines).

  The audio player 43 of the audiovisual device 14 is connected to the sound output port 33 of the computer device 13 and reproduces the sound signal by the sound reproduction control signal from the sound output port 33.

  The acoustic signal reproduced by the audio player 43 is supplied to the power amplifier 44. The power amplifier 44 amplifies the sound signal from the audio player 43 and supplies it to the speaker SP. Note that the audio player 43 and the power amplifier 44 are each provided with three stereo reproduction circuits.

  The hydraulic unit 15 includes a 7-channel servo amplifier 51, a 6-axis hydraulic actuator 52, a travel device hydraulic actuator 53, and a motion base control panel 54.

  The servo amplifier 51 is connected to the analog output port 34 of the computer device 13, and drives and controls the 6-axis hydraulic actuator 52 and the hydraulic motor 53 based on instructions from the computer device 13.

  The file device 70 stores motion data generated by the motion data generation system 100.

  FIG. 15 is a schematic diagram of a six-axis drive mechanism.

  The six-axis drive mechanism is configured to be swingably attached to a base 61 to which a swinging part 62 on which the riding part 2 is mounted is connected via the above-described six-axis hydraulic actuators 51a to 51f.

  The six-axis hydraulic actuators 51a to 51f are driven so as to have an actuator length specified by the actuator length data constituting the motion data generated by the motion data generation system 100, and rolls, pitches, yaw according to the posture data. The oscillating portion 62 is displaced three-dimensionally so as to be sway (left and right) and heave (up and down) surge (front and back).

  The motion base control panel 54 is connected to the input / output port 35 of the computer device 13 and gives the computer device 13 status information of the servo unit, that is, status information of the riding section 2. The computer device 13 obtains state information from the motion base control panel 54 and gives a control command to the servo amplifier 51 to control the six-axis hydraulic actuator 52 and the traveling device hydraulic actuator 53.

  The hydraulic unit 15 is supplied with power from the emergency stop device 30. The emergency stop device 30 stops the supply of electric power from the power source to the hydraulic unit 15 when the detection signal from the area sensor or the emergency stop signal is input by the operation of the emergency stop switch of the operation panel 19. ing. The hydraulic unit 15 cannot supply hydraulic oil to the six-axis hydraulic actuator 52 and the travel device hydraulic actuator 53 when the supply of electric power is stopped, thereby causing the riding section 2 to stop urgently.

  Next, the operation of the computer device 13 will be described.

  FIG. 16 shows a processing flowchart of the computer device 13.

  First, the experience person gets into the boarding part 2 stopped at the stop position of the first stage 3. At this time, the illumination 7 is lit. When an experienced person gets into the boarding unit 2 and is ready to start, for example, an instructor (attender) or the like presses the start button on the operation panel 19.

  When the start button of the operation panel 19 is pressed in step S3-1, the computer device 13 turns off the illumination 7 and controls the traveling device hydraulic actuator 52 as a start process in step S3-2, so that the riding section 2 Is moved to the second stage 4.

  Next, in step S3-3, the computer device 13 activates the video players 41a to 41c, the audio player 43, and the blower 16, and starts a simulation. As a result, a simulation screen (a sensation image) is displayed on the screen 8, and a sensation medium such as sound and wind corresponding to the screen is given to the experience person.

  Further, the computer device 13 reads motion data from the file device 70 in step S3-4, and drives the 6-axis hydraulic actuator 52 with the motion data read in step S3-5 to control the posture of the riding section 2. At this time, the riding section 2 vibrates in synchronism with the sound by the acoustic vibration data added to the posture data by the motion data generation system 100.

  This makes it possible to give a more realistic virtual experience to the experience person who has boarded the boarding part 2.

  When the simulation ends in step S3-6, the computer device 13 operates the riding section 2 to the first stage 3 and turns on the illumination 7 in step S3-5.

  Then, the experienced person who has boarded the boarding part 2 gets off the boarding part 2 and leaves the first stage 3 through the stairs 18b.

  As described above, the riding section 2 vibrates in synchronization with the sound reproduced by the audio player 43. At this time, since the vibration of the riding section 2 is generated from the sound data itself reproduced by the audio player 43, a more realistic vibration can be obtained.

  In the present embodiment, an example in which a hydraulic actuator is used as the six-axis actuator has been described. However, the present invention is not limited to this, and the six-axis actuator is electrically driven using an electric motor such as a servo motor. It may be.

  Moreover, although the present Example demonstrated the structure which separated the motion data generation system 100 and the simulation system, you may integrate these and systemize.

  In the motion data generation system 100 according to the present embodiment, the keyboard 113 and the mouse 114 are used as input devices. Instead, a model (simple model) of a 6-axis motion platform structure configured as shown in FIG. ) A sensor such as a potentiometer is attached to the six legs, and the movement of each part is detected, and the output signal of the sensor is input to the motion data generation system 100 via the interface to create motion data. Also good.

  In this case, a simple model having a 6-axis motion platform structure as shown in FIG. Thus, the posture is determined by the sensor detecting the length of the six legs and taking it into the motion data generation system 100.

  By inputting using such a simple model having a 6-axis motion platform structure, motion data can be created while visually confirming the entire movement, so that the movement can be grasped intuitively and input becomes easy.

  In the present embodiment, the case where motion data is created for a 6-axis motion platform has been described. However, the motion data creation method of the present invention is not limited to this, and also for 3-axis and 4-axis motion platforms. Similarly, motion data can be created intuitively.

  FIG. 17 shows a schematic configuration diagram of an example of a three-axis motion platform.

  The three-axis motion platform 210 includes a lower base 211, a rotary shaft 212, links 213, 214, and 217, a universal joint 215, an upper base 216, and the like. The links 213, 214, and 217 are composed of actuators or the like, and drive the lower base 211 or the upper base 216.

  The lower base 211 is mounted on the rotary shaft 212 and can swing in the yaw direction and the arrow Yw direction by displacing the length of the link 217. The upper base 216 is coupled to the lower base 211 via links 213 and 214 and a universal joint 215.

  The universal joint 215 can swing freely according to the change in the length of the links 213 and 214. By displacing the lengths of the links 213 and 214, the links 213 and 214 swing in the pitch direction, the arrow Pt direction, the roll direction, and the arrow Rl direction.

  In the setting file 143, select the pitch, roll, and yaw as the movable axes, set the number of actuators to 3, set the 3D coordinates of the center of the motion base, the 3D coordinates of each actuator, the neutral time of each actuator, and the minimum time By setting the maximum length and the maximum speed of expansion and contraction, it is possible to create motion data of the three-dimensional motion platform 210 having the above-described configuration.

  FIG. 18 shows a schematic configuration diagram of an example of a 4-axis motion platform.

  The 4-axis motion platform 220 is configured such that the lower base 221 is linked to the upper base 226 by links 222, 223, 224, and 225.

  The links 222 and 223 are arranged side by side in the X-axis direction, and the links 224 and 225 are arranged side by side in the Y-axis direction.

  By displacing the lengths of the links 222, 223, 224, and 225 by an actuator, the links 222, 223, 224, and 225 can be swung in the pitch direction, the arrow Pt direction, the roll direction, the arrow Rl direction, the yaw direction, and the arrow Yw direction, and the y-axis direction. And parallel movement in the z-axis direction.

  In the setting file 143, select pitch, roll, yaw as the movable axis, set the number of actuators to 4, 3D coordinates of the center of the motion base, 3D coordinates of each actuator, neutral time, minimum time of each actuator, By setting the maximum length and the maximum speed of expansion and contraction, it is possible to create motion data of the four-dimensional motion platform 220 configured as described above.

  The applicant of the present invention has proposed a structure of an orthogonal three-axis motion platform in, for example, Japanese Patent Laid-Open No. 7-155475. Japanese Patent Laid-Open No. 10-151273 proposes a structure of a three-axis motion platform. Furthermore, actual No. 2541382 proposes a structure of a three-axis motion platform.

  For these, only the number of axes for posture control is different from that of the present embodiment, and motion data can be created in the same manner.

  In this embodiment, an example of application to a motion base using a hydraulic actuator has been described. However, the present invention can also be applied to creation of motion data in a motion database using other actuators such as a pneumatic actuator, a linear motor actuator, and an electric motor actuator. Needless to say.

  In the motion data creation system 100, the posture operation display area, the posture data, the posture of the motion platform, and the video to be applied are individually displayed on the display device 103. Further, a preview mode is set. A surrounding image viewed from the observation position of the passenger in the attitude of the motion platform at a specific time may be displayed. As a result, when creating motion data, it becomes possible to intuitively grasp the posture of the motion when applied to a simulation system as described later, and motion data can be created in a situation close to the actual situation. The correction etc. can be reduced.

  FIG. 19 is a flowchart illustrating processing in the preview mode, and FIG. 20 is a diagram illustrating an example of a preview screen. 20A shows a three-dimensional virtual space, and FIG. 20B shows a preview screen.

  When the preview mode is set in step S4-1, the processing device 131 sets a three-dimensional virtual space 311 such as a stage on which a motion platform is installed as shown in FIG. 20A in step S4-2.

  The processing device 131 pastes the video to be applied to the screen 312 set in the three-dimensional virtual space in step S4-3, and in step S4-4, for example, preset as shown in FIG. 20B. An image in the three-dimensional virtual space at the observation position Peye and the observation direction Leye is displayed on the preview screen 321.

  When the observation direction Peye and the observation direction Leye in the three-dimensional virtual space are updated by the operation of the mouse or the like by the user in step S4-5, the processing device 131 updates the observation position Peye and observation changed in step S4-5. The image displayed on the preview screen 321 is updated so that the image of the three-dimensional virtual space in the direction Leye is displayed.

  When the posture data is updated in step S4-6, the image displayed on the preview screen 321 is updated based on the posture data changed in step S4-7.

  The processing device 131 has a change in numerical values such as pitch, roll, yaw, X-axis, Y-axis, Z-axis, etc., for which posture data is determined in step S4-6, that is, motion of the motion platform 313. If there is a change, the change is reflected in the image displayed on the preview screen 321. For example, when the motion platform 313 rises, the image at the observation position and observation direction set at the raised position is displayed. When the motion platform 313 is lowered, the image at the observation position and observation direction set at the lowered position is displayed. Display. As specific processing, for example, the observation position Peye and the observation direction Leye are changed based on the attitude data of the motion platform 313.

  As described above, the user can create motion data as if the user actually boarded the motion platform 313 by referring to the preview screen 321.

  At this time, the movement of the motion platform 313 in the observation position Peye and the observation direction Leye when the user changes the boarding position by changing the observation position Peye and the observation direction Leye can be confirmed. This can assist in creating motion data.

  The three-dimensional virtual space may be a simply set space, but actual stage three-dimensional image data or the like may be used. This makes it possible to more realistically reproduce the motion platform motion.

  The present invention is not limited to the above-described embodiments, and it goes without saying that various modifications can be considered without departing from the gist of the present invention.

It is a system configuration figure of one example of the present invention. It is a figure which shows an example of the motion data creation screen displayed on the display apparatus 103 by the motion data creation apparatus 101. FIG. 2 is a block configuration diagram of a motion data creation device 101. FIG. It is a processing flowchart of a motion data creation program. It is a figure for demonstrating the example of line interpolation. It is a figure for demonstrating the conversion operation | movement to an actuator length. It is a waveform diagram of an example when posture data is converted into a 6-axis actuator length. It is a figure which shows the screen display at the time of error occurrence. It is a figure which shows the screen display at the time of error occurrence. It is a figure which shows the display screen at the time of attitude | position data graph deformation | transformation. It is a perspective view of a simulation system. It is a top view of a simulation system. It is an arrangement plan of an acoustic system. It is a system configuration figure of a simulation system. It is a schematic diagram of a 6-axis drive mechanism. 10 is a process flowchart of the computer device 13. It is a schematic block diagram of an example of a 3-axis motion platform. It is a schematic block diagram of an example of a 4-axis motion platform. It is a process flowchart of a preview mode. It is a figure which shows an example of a preview screen.

Explanation of symbols

100 motion data creation system 101 motion data creation device 102 input device 103 display device 111 attitude data creation unit 112 motion data creation unit 131 processing device 132 file device 133 interface circuit 134 display control circuit 135 memory 136 possible Exchangeable disk storage device 137 communication circuit, 138 bus

Claims (22)

A motion data creation device for creating motion data for controlling the attitude of a motion platform based on an operation of an input device,
An image of the motion platform is displayed on a display device, and when the image of the motion platform is operated by the input device, an attitude data creation unit that creates posture data according to the attitude of the image of the motion platform;
A motion data creation device comprising: a motion data creation unit that creates the motion data based on the posture data. The motion data creation device according to claim 1, wherein the posture data creation unit displays a posture data graph in which the posture data is plotted with respect to a time axis on the display device. The motion data creation device according to claim 2, wherein the posture data creation unit displays a waveform serving as a boundary for error elimination of the posture data graph in an error occurrence portion of the posture data graph. The motion data creation device according to claim 2, wherein when the posture data graph is changed, the posture data creation unit displays the posture data graph before the change together. Observation position and direction information in the virtual space in which the motion platform is arranged is input, and when viewed from the observation direction from the observation position based on the input observation position and direction information and attitude data of the motion platform The motion data creation device according to claim 1, further comprising a preview screen display processing unit that displays a preview image in a virtual space in which the motion platform is arranged. A motion data creation device for creating motion data for controlling the attitude of a motion platform based on an operation of an input device,
An image of the motion platform is displayed on a display device, and when the image of the motion platform is operated by the input device, an attitude data creation unit that creates posture data according to the attitude of the image of the motion platform;
When the observation position and direction information in the virtual space where the motion platform is arranged is input, and when viewed from the observation position from the observation position based on the input observation position and direction information and attitude data of the motion platform A preview screen display processing unit for displaying a preview image in a virtual space in which the motion platform is arranged. A motion data creation method for creating motion data for controlling a posture of a motion platform based on an operation of an input device on a computer,
Displaying an image of the motion platform on a display device;
When the image of the motion platform is operated by the input device, create posture data corresponding to the posture of the image of the motion platform,
A motion data creation method for creating the motion data based on the posture data. The motion data creation method according to claim 7, wherein an attitude data graph obtained by plotting the attitude data with respect to a time axis is displayed on the display device. The motion data creation method according to claim 8, wherein a waveform serving as a boundary for error elimination of the posture data graph is displayed together with an error occurrence portion of the posture data graph. The motion data creation method according to claim 8, wherein when the posture data graph is changed, the posture data graph before the change is displayed together. When the observation position and direction information in the virtual space where the motion platform is arranged is input, and when viewed from the observation position from the observation position based on the input observation position and direction information and attitude data of the motion platform The motion data creation method according to claim 7, wherein a preview image on a stage on which the motion platform is mounted is displayed. A motion data creation method for creating motion data for controlling the attitude of a motion platform based on an operation of an input device,
A step of displaying an image of the motion platform on a display device, and generating posture data corresponding to a posture of the image of the motion platform when the image of the motion platform is operated by the input device;
When the observation position and direction information in the virtual space where the motion platform is arranged is input, and when viewed from the observation position from the observation position based on the input observation position and direction information and attitude data of the motion platform And a procedure for displaying a preview image in a virtual space in which the motion platform is arranged. On the computer,
The procedure to display the motion platform image on the display device,
A procedure for creating posture data corresponding to the posture of the motion platform image when the image of the motion platform is operated by the input device;
A computer-readable motion data creation program for executing a procedure for creating the motion data based on the posture data. The motion data creation program according to claim 13, wherein an attitude data graph obtained by plotting the attitude data with respect to a time axis is displayed on the display device. The motion data creation program according to claim 13, wherein an image of the motion platform corresponding to the posture data is displayed on the display device. The motion data creation program according to claim 13, wherein the image of the motion platform displayed on the display device is a stereoscopic model image of the motion platform. The motion data creation program according to claim 14, wherein the posture data graph is created by interpolating the posture data plotted in a range selected based on an operation of the input device. The motion data creation program according to claim 14, wherein an image corresponding to a time specified by the posture data graph is displayed on the display device. 15. The motion data creation program according to claim 14, wherein a waveform that is an error elimination boundary of the posture data graph is displayed together with an error occurrence portion of the posture data graph. The motion data creation program according to claim 13, wherein when the posture data graph is changed, the posture data graph before the change is also displayed. When the observation position and direction information in the virtual space where the motion platform is arranged is input, and when viewed from the observation position from the observation position based on the input observation position and direction information and attitude data of the motion platform The motion data creation program according to any one of claims 13 to 20, wherein a preview image on a stage on which the motion platform is mounted is displayed. On the computer,
The procedure to display the motion platform image on the display device,
A procedure for creating posture data corresponding to the posture of the motion platform image when the image of the motion platform is operated by the input device;
When the observation position and direction information in the virtual space where the motion platform is arranged is input, and when viewed from the observation position from the observation position based on the input observation position and direction information and attitude data of the motion platform A computer-readable motion data creation program for executing a procedure for displaying a preview image in a virtual space in which the motion platform is arranged.