JP5377171B2 - Car simulator - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide an automobile simulator that simulates movement of a rotation center when an automobile vehicle turns and can simulate movement of a real vehicle during turning with higher fidelity. <P>SOLUTION: The automobile simulator 10 includes a driver seat unit 22 where an operator is positioned to drive, a rocking device 16 rocking the driver seat unit 22, and a rotation table 18 disposed on the rocking device 16 and turning the driver seat unit 22 around a rotation axial line. The simulator rocks the driver seat unit 22 by the rocking device 16 in accordance with the driving operation of the operator and turns the driver seat unit 22 by the rotation table 18 to give the operator an experience simulating a state of riding an automobile vehicle. The automobile simulator 10 is further equipped with a translation movement table 20 that translates the driver seat unit 22 on the rotation table 18 with respect to the rotation axial line 24 of the rotation table 18 to simulate movement of the rotation center during turning. <P>COPYRIGHT: (C)2011,JPO&amp;INPIT

Description

  The present invention simulates the driving state of an automobile vehicle to the operator by shaking the driver's seat by a shaking device and turning the driver's seat by a rotary table in accordance with the driving operation of the operator of the driver's seat. It relates to a car simulator to experience.

  The car simulator is used in conjunction with a visual reproduction device to reproduce the road and surrounding conditions, and controls the state of driving a car by simulating the acceleration experienced by the operator as the driver operates. Used to give a simulated experience to a person.

  As described in, for example, Patent Document 1, an automobile simulator includes an XY table that translates a driver seat installed on a floor surface and in which an operator is positioned in the X-axis and Y-axis directions orthogonal to each other in a horizontal plane, and XY A six-axis shaking device that is arranged on a table and that gives the driver's seat a shake such as an inclination, and a rotary table that is arranged on the shaking device and rotates the driver's seat around the rotation axis. It is common to be fixed on top. The XY table is used to give translational motion to the driver's seat and simulate the acceleration and lateral acceleration mainly during transient acceleration / deceleration using the acceleration of translational motion, and let this be experienced by the operator of the driver's seat Is done. For this reason, the XY table is often large, for example, 20 m × 30 m, and is difficult to support by a 6-axis shaking device, and is usually installed on the floor under the 6-axis shaking device. Is done. Further, the 6-axis shaking device simulates a steady acceleration mainly by a gravitational acceleration component that acts on the operator of the driver seat when the driver seat is tilted, so that the operator of the driver seat can experience this. Used for. Further, the rotary table is mainly used for simulating the rotation of the automobile vehicle when turning a corner or the like and causing the operator of the driver seat to experience it.

JP 2005-505783 A

  By the way, when the car turns around a corner, etc., the revolution movement around the center of rotation and the rotation movement around the rotation center located near the center of the rear wheel axle are performed simultaneously, and the driver can perform the lateral acceleration and rotation generated by the revolution movement. I feel both rotations by movement. Therefore, when the rotation center of the automobile vehicle is not located on the rotation axis of the turntable of the automobile simulator, the operator feels uncomfortable during the turning operation. Since the center of rotation of the automobile vehicle is usually located near the longitudinal center of the rear wheel axle, for example, the driver seat is arranged so that the operator of the driver seat is positioned on the rotation axis of the rotary table. Then, the operator feels as if the rear wheel is slipping. Therefore, the driver's seat part is usually arranged so that the vicinity of the rear wheel axle center is located on the rotation axis of the rotary table.

  However, the center of rotation of the automobile vehicle is not always located near the center of the rear wheel, and the position of the center of rotation depends on conditions such as the speed of the automobile vehicle, steering angle, and occurrence of slip, It changes in the horizontal direction. For example, when oversteering, understeering, or slip occurs, the center of rotation moves from the vicinity of the rear axle center to the front side. However, in the conventional automobile simulator, the change of the position of the rotation center at the time of turning is not taken into consideration, and the driver's seat part is fixed to the rotary table, so that the movement of the automobile vehicle at the turning movement is faithfully simulated. It was not possible to make the operator feel uncomfortable.

  Therefore, the object of the present invention is to solve the above-mentioned problems in the prior art, simulate the movement of the center of rotation during the turning motion of the automobile vehicle, and more faithfully simulate the movement of the actual vehicle during the turning motion. It is to provide a car simulator that can be used.

  In order to achieve the above object, according to the present invention, a driver's seat part where an operator is positioned and performs a driving operation, a shaking device that shakes the driver's seat part, a driving device provided on the shaking device and driven around a rotation axis. A rotating table that turns the seat, and according to the driving operation of the operator, the driver seat is shaken by the shaking device and the driver seat is turned by the rotating table, and the operator gets on the vehicle. In the vehicle simulator for simulating and experiencing the state, a vehicle simulator further provided with a translation mechanism for translating the driver's seat portion relative to the rotation axis of the rotation table on the rotation table is provided.

  In the above-mentioned automobile simulator, the translational movement mechanism can translate the driver's seat on the rotary table, so that the positional relationship between the rotation axis of the rotary table and the driver's seat can be changed, and the vehicle vehicle turns. It becomes possible to simulate the movement of the rotation center at the time.

  The translational movement mechanism is a translational movement table that is provided between the rotary table and the driver's seat part and moves the driver's seat part on the rotary table in a plane parallel to the surface of the rotary table. Is preferred.

  For example, the translation table includes a first table arranged on the rotary table, a second table arranged on the first table, and the second table arranged on the rotary table. A first driving device for moving the first table in a first direction with respect to the rotary table; and the second table relative to the first table on the first table. And a second driving device that moves in a second direction perpendicular to the direction.

  According to the present invention, since the positional relationship between the rotation axis of the rotary table and the driver's seat can be changed by the translation mechanism, it is possible to simulate the movement of the center of rotation when the automobile vehicle turns. Thus, the movement of the actual vehicle can be simulated more faithfully and the operator's experience can be reproduced more accurately.

It is the block diagram which looked at one Embodiment of the motor vehicle simulator by this invention from the side. It is a block diagram which shows the modification of the motor vehicle simulator shown by FIG. FIG. 2 is an exploded view of the rotating table and the XY table of the automobile simulator shown in FIG. 1. It is a top view of the turntable of the automobile simulator shown in FIG. It is a bottom view of the Y-axis direction table of the translation table of the automobile simulator shown in FIG. It is a top view of the Y-axis direction table of the translation table of the automobile simulator shown in FIG. It is a bottom view of the X-axis direction table of the translation table of the automobile simulator shown in FIG. It is explanatory drawing which shows the state in which the rotating shaft line of a turntable is located in the longitudinal direction center vicinity of a rear-wheel axle. It is explanatory drawing which shows the state in which the rotating shaft line of a turntable is located behind an operator. It is explanatory drawing which shows the state in which the rotating shaft line of a turntable is located beside an operator.

Hereinafter, embodiments of the present invention will be described with reference to the drawings.
Initially, with reference to FIG. 1, the whole structure of the motor vehicle simulator 10 by this invention is demonstrated. The automobile simulator 10 is intended to accurately simulate the state of a turning movement of an automobile vehicle at a corner or the like, and includes a shaking device 16 installed on a base 14 with an upper frame 12 supported on the upper part. The rotary table 18 supported on the upper frame 12 of the shaking device 16, the translation table 20 installed on the rotary table 18, and the driver seat unit 22 installed on the translation table 20 are provided. The driver's seat unit 22 may include a visual reproduction device (not shown) for reproducing the traveling path and surrounding conditions.

  The shaking device 16 inclines the driver's seat 22 supported on the upper frame 12 via the rotary table 18 and the translation table 20 with respect to the floor surface according to the operation of the operator in the driver's seat 22. It is possible to simulate the acceleration by using the gravitational acceleration component that acts on the operator when the driver's seat 22 is tilted, and to let the operator of the driver's seat 22 experience the acceleration generated by the movement of the automobile vehicle. By tilting the driver's seat 22 using the shaking device 16, for example, acceleration during steady acceleration / deceleration and lateral acceleration caused by a revolving motion during turning are simulated. As the shaking device 16, for example, a 6-axis parallel mechanism can be used. The configuration of the 6-axis parallel mechanism is well known and will not be described in detail here.

  The turntable 18 turns the driver's seat 22 supported on the turntable 18 via the translation table 20 with respect to the floor and the shaking device 16 according to the operation of the operator in the driver's seat 22. The rotation of the rotary table 18 around the rotation axis 24 can be used to simulate the rotation caused by the rotation of the automobile vehicle when turning, so that the operator of the driver seat 22 can rotate. To experience. The configuration of the rotary table 18 is well known and will not be described in detail here.

  When it is desired to faithfully simulate the transient acceleration acting on the operator during acceleration / deceleration of the automobile vehicle, an acceleration / deceleration simulation is provided below the shaking device 16 as shown in FIG. An additional XY table 26 may be installed. The acceleration / deceleration simulation XY table 26 gives a translational motion to the driver's seat unit 22 to simulate mainly transient acceleration / deceleration and lateral acceleration by the acceleration of the translational motion, so that the operator of the driver's seat unit 22 can experience this. Therefore, it becomes very large as compared with a translation table 20 (to be described later) that translates the driver seat 22 with respect to the rotation axis 24 of the rotary table 18.

  The translation table 20 is disposed between the rotary table 18 and the driver's seat 22 and moves the driver's seat 22 on the rotary table 18 in a plane substantially parallel to the surface of the rotary table 18. 18 functions as a translation mechanism that translates the driver seat 22 relative to the rotational axis 24 of the rotary table 18. Like the acceleration / deceleration simulation XY table 26, the translation table 20 faithfully gives acceleration of acceleration / deceleration and lateral acceleration due to revolving motion to the operator of the driver's seat portion 22 by the acceleration of translation motion given to the driver's seat portion 22. The XY table 26 for simulating acceleration / deceleration is mainly used for translational movement of the driver seat 22 with respect to the rotation axis 24 of the rotary table 18 mainly within the range of the driver seat 22. In comparison, the size can be reduced, and it can be supported on the upper frame 12 at the top of the shaking device 16.

The detailed configuration of the translation table 20 will be described below with reference to FIGS.
As shown in detail in FIG. 3, the translation table 20 includes an X-axis direction table 28 that is movable in the X-axis direction, a Y-axis direction table 30 that is movable in the Y-axis direction, and an X-axis direction table. X-axis drive device 32 that drives 28 in the X-axis direction, and Y-axis drive device 34 that drives Y-axis direction table 30 in the Y-axis direction. In the present application, the X-axis direction is a direction in which the driver's seat portion 22 is moved left and right (in the direction perpendicular to the paper surface in FIG. 1) with the front in the normal direction of travel of the automobile as the front, and the Y-axis direction is the driver's seat. The direction which moves the part 22 back and forth (left-right direction in FIG. 1) is pointed out.

  The Y-axis direction table 30 is disposed on the rotary table 18. As shown in FIG. 4, two Y-axis guide rails 36 extending in the Y-axis direction are fixed to the top surface of the rotary table 18, while the bottom surface of the Y-axis direction table 30 is fixed to the bottom surface of the Y-axis direction table 30. As shown in FIG. 5, a Y-axis slider 38 associated with each of the two Y-axis guide rails 36 is fixed at a position facing each Y-axis guide rail 36. Therefore, by arranging the Y-axis direction table 30 on the rotary table 18 so that the Y-axis slider 38 of the Y-axis direction table 30 engages with the Y-axis guide rail 36 on the rotary table 18, Thus, the Y-axis direction table 30 can be moved while being guided in the Y-axis direction.

  In the illustrated embodiment, two Y-axis guide rails 36 are installed on the rotary table 18, but one Y-axis guide rail 36 or three or more Y-axis guide rails 36 extending in parallel to each other are provided. It may be installed so that each Y-axis guide rail 36 is engaged with at least one Y-axis slider 38. In the illustrated embodiment, two Y-axis sliders 38 are engaged with each Y-axis guide rail 36 of the rotary table 18, but each Y-axis guide rail 36 of the rotary table 18 is engaged. One or three or more Y-axis sliders 36 may be engaged with each other. However, in order to stably translate the Y-axis direction table 30, two or more Y-axis guide rails 36 are used and two or more Y-axis sliders 38 are engaged with each Y-axis guide rail 36. It is preferable to combine them.

  The Y-axis drive device 34 includes a plurality of Y-axis balls extending in the Y-axis direction and parallel to each other at right angles to the shaft 42 via a gear box 44 through the rotation of a shaft 42 that is rotationally driven by a single Y-axis drive motor 40. A plurality of Y-axis ball screws 46 are rotated synchronously by transmitting to the screws 46, and the rotation of each Y-axis ball screw 46 is engaged by the Y-axis ball screw receiver (nut) 48 to engage with the Y-axis ball. The Y-axis ball screw receiver 48 is converted into a linear motion with respect to the screw 46, and the Y-axis direction table 30 is driven in the Y-axis direction with respect to the rotary table 18 using this linear motion (see FIG. 4 and FIG. 4). (See FIG. 5). In the illustrated embodiment, two Y-axis ball screws 46 are rotated by one Y-axis drive motor 40. By driving the plurality of Y-axis ball screws 46 using the single Y-axis drive motor 40 in this way, it becomes easy to rotate the plurality of Y-axis ball screws 46 in synchronization. However, each Y-axis ball screw 46 may be driven by a separate Y-axis drive motor 40 as long as the plurality of Y-axis ball screws 46 can be rotated in synchronization.

  In the illustrated embodiment, the Y-axis drive motor 40, the shaft 42, each gear box 44, and each Y-axis ball screw 46 are attached to the rotary table 18, while each Y-axis ball screw receiver 48 is attached to the Y-axis direction table 30. Thus, the Y-axis direction table 30 can be moved with respect to the rotary table 18 by the Y-axis drive device 34 while being guided along the Y-axis guide rail 36. However, the Y-axis drive device 34 is only required to be able to drive the Y-axis direction table 30 in the Y-axis direction with respect to the rotary table 18. For example, the Y-axis drive motor 40, the shaft 42, and each gear box 44. Each Y-axis ball screw 46 may be attached to the Y-axis direction table 30, while each Y-axis ball screw receiver 48 may be attached to the rotary table 18.

  The X-axis direction table 28 is disposed on the Y-axis direction table 30. As shown in FIG. 6, two X-axis guide rails 50 extending in the X-axis direction are fixed to the upper surface of the Y-axis direction table 30, while As shown in FIG. 7, the X-axis slider 52 associated with each of the two X-axis guide rails 50 is fixed to the bottom surface at a position facing each X-axis guide rail 50. Therefore, by arranging the X-axis direction table 28 on the Y-axis direction table 30 so that the X-axis slider 52 of the X-axis direction table 28 engages with the X-axis guide rail 50 on the Y-axis direction table 30, The X-axis direction table 28 can be moved with respect to the axial table 30 while being guided in the X-axis direction.

  In the illustrated embodiment, two X-axis guide rails 50 are installed on the Y-axis direction table 30, but one X-axis guide rail 50 or three or more X-axis guide rails extending in parallel to each other. 50, and each X-axis guide rail 50 may be engaged with at least one X-axis slider 52. In the illustrated embodiment, the two X-axis sliders 52 are engaged with the X-axis guide rails 50 of the Y-axis direction table 30. One or three or more X-axis sliders 52 may be engaged with the shaft guide rail 50, respectively. However, in order to stably translate the X-axis direction table 28, two or more X-axis guide rails 50 are used, and two or more X-axis sliders 52 are engaged with each X-axis guide rail 50. It is preferable to combine them.

  The X-axis drive device 32 includes a plurality of X-axis balls extending in the X-axis direction and parallel to each other at a right angle to the shaft 56 via a gear box 58 through the rotation of a shaft 56 driven to rotate by one X-axis drive motor 54. By transmitting to the screw 60, the plurality of X-axis ball screws 60 are rotated synchronously, and the rotation of each X-axis ball screw 60 is engaged by the X-axis ball screw receiver (nut) 62 to engage with the X-axis ball. This is converted into a linear motion of the X-axis ball screw receiver 62 with respect to the screw 60, and the X-axis direction table 28 is driven in the X-axis direction with respect to the Y-axis direction table 30 using this linear motion. In the illustrated embodiment, two X-axis ball screws 60 are rotated by one X-axis drive motor 54. By driving the plurality of X-axis ball screws 60 by the single X-axis drive motor 54 in this way, it becomes easy to rotate the plurality of X-axis ball screws 60 in synchronization. However, each X-axis ball screw 60 may be driven by a separate X-axis drive motor 54 as long as the plurality of X-axis ball screws 60 can be rotated in synchronization.

  In the illustrated embodiment, the X-axis drive motor 54, the shaft 56, each gear box 58 and each X-axis ball screw 60 are attached to the Y-axis direction table 30, while each X-axis ball screw receiver 62 is attached to the X-axis direction table 28. The X-axis direction table 28 can be moved with respect to the Y-axis direction table 30 by the X-axis drive device 32 while being guided along the X-axis guide rail 50. However, the X-axis drive device 32 only needs to be able to drive the X-axis direction table 28 in the X-axis direction with respect to the Y-axis direction table 30, for example, the X-axis drive motor 54, the shaft 56, and each gear. While the box 58 and each X-axis ball screw 60 are attached to the X-axis direction table 28, each X-axis ball screw receiver 62 may be attached to the Y-axis direction table 30.

  By fixing the driver's seat 22 on the X-axis direction table 28 of the translation table 20 configured in this way, the axis of rotation 24 of the rotary table 18 is parallel to the rotary table 18 by the translation table 20. Accordingly, the driver's seat part 22 can be translated.

Next, the operation of the automobile simulator 10 shown in FIG. 1 will be described.
When the operator performs acceleration / deceleration by operating the accelerator or brake of the driver's seat 22, the acceleration of gravity acting on the operator when the driver's seat 22 is tilted in the front-rear direction by the shaking device 16. Use components to simulate acceleration during acceleration / deceleration. It is also possible to simulate a part of the acceleration at the time of acceleration / deceleration by using the acceleration when the driver seat unit 22 is translated by the translation table 20. Further, when the acceleration / deceleration simulation XY table 26 is provided, the acceleration at the time of acceleration / deceleration is simulated using the acceleration when the driver's seat 22 is translated by the acceleration / deceleration simulation XY table 26. You can also.

  On the other hand, when the operator makes a turning motion by operating the handle of the driver's seat 22 or the like, the gravitational acceleration that acts on the operator when the driver's seat 22 is tilted left and right by the shaking device 16. The lateral acceleration caused by the revolving motion around the turning center is simulated using the components, and the rotation by the rotation motion around the rotation center of the automobile is simulated by rotating the driver's seat 22 around the rotation axis 24 by the rotary table 18. . At this time, depending on conditions such as the speed of the automobile vehicle, the steering angle, and the occurrence of slip, for example, oversteering, understeering or slipping occurs, and the center of rotation of the automobile vehicle moves in the front-rear direction or the left-right direction. In this case, the driver seat 22 is translated with respect to the rotation axis 24 of the rotary table 18 by the translation table 20 and then the driver seat 22 is rotated around the rotation axis 24.

  In a normal state, the center of rotation of the automobile vehicle is located near the longitudinal center of the rear wheel axle as shown in FIG. From this state, when the center of rotation moves behind the operator 64 as shown in FIG. 9 according to conditions such as the speed of the automobile vehicle, the steering angle, and the presence or absence of slip, translation is performed. By operating the X-axis drive device 32 of the moving table 20 to translate the X-axis direction table 28 to the left side in FIG. 8 with respect to the rotating table 18, the driver seat 22 with respect to the rotating axis 24 of the rotating table 18. Is translated in the left direction, and the rotation axis 24 of the turntable 18 is moved behind the driver seat 22. Further, for example, as shown in FIG. 10, when the rotation center moves to the side of the operator 64, the Y-axis drive device 34 of the translation table 20 is operated to move the rotation table 18 in the Y-axis direction. By moving the table 30 rearward in FIG. 8, the X-axis direction table 28 and the driver seat 22 supported by the Y-axis direction table 30 are moved rearward with respect to the rotation axis 24 of the rotary table 18, thereby rotating the rotary table. The 18 rotation axis lines 24 are moved to the side of the driver seat 22.

  Thus, by moving the driver's seat portion 22 with respect to the rotation axis 24 of the turntable 18 according to conditions such as the speed of the automobile vehicle, the steering angle, and the occurrence of slipping, the turning time of the automobile vehicle can be increased. It becomes possible to simulate the movement of the center of rotation of the vehicle, and to more faithfully simulate the movement of the actual vehicle during the turning motion. Therefore, it is possible to more accurately reproduce the bodily sensation during the turning motion and to reduce the uncomfortable feeling that the operator feels compared to the operation of the actual vehicle.

DESCRIPTION OF SYMBOLS 10 Car simulator 16 Shaking device 18 Rotary table 20 Translation movement table 22 Driver's seat part 24 Rotating axis 28 X-axis direction table 30 Y-axis direction table 32 X-axis drive device 34 Y-axis drive device

Claims (3)

A driver's seat part where the operator is located and performs a driving operation, a shaking device that shakes the driver's seat part, and a rotary table that is provided on the shaking device and that rotates the driver's seat part around the rotation axis, In an automobile simulator that causes the operator to experience the state of getting on the vehicle by giving the operator a shake by the shaking device and turning the driver seat by the rotating table according to the driving operation,
An automobile simulator, further comprising a translation mechanism for translating the driver's seat portion in a plane parallel to the surface of the rotary table on the rotary table with respect to the rotation axis of the rotary table .   The translation mechanism is a translation table that is provided between the rotary table and the driver seat and moves the driver seat on the rotary table in a plane parallel to the surface of the rotary table. The automobile simulator according to claim 1.   The translation table includes a first table arranged on the rotary table, a second table arranged on the first table, and the first table relative to the rotary table on the rotary table. A first drive device for moving the table in a first direction, and a second direction perpendicular to the first direction relative to the first table on the first table. The vehicle simulator according to claim 2, further comprising: a second drive device that is moved to the vehicle.

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