JPH0553152B2 - - Google Patents

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 are significantly different from the movements of an actual horse. 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.
Even in horse riding equipment that moves in a circular motion as well as those that move in a linear manner, the amplitude is fixed, and furthermore, the phase difference between vertical movement and longitudinal movement has not been considered at all. However, through manual operation, the rotational 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 was unable to 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, thereby starting the horse, controlling its gait, and controlling the horse's gait. change the rate,
Or, they were unable to control the horse's body by stopping it.

[Problem to be solved by the invention] However, in actual horseback riding, there are three gaits, namely walk, trot, and gallop, and three rates, namely regular, contraction, and extension, and the The frequency, amplitude, and phase difference between vertical and longitudinal movements of the horse's body 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 gait and rate. Starting the horse,
It is necessary to be able to control things like changing the gait or stopping the horse.

In view of the above, conventional horse riding devices merely function as play machines, and cannot be said to have the functionality to allow the rider to experience the sensation 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 assistance movements of the seat rider.

[Means for Solving the Problem] The technical means for solving the above problem is to form the riding simulator system so that the main body can be ridden, and each leg attached to the main body is , a horse body formed to enable movements corresponding to a plurality of basic walking motion modes of a real horse, and a horse body abdomen that can be operated by the legs of a rider sitting on the horse body. a rein operation detector for detecting rein operation when the rein is pulled, which is attached to the head of the horse; and each of the legs of the horse. It is attached to the lower end and drives each leg to move the horse's body vertically and longitudinally, and in this movement process, the amplitude in the vertical direction, the phase difference between the vertical direction and the longitudinal direction, and the frequency can be varied. a drive mechanism for setting the horse's body to perform each walking motion corresponding to a plurality of basic walking motion modes of an actual horse; The drive mechanism is controlled based on the detection signal from the detector and the mode set by the operation mode setting means to start the walking motion of the horse, and the control is performed from the rein operation detector and the leg motion detector. The operation mode of the horse is changed sequentially according to the control program each time a detection signal from the rein operation detector is input, and when the detection signal from the rein operation detector is input, the walking motion of the horse is stopped. The object of the present invention is to provide a configuration that includes a control means for controlling.

[Operation] 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 and starts 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.

With the rider seated on the horse as described above,
It is possible to make the horse's body perform a walking motion corresponding to the basic walking motion mode of an actual horse while performing an assisting motion.

[Example] Next, an example 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 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 it is difficult to see how the horse moves in practical terms. Since it is considered that only a basic sine wave is sufficient as data for simulating movement, the riding simulator system of this embodiment is constructed based on the basic data shown in FIG.

As shown in FIG. 6, during walking, the frequency is 2 Hz, the amplitude is 30 mm both vertically and longitudinally, and the phase difference α ₁ between the vertical motion and the longitudinal motion is 0 degrees.

On the other hand, in the case of fast walking, the frequency is 3Hz, and the amplitude is 30mm both vertically and longitudinally, the same as in walking.

In addition, when walking, the frequency decreases to 1.7Hz,
The amplitude varies slightly depending on the direction, 100 mm up and down and 120 mm front and back.

It is considered that the phase difference α ₂ in fast walking and the phase difference α ₃ in canting are different from the phase difference α ₁ =0 degree 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 is shown.
is supported by four legs: a left front leg 3, a left hind leg 4, a right front leg 5, and a right hind leg 6. The lower ends of these legs 3, 4, 5, and 6 are connected to the horse body 2, respectively.
Amplitude variable mechanisms 7, 8, 9, and 10 for changing the amplitude of vertical and longitudinal movement of the
installed on. The amplitude variable mechanism 7, 8,
9 and 10 are mechanically variable phase mechanisms 11 and 10, respectively.
12, 13, and 14.

Each of the above phase variable mechanisms 11, 12, 1
3 and 14 are mechanisms for generating a phase difference between the vertical movement and the longitudinal movement of the horse body 2, and are connected to the output shaft of the reduction gear 15 so as to be driven by the main motor 16 provided with the reduction gear 15. It is connected.

The main motor 16 is driven and controlled by an inverter 17 to change its rotational 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. In addition, the control device 1
Reference numeral 8 denotes an eccentricity setting motor (described later) provided in each of the amplitude variable mechanisms 7, 8, 9, and 10, and a phase variable motor (described later) provided in each of the phase variable mechanisms 11, 12, 13, and 14. connected to the motor. Furthermore, the control device 18 controls reins 33, which will be described later.
A rein operation detector 19 for detecting this rein operation when the horse is pulled, and a rein operation detector 19 located at a position on the abdomen of the horse such that it can be operated with the legs of the rider 1 while riding the horse 2. It is electrically connected to the attached leg motion detector 20. The rein operation detector 19;
The leg motion detector 20 is 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 device 21 and for setting the operation mode of the horse body 2 is electrically connected to the control device 18 .

FIG. 2 is a schematic perspective view depicting the mechanical configuration of the riding simulator system shown in FIG. The variable amplitude mechanisms 7, 8, 9, 10 for moving in the direction; the variable phase mechanisms 11, 12, 13, 14 for generating a phase difference between the vertical motion and the longitudinal motion;
This schematically shows the main motor 16 and the like. Note that FIG. 2 shows the configuration of the left legs 3 and 4 of the horse body 2, and in reality, the right legs 5 and 6 of the horse body 2 are shown.
Also, a variable amplitude mechanism and a variable phase mechanism similar to those described above are provided.

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. The leg motion detector 20 is attached to the abdomen 2b of the horse 2, and when the seat rider 1 sends a signal to the abdomen 2b with his/her legs, the leg motion detector 20 outputs a leg motion detection signal. It is becoming more and more like this.

The left front leg 3 and the 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 portion 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 vibration mechanism 7 formed in a disk shape. On the other hand, the lower end of the rear leg 4 is connected to an eccentric shaft 4 attached to each of discs 38 and 39 that constitute the variable amplitude mechanism 8.
It is fixed to a horizontal bar 42 attached across points 0 and 41. The horizontal bar 42 is swung by the disks 38 and 39 so as to be kept horizontal at all times. The rear legs 4 therefore move at the same angle relative to the horizontal plane. The eccentricity E shown in the figure is for the disks 36, 38, 3
The eccentricity can be varied by controlling eccentricity setting motors (not shown) provided in each of the eccentricity setting motors. The disk 36 is rotated by the rotation of the rotation shaft 43, the disk 38 is rotated by the rotation of the rotation 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
The phase between the rotating shaft 43 and the pulley shaft 48 inserted into the pulley 47 is varied by a phase variable motor (not shown). On the other hand, phase variable mechanism 1
2, the phase between the rotating shaft 44 and the pulley shaft 50 inserted into the pulley 49 is varied by a phase variable motor (not shown).

The rotational output of the drive device 51 consisting of the main motor 16 and the speed reducer 15 is transmitted via a drive shaft 52 of the drive device 51 to a pulley 53 coaxially attached.
and is transmitted to the pulley 54. Pulley 53 rotates the pulley 47 via timing belt 55, while pulley 54 rotates via timing belt 56.
The pulley 49 is rotated via. 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 transmitted to the pulley 53 and the timing belt. 55, a pulley 47, and a pulley shaft 48, the signal is transmitted to the phase variable mechanism 11. 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 move the disk 36 and the disk 3 at the phase angle set by the phase variable motor, respectively.
Rotate 8. When the disk 38 is rotated, the horizontal bar 42 rotates the disk 39. As a result, the front leg 3 and the rear leg 4 (actually, the right front leg 5 and the right rear leg 6 as well) have the phase variable mechanism 11,
The set phase set at 12 and the disc 36,
It is driven based on the eccentricity E set at 38 and 39, 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 shafts 37 and 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.

Figure 4 shows the phase of the front leg 3 by 90 degrees from the phase of the hind leg 4.
This figure shows the locus of point G when it is delayed by a degree. 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 a normal walk.

Figure 5 shows the phase of the front leg 3 by 90 degrees from the phase of the hind leg 4.
It shows the locus of point G when it is advanced by degrees. 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 longitudinal motion is almost zero, but the amplitude of the longitudinal 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 gait (the phase difference α between the vertical movement and the longitudinal movement, and the respective amplitudes) can be calculated from the G point of the horse body 2. It can be realized with.

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, seat passenger 1
straddles the saddle 31 placed on the horse's body 2, and puts his left and right feet in the stirrups.

Below, it is assumed that the movements of the left and right legs of the horse body 2 are the same, and simple assistance movements such as starting, switching gait,
and stopping will be explained.

When the seat rider 1 taps the abdomen 2b of the horse's body 2 with his or her leg, the leg motion detector 20 is activated;
A detection signal is output from 0. 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 above-mentioned driving force is transmitted to the horse body 2.
begins to move.

At the time of starting, the walking method is initially set to walk, and the amplitude of the variable amplitude mechanisms 7 and 8 is 30.
mm, the phase difference Δθ is set to −90 degrees, and the main motor 16 rotates each of the disks 36, 38, and 39 at 2 Hz.

After moving the horse 2 for a while while walking, when the seat rider 1 taps the abdomen 2b of the horse 2 with his leg, a detection signal from the leg motion detector 20 is input to the control device 18 in the same way as at the time of starting. be done. When the control device 18 receives this detection signal, it controls the phase variable mechanisms 11 and 12.
By driving each phase setting motor, the phase difference Δθ between the phase variable mechanisms 11 and 12 and the amplitude variable mechanism 7,
Drive the eccentric amount setting motor of 8 to set the discs 36, 3.
Automatically set the eccentricity E of 8,39 to the value of fast walking,
The disks 36, 38, and 39 are rotated at 3 Hz. 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 leg, the control device 18 adjusts the phase difference Δθ between the phase variable mechanisms 11 and 12 and the disc 36,
The eccentricity E of 38, 39 is automatically set to the walking value, and the disks 36, 38, 39 are rotated at 1.7Hz.
Move horse body 2 in a galloping state.

Then, in order to stop the horse 2, the seat rider 1 pulls the reins 33 somewhat strongly. i.e. reins 33
When the rein operation detector 1 is pulled as described above, the rein operation detector 19 is activated.
A detection signal is output from the main motor 9, and the control device 18 that receives this detection signal stops outputting the drive command signal to the inverter 17, and stops the main motor 16. At the same time as the main motor 16 is stopped, the control device 18 returns the phase difference Δθ and the amount of eccentricity E to the initially set values for walking.

The above operation explanation is based on the assumption that the left and right front legs 3 and 5 and the left and right rear legs 4 and 6 move in the same way as the front legs and the rear legs, but by changing the operation mode setting on the operation panel 22, By creating a phase difference between the left and right legs, the horse's body 2 rotates and oscillates around the direction of travel.
In other words, since the horse is rolling, it is possible to make the movement even more similar to that of a real horse. Therefore, it is necessary to move each of the four legs independently to achieve rolling.

Also, there are individual differences between real horses, and their 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 described above, in this riding simulator system, the seat rider 1 can select any gait method by giving assistance movements to the horse body 2, and enjoy horseback riding with a feeling close to that of a real horse. You can also learn horse riding techniques and increase the level of your horse riding techniques.

Next, another embodiment will be described.

In the case of the above embodiment, a riding simulator system was described in which each of the four legs is moved independently with a phase difference.However, for example, in an entertainment horse riding machine installed in an amusement park, the riding simulator system as described in the above embodiment is used. There is no need to move the four 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. By placing it on the animal, you can move the left and right front legs and the left and right hind legs, respectively. If this mechanism is adopted, 2
Since it is only necessary to provide a set of drive mechanisms, 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 like a real horse than the riding simulator system of the previous embodiment, but since the amplitude and phase can be changed arbitrarily, You can enjoy the feeling of riding a horse much more than with a device.

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 can detect rate changes, direction changes, 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, the vibration frequency of the horse's body,
By controlling the amplitude and phase according to each gait and rate, it is possible to faithfully simulate the movement of the horse's body in a state close to that of a real horse. Since it can be stopped and stopped, it has the following effects.

(1) When the present invention is used as a horse riding training machine, the 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 it is possible to accurately repeat only the movements that correspond to the technique to be learned, 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, it is possible to obtain an extremely comfortable riding sensation.

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

(4) Although it is possible to create movements similar to those of a real horse in the flight simulator system conventionally used for flight training for pilots, the flight simulator system has a complicated mechanism and is quite expensive. And the power consumption is
Since it exceeds 150KVA, it is not economically attractive. On the other hand, the riding simulator system of the present invention has a simple configuration, consumes little 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 FIG.
4, and 5 are action explanatory diagrams, and FIG. 6 is a table showing basic data in various walking states of a real horse. 1...Seated passenger, 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, 1
3, 14... Phase variable mechanism, 15... Speed reducer, 1
6... Main motor, 17... Inverter, 18
...Control device, 19...Rein operation detector, 20...
...Leg operation detector, 21...Power source, 22...Operation panel.

Claims (1)

[Claims] 1. The main body is formed so that it can be ridden, 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; A driving mechanism for moving the horse in the front-back direction and varying the amplitude in the vertical direction, the phase difference between the vertical direction and the front-back direction, and the frequency in this movement process, and the basic plurality of actual horse bodies in the horse body. a motion mode setting means for setting a mode for each walking motion according to a walking motion mode of the leg motion detector; and a detection signal from the leg motion detector and the mode set by the motion mode setting means. based on the control program, the driving mechanism is controlled to start the walking motion of the horse, and each time a detection signal from the leg motion detector is input, the operation mode of the horse is sequentially changed according to the control program, and A riding simulator system comprising: control means for controlling the horse to stop walking when a detection signal from the rein operation detector is input.