JPH1165419A - Simulator device and information storage medium - Google Patents

Abstract

PROBLEM TO BE SOLVED: To obtain a simulator device, in which the movement of a casing and the rotation are attenuated in such a case as when it is supposed that an operator is not using the simulator device, by controlling the movement of the casing or the rotation so that when a recovering type operating means returns to the vicinity of a recovering position, the movement of the casing and the rotation are attenuated. SOLUTION: A controlling section controls driving mechanisms (motors 20 and 28 and an upwards and downwards moving mechanism 32) based on the running condition of a virtual motor cycle and the rotational angles obtained by rotational resistors 16 and 29 and the movement and controls the rotation of a casing (a vehicle body 10, a steering 14, etc.). That is, in the case that the amounts of the operations of an accelerator 4 and a brake 6 which are a recovering type operating means, simultaneously, become the vicinity of a zero, the controlling section performs the control so that the movement of the body 10 or a steering 14 and the rotation are attenuated. Thus, the repulsive forces, etc., imparted to the body 10 and the steering 14 are reduced or eliminated and the occurrence of the oscillation in the body 10 and the steering 14 is prevented.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

The present invention relates to a simulator device and an information storage medium used for the same.

[0002]

2. Description of the Related Art In recent years, a simulator apparatus for simulating the movement of a simulation object by moving and rotating a housing has been spotlighted. Taking a car simulator device as an example, a chassis such as a vehicle body or a steering is shaken or vibrated. As a result, the player (operator) can be given the feeling of actually driving a car, and the player can experience what is called virtual reality.

In such a simulator device, it is conceivable that the player stops playing the game during the game. Then, in this case, it can be considered that it is not preferable that the housing continues the movement or the rotation operation.

[0004] The present invention has been made to solve the above-described problems, and an object of the present invention is to move a casing when it is assumed that an operator is not using a simulator device. It is an object of the present invention to provide a simulator device capable of attenuating rotation and rotation and an information storage medium used for the simulator device.

[0005]

SUMMARY OF THE INVENTION In order to solve the above-mentioned problems, the present invention is intended to be operated by an operator, and to be a return-type operation means for returning to a return position when there is no input of an operation by the operator; A simulator device comprising at least one housing for simulating the movement of a vehicle, and control means for controlling movement or rotation of the housing, wherein the control means is such that the return operation means is the return position. When returning to the vicinity, the movement or rotation of the housing is controlled so that the movement or rotation of the housing is attenuated.

According to the present invention, the control means controls the movement or rotation of the housing, whereby the movement of the simulation object is simulated. Then, when the return type operation means returns to the return position, for example, when the operator stops using the simulator device, control is performed so that the movement or rotation of the housing is attenuated. Thereby, it is possible to effectively prevent the case from moving or oscillating unnaturally when the simulator device is not used by the operator.

Further, according to the present invention, the control means performs control for reducing or omitting a reaction force for returning the housing to a neutral state when the return-type operation means returns to the vicinity of the return position. It is characterized by. By reducing or omitting the reaction force in this way, oscillation of the housing due to control delay can be effectively prevented.

Further, the present invention reduces the force required for the control means to periodically vibrate the housing around a neutral state even when the return operation means returns to the vicinity of the return position. Alternatively, the omission control is not performed. By doing so, when the return type operation means returns to the vicinity of the return position while using the simulator device,
It is possible to effectively prevent the operator from giving an unnatural sensation.

The present invention also relates to a case where the return-type operation means is an accelerator and a brake, the housing is a vehicle body and a steering, and the control means determines that the operation amounts of the accelerator and the brake are both close to zero. The movement or rotation of the vehicle body or the steering is controlled so that the movement or rotation of the vehicle body or the steering is attenuated. By doing so, in the simulator device including the vehicle body and the steering, unnatural movement and oscillation of the vehicle body and the steering can be effectively prevented.

[0010]

Preferred embodiments of the present invention will be described below with reference to the drawings. In the following, a case where the present invention is applied to a motorcycle game will be described as an example, but the scope of the present invention is not limited to this.

FIG. 1 shows an overall view of a simulator device according to this embodiment. FIG. 2 is a front view, and FIG. 3 is a plan view.

As shown in FIG. 1, the simulator device according to the present embodiment includes a display 1, a vehicle body 10, a system board 2, and the like.

Here, the display 1 displays an image of a virtual motorcycle, a course on which the virtual motorcycle runs, a surrounding scenery, and the like based on operation data from the player P and the like.

The vehicle body 10 simulates the body of an actual motorcycle. The player P can turn the steering wheel 14 while sitting on the seat 12 (see FIG. 3). A rotary resistor 16 is provided on the rotating shaft 14a of the steering 14 so that the rotation angle of the rotating shaft 14a due to the operation of the steering 14 can be detected as a change in voltage. Further, the rotating force of the motor 20 can be transmitted to the rotating shaft 14 a of the steering 14 via the belt 18. Therefore,
By driving the motor 20, a reaction force or vibration can be applied to the steering 14 so as to return to the straight traveling state.

The steering 14 is provided with an accelerator 4 and a brake 6. By operating the accelerator 4 and the brake 6, the player P can accelerate or decelerate the virtual motorcycle projected on the display 1.

The accelerator 4 and the brake 6 are return-type operation means that return to a return position when no operation is performed by the player P.

As shown in FIG. 2, the vehicle body 10 can be tilted right and left. That is, the vehicle body 10 is
Is pivotally supported by the base 24 so as to swing left and right. The oscillating body 22 includes a piston rod 2 of a pneumatic cylinder 26.
6a is connected so that a reaction force can be applied to return the vehicle body 10 to a neutral state. In addition to this,
A motor 28 (FIG. 1) using an elastic body is attached to the swing shaft 22a.
(See Reference).

The rotary resistor 2 is also provided on the swing shaft 22a.
9 is provided so that the rotation angle of the swing shaft 22a can be detected.

Further, an elevating mechanism 30 is provided between the oscillating body 22 and the seat 12. The lifting mechanism 30
A pair of pneumatic actuators 32 are arranged in front and rear, and each of the actuators 32 can raise and lower the seat 12 to some extent. Therefore, if the front and rear actuators 32 are driven in different directions or only one of the actuators 32 is driven, the seat 12 can be tilted in the front and rear, that is, in the pitching direction, and both actuators 32 can be driven little by little in the same direction. Thus, vibration can be applied to the sheet 12.

On the system board 2, a CPU, a memory and various ICs are mounted. Then, an image displayed on the display 1 is generated by the system board 2. In addition, movement and rotation of a body such as the vehicle body 10 and the steering 14 are controlled.

At the start of the game, the player P sits on the seat 12 across the vehicle body 10 and inserts a coin into a slot (not shown). Then, the display 1 shows the player P
The virtual bike operated by, the course on which the virtual bike runs, and the surrounding scenery are displayed. The player P operates the virtual motorcycle according to this course.

For example, the player P can operate the virtual motorcycle along a corner by rolling the vehicle body 10 right and left. Specifically, when the vehicle body 10 is rolled, the angle is detected by the rotary resistor 29. The detected angle is input to the system board 2. Then, the system board 2 determines the running state of the virtual motorcycle based on the detected angle, generates an image according to the running state, and outputs the image to the display 1.

When this operation is performed, a reaction force is applied to the vehicle body 10 to return to the neutral state according to the accelerator opening and the like. Therefore, it is possible to give the player P a feeling that the virtual motorcycle while turning is standing up. Also, by eliminating this reaction force suddenly, it is possible to give the player P a feeling that the rear tire has begun to slip. At that time, by turning the steering wheel 14 in the direction opposite to the turning direction of the corner, the posture of the virtual motorcycle can be reestablished. At this time, steering 1
The turning angle of 4 is detected by the rotary resistor 16.
The detected angle is input to the system board 2. Then, the system board 2 determines the running state of the virtual motorcycle based on the detected angle, generates an image according to the running state, and outputs the image to the display 1.

Further, in this embodiment, a reaction force can also be applied to the steering 14. Therefore, by controlling the reaction force so as to maintain the cutting angle corresponding to the speed and the rolling angle, a real operation feeling can be realized.

FIG. 4 shows a functional block diagram of the present embodiment. Here, the operation unit 8 is for the player P to input operation data by operating the accelerator 4 and the brake 8 or rolling the vehicle body 10. The operation data obtained by the operation unit 8 is processed. Input to the unit 100.

Based on the operation data and a given program, the processing unit 100 performs a game progress process, a process of generating an image of a virtual motorcycle, a course, a landscape, and the like, and a process of controlling the movement of a housing. Is what you do. This processing unit 10
0 functions are CPU (CISC type, RISC type), DS
This is realized by hardware such as an IC for image generation and P.

The information storage medium 190 stores programs and data. The functions of the information storage medium 190 are as follows: CD-ROM, game cassette, IC card, M
It is realized by hardware such as O, FD, DVD, and memory. The processing unit 100 performs various processes based on the program and data from the information storage medium 190.

The processing section 100 includes a game calculation section 110 and an image generation section 120. Here, the game calculation unit 110
Game progress processing, virtual bike running state determination processing,
Processing for determining the arrangement position of the display object is performed. Image generation unit 12
0 performs a process of generating an image based on the processing result of the game operation unit 110. The image generated by the image generator 120 is displayed on the display 1.

The game operation section 110 includes a control section 130. The control unit 130 controls the running state of the virtual
The driving mechanism 140 (the motors 20, 28, the lifting mechanism 32, etc. in FIG. 1) is controlled based on the rotation angles obtained by the rotary resistors 16, 29 of the housing 150 (the vehicle body 10, the steering 14, etc.). Control movement and rotation.

A feature of the present embodiment is that the control unit 130 controls to attenuate the movement or rotation of the housing 150 when the accelerator 4 and the brake 6 which are return-type operation means return to the vicinity of the return position. is there. More specifically, accelerator 4
And when the operation amount of the brake 6 becomes almost zero,
The movement or rotation of the vehicle body 10 or the steering 14 is attenuated. Thereby, when the player P gets off the vehicle body 10 during the game, it is possible to effectively prevent the vehicle body 10 and the steering 14 from moving or oscillating unnaturally.

In this embodiment, a reaction force is applied to the rotation of the steering wheel 14 as described above. For example, FIG.
, The reaction torque T4 when the rotation angle of the steering 14 is θ and the rotation angular velocity is ω is: T4 = −K1θ−K2ω (1) Here, -K1θ simulates a spring that attempts to return the steering 14 to the neutral state, and -K2ω simulates a damper that acts as a resistance to rotation. .Theta. Is detected by the rotary resistor 16 in FIG. 1, and .omega. Corresponds to the rate of change of .theta. Per unit time.

As described above, in the present embodiment, the rotary resistance 1
T4 is obtained based on θ detected in step S6. However, a certain amount of time is required for a series of processes for detecting θ, obtaining T4 based on the detected θ, and providing the obtained T4 to the steering 14. That is, a control delay occurs. Therefore, for example, in FIG. 5, a situation occurs in which T4 = −K1θ1−K2ω1 obtained when θ = θ1 is given to the steering wheel 14 when θ = θ2. This is not a problem when the player P is holding the steering wheel 14. However, when the player P stops playing the game and releases his / her hand from the steering wheel 14, the steering wheel 14
May oscillate.

As a method for dealing with such an oscillation problem, a method for improving the hardware and minimizing the control delay can be considered. However, this is not practical and results in increased costs. In addition, a method of performing advanced programming such as predictive control is also conceivable, but this leads to a complicated, large-scale software and a long development period.

Therefore, in the present embodiment, when the player P stops playing the game and moves away from the vehicle body 10, the player's hand separates from the accelerator 4 and the brake 6, and the operation amount of the accelerator 4 and the brake 6 becomes close to zero. Focusing on becoming
When the operation amounts of the accelerator 4 and the brake 6 become close to zero, the control is performed so that the movement or rotation of the vehicle body 10 or the steering 14 is attenuated. Thereby, the reaction force or the like applied to the vehicle body 10 or the steering 14 is reduced or omitted, and the oscillation of the vehicle body 10 or the steering 14 can be prevented.

Next, a detailed processing example of this embodiment will be described with reference to the flowchart of FIG. Here, a process for suppressing the oscillation of the steering 14 will be described. For example, when there is no risk of oscillation of the vehicle body 10, the control of the present embodiment may be performed only on the steering wheel 14.

First, a torque T1 based on the own vehicle state during the game is calculated (step S1). This torque T1 is
It is calculated based on the running state of the virtual motorcycle (own vehicle). Due to the torque T1, for example, the torque increases when the speed of the virtual motorcycle increases, or a torque is applied to the steering 14 such that when the virtual motorcycle rolls, the steering 14 is turned in the direction opposite to the rolling direction.

Next, a periodic vibration torque T2 based on the unevenness of the road surface is calculated (step S2). This T2 is the speed V of the virtual motorcycle, the ground contact flag GF,
It can be represented by a function f of the road surface unevenness level LEV. T2 = f (V, GF, LEV) (2) For example, when the speed V increases, the magnitude of the torque T2 increases and the oscillation period decreases. When the virtual motorcycle jumps and the ground flag GF becomes zero, T2 becomes zero. Further, the unevenness level LEV changes depending on the type of the road surface on which the virtual motorcycle is running, and the size of T2 and the vibration cycle change.

Next, a torque T3 based on the objective shock and the landing shock is calculated (step S3). For example, when a virtual motorcycle of the own vehicle hits an enemy vehicle or a wall, torque data stored in a given table is reproduced over a certain period of time. For example, when an enemy vehicle or a wall hits the right side of the virtual motorcycle, the steering wheel 14 is rotated to the left, and then the torque data that is attenuated while vibrating is reproduced. The torque due to the landing shock is also realized by reproducing the torque data stored in another table.

Next, the emulation torque T4 of the spring and the damper is calculated (step S4). This is calculated on the basis of the rotation angle θ and the rotation angular velocity ω of the steering 14 as described in the above equation (1). This torque T4 acts as a reaction force to the rotation of the steering 14.

Next, it is determined whether the operation amounts of the accelerator 4 and the brake 6 are both less than a (a is a value close to zero) (step S6). When the operation amount is equal to or less than a, the output torque T is obtained as follows: T = b × (T3 + T4) + T2 (3) (where b <1). On the other hand, when the operation amount is larger than a, the output torque T is obtained as T = T1 + T2 + T3 + T4 (4).

The feature of this embodiment is that, as shown in equation (3), when the operation amounts of the accelerator 4 and the brake 6 are both near zero (in the case of a or less), the torques T3 and T4 are reduced. On the point.

When the player stops playing the game midway,
A virtual motorcycle that has lost control of the player hits a wall or the like, and the torque T3 due to the hit may trigger oscillation of the steering 14. According to the present embodiment, when the player stops playing the game in the middle and the operation amount of the accelerator 4 and the brake 6 becomes zero, the torque T3 is reduced as shown in Expression (3), so that such a situation is prevented. it can.

As described with reference to FIG. 5, if there is a control delay in the process of applying the torque T4 to the steering 14,
The steering 14 may oscillate. According to the present embodiment, when the operation amounts of the accelerator 4 and the brake 6 become zero, the torque T4 is reduced as shown in Expression (3), so that such a situation can be prevented.

On the other hand, in the present embodiment, as shown in the equation (3), the operation amount of the accelerator 4 and the brake 6 for the torque T2 for causing the steering 14 to vibrate at a cycle that does not cause resonance around the neutral state Does not decrease even when is near zero. This is because such a torque that causes the steering 14 to vibrate in a cycle that does not cause resonance around the neutral state is considered not to cause oscillation of the steering 14. It is also conceivable that the player makes the operation amounts of the accelerator 4 and the brake 6 close to zero during the game, and in this case, the vibration torque T
This is because if the number 2 is reduced or eliminated, an unnatural feeling is given to the player.

When the operation amounts of the accelerator 4 and the brake 6 are near zero, the torque T1 is set to zero as shown in the equation (3) because the torque T1 has many uncertain elements. . Further, the coefficient b relating to T3 and T4 can be obtained by an experiment or the like.

The present invention is not limited to the embodiment described above, and various modifications can be made.

For example, in the present embodiment, the movement or rotation of the housing is attenuated by reducing the reaction force, but the present invention is not limited to this. For example, control may be performed to omit the reaction force or to positively attenuate the movement or rotation of the housing.

In this embodiment, an example has been described in which the accelerator and the brake are used as the return-type operation means for determining whether or not the operator has stopped the game halfway.
However, the return-type operation means used in the present invention is not limited to this, and various return-type operation means can be used according to a game or the like to which the present invention is applied.

The present invention can be applied not only to a motorcycle game but also to various other games such as various other games and simulators for training. For example, the present invention relates to a water bike game (or a water bike simulator) as shown in FIG.
It can be applied to a car game (or car simulator) as shown in FIG.

For example, in the personal watercraft game shown in FIG. 7, the movement and rotation of the vehicle 210 and the steering 214 may be attenuated based on whether or not the operation amounts of the accelerator 204 and the brake 206 are near zero. Also, in the car game shown in FIG.
The movement and rotation of the vehicle body (seat) 310 and the steering 314 may be attenuated based on whether or not the operation amount of 06 is near zero.

The present invention is also applicable to a large attraction device in which many players participate.

[0052]

[Brief description of the drawings]

FIG. 1 is an example of an overall view of an embodiment.

FIG. 2 is an example of a front view of the embodiment.

FIG. 3 is an example of a plan view of the embodiment.

FIG. 4 is an example of a functional block diagram of the present embodiment.

FIG. 5 is a diagram for explaining steering oscillation caused by a reaction force.

FIG. 6 is a flowchart for explaining a detailed processing example of the embodiment;

FIG. 7 is a diagram showing an example of application to a water bike game.

FIG. 8 is a diagram showing an example of application to a car game.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Display 2 System board 4 Accelerator 6 Brake 8 Operation part 10 Body 14 Steering 16 Rotary resistance 20 Motor 28 Motor 100 Processing part 110 Game operation part 120 Image synthesis part 130 Control part 140 Drive mechanism 150 Housing 190 Information storage medium

Claims (5)

[Claims] 1. A return-type operation means for operating by an operator and returning to a return position when there is no input by the operator, at least one housing for simulating movement of a simulation object, A control unit for controlling movement or rotation of the housing, wherein the control unit is configured to attenuate the movement or rotation of the housing when the return-type operation unit returns near the return position. A simulator device for controlling the movement or rotation of a housing so as to perform the operation. 2. The control device according to claim 1, wherein the control means reduces or eliminates a reaction force for returning the housing to a neutral state when the return-type operation means returns to the vicinity of the return position. A simulator device characterized by performing. 3. The control device according to claim 1, wherein the control unit is configured to periodically vibrate the housing around a neutral state even when the return operation unit returns to a position near the return position. A simulator device that does not perform control for reducing or omitting a force. 4. The accelerator according to claim 1, wherein the return operation means is an accelerator and a brake, the housing is a vehicle body and a steering, and the control means is an accelerator and a brake. A simulator apparatus that controls the movement or rotation of the vehicle body or the steering such that the movement or rotation of the vehicle body or the steering is attenuated when both become near zero. 5. A return-type operation means for operating by an operator and returning to a return position when no operation is input by the operator; at least one housing for simulating a movement of a simulation object; An information storage medium used in a simulator device including a control unit that controls movement or rotation of a housing, wherein the movement or rotation of the housing is performed when the return-type operation unit returns to a position near the return position. An information storage medium including information for controlling movement or rotation of a housing so as to attenuate.