JPH02161969A - Riding simulator system - Google Patents

Abstract

PURPOSE:To realize motion, which is close to the real motion of a horse, and to control a horse body by the supporting action of a riding person by providing a control means to execute control so that the operation mode of the horse body can be changed successively according to a control program each time a detecting signal is inputted from a leg operation detector and further the stepping operation of the horse body can be stopped when a detecting signal is inputted from bridle operation detector. CONSTITUTION:In a condition that a horse body 2 executes initial operation, a riding person 1 sends a to sign horse body belly part. When the leg operation detecting signal is outputted from a leg operation detector 20, the control means controls a driving mechanism based on the control program so as to change the operation mode of the horse body. A controller 18 is electrically connected with a bridle operation detector 19 to detect bridle operation when a bridle 33 is pulled and the leg operation detector 20 which is fitted to a horse body belly part position so that it can be operated by the leg of the riding person 1 in a condition the riding person 1 rides on the horse body 2. When the bridle operation detector 19 and leg operation detector 20 are provided to detect the so-called supporting motion when the supporting motion is executed by the riding person 1.

Description

[Detailed Description of the Invention] [Industrial Application Field] The present invention faithfully reproduces movements based on the actual walking motion of a horse, such as the amplitude of up-and-down motion, the phase difference between up-and-down motion and back-and-forth motion, and frequency. This relates to a horse riding simulator system that simulates horseback riding.

[Prior Art] Conventionally, horse riding equipment has been commercialized for recreational purposes, such as merry-go-rounds at amusement parks. As you can see when riding on these horse riding devices, the movements of these horse riding devices and the actual movements of the horse are significantly different from each other.

In other words, even if the above-mentioned conventional horse riding devices have complicated movements, they perform circular motions that simultaneously move the horse's body vertically and longitudinally, whereas most of them perform linear motions only in the vertical or longitudinal directions. It was limited to.

Not only those that move linearly, but also horse riding equipment that moves circularly, the amplitude is fixed, and furthermore, the phase difference between the vertical movement and the front movement is not considered at all. However, through manual operation, the rotation speed of the drive motor that drives the horse's body was simply increased, increasing the sense of speed during horseback riding.

Furthermore, with the above-mentioned conventional horse riding equipment, the seat rider cannot assist the horse. In other words, the rider uses his or her legs to send signals to the horse's abdomen, or uses the reins to send signals to the horse's head to start the horse, change the playing style or rate, Or, it was not possible to control the horse's body by stopping it.

[Problem to be solved by the invention] However, in actual horseback riding, there are three playing styles: walking,
There are trotting and galloping, and three rates: normal, contraction, and extension, and each performance method, frequency of the horse's body at each rate,
The amplitude and the phase difference between the vertical motion and the longitudinal motion are different.

Therefore, in order to experience the feeling of riding a horse that is close to that of a real horse, the horse's body must be driven so that the frequency, amplitude, and phase difference correspond to each playing style and rate, and the rider must be able to drive his/her legs and feet. It is necessary to be able to control things such as starting the horse, changing the playing style, or stopping the horse through assistance movements using the reins.

From the above, it can be seen that the conventional horse riding equipment only functions as an amusement machine, and cannot be said to have a function that allows the user to enjoy the feeling of riding a real horse.

Accordingly, the present invention aims to achieve a movement that is close to the actual movement of a horse, and to enable control of the horse's body through assisting movements of the seat rider.

[Means for Solving the Problems] The technical means for solving the above problems is to form a riding simulator system in which the main body part can be ridden, and each leg part attached to the main body part is A horse body formed to enable each movement according to a plurality of basic gait motion modes of a horse, and a horse body positioned at a position in the abdomen that can be operated by the legs of a rider sitting on the horse body. a leg movement detector attached to the horse's head, a rein operation detector for detecting rein operation when the rein is pulled, which is attached to the head of the horse; and a rein operation detector attached to the lower end of each of the legs of the horse. It is attached and drives each leg to move the horse's body vertically and longitudinally, and it also makes the vertical amplitude, vertical and longitudinal phase difference, and vibration frequency variable during this movement process. an operation mode setting means for setting a mode for causing the horse body to perform each of the walking motions corresponding to a plurality of basic walking motion modes of an actual horse; and the leg motion detector. controlling the drive mechanism based on the detection signal from the controller and the mode set by the operation mode setting means to start the walking motion of the horse;
Each time the detection signals from the rein operation detector and the leg motion detector are input, the operation mode of the horse body is changed sequentially according to the control program, and when the detection signal from the rein operation detector is further input, the horse The present invention is to provide a configuration including a control means for controlling to stop the walking motion of the body.

[Function] According to the riding simulator system having the above configuration, while the rider is sitting on the horse, the rider sends a signal to the abdomen of the horse using his or her legs, and a detection signal is output from the leg motion detector. At this time, the control means controls the drive mechanism based on the mode set by the operation mode setting means to start moving the horse.

Next, when the rider sends a signal to the horse's abdomen while the horse is making an initial movement and a leg movement detection signal is output from the leg movement detector, the control means executes a signal based on the control program. The drive mechanism is controlled to change the operating mode of the horse.

Each time the seat rider sends a signal to the abdomen, the control means controls the drive mechanism to sequentially change the operation mode of the horse body based on the control program. When the rider stops the walking motion of the horse, for example, by pulling the reins and causing the rein operation detector to output a detection signal, the control means stops controlling the drive means.

As described above, while the rider is seated on the horse, it is possible to make the horse perform a walking motion in accordance with the basic walking motion of an actual horse while performing assisting motions.

[Example] Next, embodiments of the present invention will be described with reference to the drawings.

Figure 6 shows the average basic data obtained by capturing the movements near the horse's center of gravity using a basic sine wave for a standard real horse. be. If we take the above data strictly, the horse's movement described above is a combination of harmonic components superimposed on the fundamental sine wave, but according to the actual measurement data, the proportion of harmonic components is relatively small, and the horse's movement is practically Since it is considered that only a basic sine wave is sufficient as data for simulating the above, the riding simulator system of this embodiment will be configured based on the basic data shown in FIG.

Furthermore, as shown in Figure 6, when walking, the frequency is 2.
Hz, the amplitude is 30 m both vertically and longitudinally, and the phase difference α1 between the vertical motion and the longitudinal motion is 0 degrees.

On the other hand, in the case of fast walking, the frequency is 3H2, and the amplitude is 30M both up and down and backwards and forwards, the same as in walking.

Also, when walking, the frequency drops to 1.7H2.

The amplitude differs slightly depending on the direction: 100 #lI in the upper and lower directions, and 120 am in the front and back directions.

It is considered that the phase difference α2 in fast walking and the phase difference α3 in canting are different from the phase difference α1-0 degrees in walking.

FIG. 1 is a control block diagram showing the overall configuration of a riding simulator system according to an embodiment of the present invention.

As shown in the figure, a horse body 2 carrying a seated rider 1 has four legs, namely a left front leg 3, a left hind leg 4, a right front leg 5, and a right hind leg 6.
is supported by The lower ends of these legs 3° 4.5 and 6 are provided with variable amplitude mechanisms 7, 8, and 9 for changing the amplitude of movement of the horse's body 2 in the vertical and longitudinal directions, respectively.
, and 10. The amplitude variable mechanism 7,
8,9゜10 are mechanical phase variable mechanisms 11.1
2°13 and 14.

Each of the above phase variable mechanisms 11, 12, 13, and 1
4 is a mechanism for generating vertical movement of the horse body 2 and a phase difference between the front and rear ribs, and is connected to the output shaft of the reduction gear 15 so as to be driven by a main motor 16 provided with a reduction gear 15. .

The main motor 16 is driven and controlled by an inverter 17 to change the rotation speed. The inverter 17 is connected to a control device 18 which is the central part of this system, and the control device 18 gives a speed command to the inverter 17 for rotating the main motor 16. The control device 18 also includes an eccentric amount setting motor (described later) provided in each of the amplitude variable mechanisms 7.8.9.10, and an eccentric amount setting motor (described later) provided in each of the phase variable mechanisms 11.12, 13.14. It is connected to the phase variable motor. Furthermore, the control device 18 includes a rein operation detector 19 for detecting a rein operation when a rein 33 (to be described later) is pulled, and a rein operation detector 19 for detecting rein operation when the rein 33 is pulled, which will be described later. A leg movement detector 20 is attached to the abdomen of the horse so that it can be operated by
electrically connected to. The rein operation detector 19 and the leg motion detector 20 are provided to detect a so-called assisting motion when the seat occupant 1 performs a so-called assisting motion.

Further, an operation panel 22 for supplying power from a power supply unit @21 and setting the operating mode of the horse body 2 is electrically connected to the control unit @18.

FIG. 2 is a perspective view of the road surface depicting the mechanical configuration of the riding simulator system shown in FIG. Front 2 amplitude variable mechanism for movement 7.8.9.
10, a phase variable mechanism 11, 12, 13, and 14 that generates a phase difference between vertical motion and longitudinal motion, and furthermore, a reduction gear 15, a main motor 16, etc. are shown in terms of road structure. . Note that FIG. 2 shows the configuration of the left leg 3.4 of the horse body 2, and in reality, the same amplitude variable mechanism and phase variable mechanism are provided for the right leg 5.6 of the horse body 2. It is being

As shown in the figure, a saddle 31 is mounted on the horse body 2, and stirrups 32 are attached to which the rider 1 rests his or her feet when the rider 1 sits on the saddle 31.

A rein 33 is tied to the head 2a of the horse body 2, and when the rein 33 is pulled, the rein operation detector 19 detects the rein operation and outputs a rein operation signal. Further, the instant motion detector 20 is attached to the abdomen 2b of the horse body 2, and when the seat rider 1 sends a signal to the abdomen 2b with his/her legs, the instant motion detector 20 outputs a leg motion detection signal. It has become so.

The left front leg 3 and left hind leg 4 (hereinafter simply referred to as the front leg 3 and hind leg 4) of the horse body 2 are arranged so that they can rotate around the front leg pivot 34 and the hind leg pivot 35, respectively. 2 Attached to the body. The lower end of the front leg 3 is supported so as to be rotatable around an eccentric shaft 37 of a disk 36 that constitutes the variable amplitude mechanism 7 formed in a disk shape. On the other hand, the lower end of the rear leg 4 is connected to eccentric shafts 40 and 4 attached to disks 38 and 39, respectively, which constitute the variable amplitude mechanism 8.
It is fixed to a horizontal bar 42 that is attached across the 1st and 1st. The horizontal bar 42 is swung by the disks 38 and 39 so as to always remain horizontal. The rear legs 4 therefore move at the same angle relative to the horizontal plane. The eccentricity ff1E shown in the figure is
It can be varied by controlling eccentricity setting motors (not shown) provided on each of the discs 36, 38, and 39. The disk 36 is rotated by the rotation @43, the disk 38 is rotated by the rotation of the rotating shaft 44, and the disk 39 is rotated by the horizontal bar 42.

The rotating shaft 43 is connected to the phase variable mechanism 11, and the rotating shaft 44 is connected to the phase variable mechanism 12. The phase variable mechanism 11 varies the phase between the rotary shaft 43 and the bobbin shaft 48 inserted into the pulley 47 by a phase variable motor (not shown). On the other hand, the phase variable mechanism 12 varies the phase between the rotary shaft 44 and the bobbin shaft 50 inserted into the pulley 49 using a phase variable motor (not shown).

A drive device 5 consisting of the main motor 16 and a speed reducer 15
The rotational output of 1 is transmitted via the drive shaft 52 of the drive device 51 to a pulley 53 and a pulley 54 that are coaxially attached. The pulley 53 rotates the pulley 47 via a timing belt 55, while the pulley 54 rotates the pulley 49 via a timing belt 56. Therefore, when the main motor 16 receives the drive power output from the inverter 17 and is rotated at a rotation speed corresponding to the frequency of this drive power, the rotational force reduced by the reducer 15 is transferred to the pulley 53 and the timing belt 55. , pulley 47,
It is transmitted to the phase variable mechanism 11 via the bobbin shaft 48. At the same time, the rotational force is transmitted to the phase variable mechanism 12 via the pulley 54, timing belt 56, pulley 49, and pulley shaft 50. The phase variable mechanism 11 and the phase variable mechanism 12 rotate the disks 36 and 38 at phase angles set by the phase variable motor, respectively. When the disk 38 is rotated, the horizontal bar 42 rotates the disk 39.

As a result, the front leg 3 and the hind leg 4 (actually, the right front leg 5 and the right hind leg 6 as well) are set at the set phase set in the phase variable mechanism 11.12 and at the disc 36.38°39. It is driven based on the eccentricity ME, and the horse body 2 is moved up and down and back and forth.

3, 4, and 5 show the locus of point G near the center of gravity of the horse's body 2, that is, the vertical movement of the horse's body 2 when the phase difference Δθ between the front legs 3 and the hind legs 4 is changed. This figure shows the phase difference α between the forward and backward movements, and the change in amplitude.

FIG. 3 shows the locus of point G when the phase difference between the front legs 3 and the rear legs 4 is zero. In this state, the locus of point G becomes approximately the same circular locus drawn by the eccentric shaft 37, 40. That is, the phase of the longitudinal movement of the horse body 2 lags the phase of the vertical movement by 90 degrees, and the amplitude is the same for both the vertical movement and the longitudinal movement.

FIG. 4 shows the locus of point G when the phase of the front legs 3 is delayed by 90 degrees from the phase of the rear legs 4. In this state, the trajectory of point G follows a flat elliptical trajectory that slopes downward to the right. That is, the phase difference between the vertical motion and the longitudinal motion is almost zero, and the amplitude is almost the same for both the vertical motion and the longitudinal motion. In this case, it can be seen that point G moves in the same way as in the walking performance.

FIG. 5 shows the locus of point G when the phase of the front legs 3 is advanced by 90 degrees from the phase of the rear legs 4. In this state, the locus of point G follows a flat elliptical trajectory that slopes downward to the left. That is, the phase difference between the vertical motion and the front and rear ribs is almost zero, but the amplitude of the vertical motion is slightly larger than the amplitude of the vertical motion.

In this way, if the phase difference Δθ between the front legs and the hind legs is appropriately selected, the movement of the real horse for each playing style (the phase difference α between the vertical movement and the longitudinal movement, and the respective amplitudes) can be calculated at the G point of the horse body 2. It can be realized.

Next, the operation of the riding simulator system configured as described above will be explained.

A power-on operation is performed on the operation panel 22, and a setting switch (not shown) for setting an operation mode is operated to set an operation mode in which the seat occupant 1 can perform assistance operations. After this setting operation, the seat rider 1 moves to the saddle 31 placed on the horse body 2.
straddle it and place your left and right feet in the stirrups.

Hereinafter, assuming that the movements of the left and right legs of the horse's body 2 are the same, simple assistance movements such as starting, switching the playing style, and stopping will be explained.

When the seat rider 1 lightly taps the abdomen 2b of the horse's body 2 with his or her leg, the immediate action detector 20 is activated and a detection signal is output from the immediate action detector 20. When this detection signal is input to the control device 18, the control device 18 outputs an initial speed command signal to the inverter 17 based on the set operation mode. When the inverter 17 receives the command signal, it outputs driving power at a frequency based on the command signal to the main motor 16. As a result, the main motor 16 starts rotating, and the horse body 2 starts moving by transmitting the driving force as described above.

At the time of starting, the rendition style is initially set to walk, so that the amplitude of the variable amplitude mechanisms 7 and 8 is set to 30 am, the phase difference Δθ is set to 190 degrees, and the main motor 16 is driven by the discs 36, 38, . 39 each rotates at 2H7.

After moving the horse 2 for a while at a walk, when the rider 1 taps the abdomen 2b of the horse 2 with his leg, a detection signal from the leg motion detector 20 is sent to the control device 18 in the same way as at the time of starting. is input. When this detection signal is input, the control device 18 drives the phase setting motors of the phase variable mechanisms 11.12 to set the phase difference Δθ of the phase variable mechanisms 11.12 and the eccentricity of the amplitude variable mechanism 7°8. drive the motor for the disc 36,
The eccentricity E of 38.39 is automatically set to the value of fast walking, and the disks 36, 38, and 39 are rotated at 3H2. As a result, the horse body 2 moves at a trot.

Furthermore, in the above-mentioned trotting state, when the seated rider 1 taps the abdomen 2b of the horse's body 2 with his or her leg, the control device 18 causes the phase variable mechanism 11 to
．． The phase difference Δθ of 12 and the eccentricity E of the disc 36°38.39 are automatically set to the galloping values, the discs 36 and 38.39 are rotated 1.7H2t', and the horse body 2 is galloped. move in a state.

Then, in order to stop the horse 2, the seat rider 1 pulls the reins 33 somewhat strongly. That is, when the reins 33 are pulled as described above, the rein operation detector 19 is activated, so a detection signal is output from the rein operation detector 19, and the control device 18 inputting this detection signal outputs the inverter 17. The output of the drive command signal to the main motor 16 is stopped.
to stop. At the same time as the main motor 16 is stopped, the control device 18 returns the phase difference and the eccentricity E to the initially set values for walking.

The above operation description is for the left and right front legs 3 and 5, and the left and right rear legs 4.
, 6 are based on the premise that the front legs and hind legs move in the same way. However, if you change the operating mode setting on the operation panel 22 to create a phase difference between the left and right legs, the horse's body 2 will pivot in the direction of travel. Since the robot performs rotational oscillation, that is, rolling, it is possible to perform a motion that is even closer to the actual motion. Therefore, the purpose of independently moving each of the four legs is to realize an O-ring.

In addition, there are individual differences in the actual situation, and the movements differ slightly depending on the horse. Therefore, it is possible to arbitrarily change the frequency, amplitude, and phase to realize unique horse movements.

As mentioned above, this riding simulator system is
The rider 1 can select any playing style by giving assistance movements to the horse body 2, and can enjoy horseback riding with a feeling close to the actual horse riding experience. You can measure your level up.

Next, another embodiment will be described.

In the case of the above embodiment, a riding simulator system was described in which four legs are moved independently with a phase difference. However, for example, in an entertainment horse riding machine installed in an amusement park, four legs are moved independently as in the above embodiment. There is no need to move the book's legs independently; the left and right front legs are placed on one set of drive mechanisms that can vary the amplitude and phase, and the left and right rear legs are placed on another set of drive mechanisms. Depending on the situation, the left and right front legs and the left and right hind legs may be moved individually. When this mechanism is adopted, it is only necessary to provide two sets of drive mechanisms, so the riding simulator system can be provided at a lower cost than a mechanism that moves the four legs independently.

The riding simulator system of this embodiment moves somewhat less realistically than the riding simulator system of the previous embodiment, but since the amplitude and phase can be changed arbitrarily, it is much more effective than conventional horse riding equipment. You can enjoy the feeling of riding a horse.

Alternatively, the horse body 2 may be able to move functionally satisfactorily even if the two sets of drive mechanisms are made to only have variable amplitudes.

In each of the embodiments described above, it is assumed that the seat rider 1 is a beginner, and an embodiment has been described in which the horse body 2 is driven by a simple assisting motion, but the actual assisting motion is quite complex. In other words, methods of assistance include not only reins and legs, but also knees, whips, stirrups, and methods of shifting the seat occupant's center of gravity. Therefore, by attaching detectors for detecting the above-mentioned assistance movements to various parts of the horse's body, it is possible to realize a more advanced riding simulator system that detects changes in rate, changes in direction, etc.

Although the structures of the variable amplitude mechanism and the variable phase mechanism are not specifically illustrated, those skilled in the art can easily realize them based on the explanation based on FIGS. 1 and 2, and based on the above explanation. Any system may be used as long as it can be realized, and it does not impede the inventive step and novelty of the present invention.

[Effects of the Invention] As described above, according to the present invention, by controlling the frequency, amplitude, and phase of the horse's body according to each playing style and rate, the movement of the horse's body can be faithfully controlled in a state close to the actual situation. can be simulated,
In addition, since it is possible to start, change the rendition style, rate, and stop by assisting operations, the following effects can be achieved.

(1) When the present invention is used as a horse riding training machine, safety and effectiveness and efficiency of horse riding technique acquisition are extremely excellent.

That is, in recent years, as sport horseback riding has become popular, the number of people who want to enjoy horseback riding has increased. However, since beginners are not accustomed to handling horses, they are unable to deal with the horse's sudden and capricious movements, and are at risk of injury from falling off the horse.

On the other hand, in the case of the present invention, it is possible to eliminate unexpected and dangerous movements of the horse's body, so that the basic horse riding techniques can be learned with peace of mind. Furthermore, since only the movements that correspond to the skill to be learned can be accurately repeated, the correct horse riding technique can be learned in a short time.

(2) When the present invention is used as a horseback riding device for entertainment installed in an amusement park or the like, an extremely comfortable horseback riding feeling can be obtained.

(3) When the present invention is used as a horseback riding device for fitness, it is possible to enjoy the feeling of horseback riding, and at the same time, by making the horse's body make vigorous movements such as galloping, it increases the calorie consumption of the seated rider. be able to.

(4) Although flight simulator systems conventionally used for flight training for pilots are capable of producing movements close to reality, flight simulator systems have a complex mechanism and are quite expensive, and their power consumption is 150 KVA. It is not economically competitive as it exceeds the above. In contrast, the riding simulator system of the present invention has a simple configuration, consumes only a small amount of power, and can be provided at low cost, making it highly economical.

[Brief explanation of the drawing]

FIG. 1 is a control block diagram for explaining the overall configuration of an embodiment of the present invention, FIG. 2 is a mechanism system diagram for explaining the mechanical configuration of the embodiment, and FIGS. Figure, and fifth
The figure is an action explanatory diagram, and FIG. 6 is a table showing basic data in various actual walking states. 1... Seat Rider 2... Horse Body 3... Left front leg 4... Left hind leg 5... Right front leg 6... Right hind leg 7.8, 9.10... - Amplitude variable mechanism 11.12, 13.14... Phase variable mechanism 15...
Reducer 16...Main motor 17...Inverter 18...Control device 19...Rein operation detector 20...Leg operation detector 21...Power source 22...Operation panel

Claims (1)

[Claims] The main body is formed so that it can be seated, and each leg attached to the main body can perform various movements corresponding to a plurality of basic walking motion modes of a real horse. a leg movement detector attached to the abdomen of the horse that can be operated by the legs of a rider seated on the horse; and a leg motion detector attached to the head of the horse. a rein operation detector for detecting rein operation when the rein is pulled; and a rein operation detector attached to the lower end of each of the legs of the horse's body to drive each leg and move the horse's body in an up-down direction and front-back direction. a drive mechanism for moving the horse in the same direction as well as varying the amplitude in the vertical direction, the phase difference between the vertical direction and the front and back directions, and the frequency in this movement process; a motion mode setting means for setting a mode for each walking motion according to a walking motion mode; a detection signal from the leg motion detector; and a mode set by the motion mode setting means. controls the drive mechanism to start the walking motion of the horse, and sequentially changes the operation mode of the horse in accordance with the control program every time a detection signal from the leg motion detector is input; A riding simulator system comprising: control means for controlling the horse to stop walking when a detection signal from a rein operation detector is input.