KR20200038340A - Methods and apparatuses for haptic systems - Google Patents

Abstract

A method and apparatus is provided that includes a gaming gun and other peripherals used in a variety of gaming environments, and includes a linear motor and controller to simulate haptic feedback for gaming devices and simulation systems.

Description

METHODS AND APPARATUSES FOR HAPTIC SYSTEMS

This application is filed on U.S. Patent Application No. 9,146,069, which claims priority to U.S. Provisional Patent Application No. 61 / 650,006 filed on May 22, 2012, and U.S. Provisional Patent Application No. 13 / 804,429 filed on March 14, 2013. United States Patent Application No. 14 / 808,247, filed on July 24, 2015, which is a part of the continuing applicant, the entire contents of which are incorporated herein by reference. This application also claims priority to U.S. Provisional Patent Application No. 62 / 170,572 filed on June 3, 2015 and U.S. Provisional Patent Application No. 62 / 085,443 filed on November 28, 2014, incorporated herein by reference. . U.S. Patent Application No. 14 / 551,526 is also incorporated herein by reference.

This application relates to methods and apparatus for haptic systems.

1 is a side view of a firearm training system according to an exemplary embodiment of the present invention.
Figure 2 is a side view of the simulated firearm body of the system shown in Figure 1;
3 is a perspective view of the simulated firearm body shown in FIG. 2;
Figure 4 is an exploded view of the simulated firearm body shown in Figure 2;
5 is a perspective view of a linear motor and a sliding mass.
Figure 6 is an exploded side view of the linear motor and sliding mass shown in Figure 5;
7 is an assembled side view of the linear motor and sliding mass shown in FIG. 6;
8 is a perspective view of a support bracket for a linear motor and sliding mass according to an exemplary embodiment of the present invention.
9 is a side view of a simulated firearm body according to an exemplary embodiment of the present invention.
FIG. 10 is a schematic flow diagram of the simulated firearm system shown in FIG. 1;
11 is a side view showing a sliding mass of a linear motor in an initial position relative to a firearm body simulated in a simulation recoil cycle according to an exemplary embodiment of the present invention.
12 is a side view showing the sliding mass of the linear motor shown in FIG. 11;
FIG. 13 is a side view showing the linear motor of FIG. 12 retracting the sliding mass for a simulated firearm body in a simulation recoil cycle.
14 is a side view showing the linear motor of FIG. 13 for retracting the sliding mass for the simulated firearm body in a simulation recoil cycle.
Fig. 15 is a side view showing the linear motor of Fig. 14;
16 is a graph plotting the reaction force versus time of the first round of ammunition versus force caused by a linear motor kinematically controlling the motion of the sliding mass.
17 is a graph plotting the reaction force versus time of the first round of ammunition versus force caused by a linear motor that kinematically controls the motion of the sliding mass according to an exemplary embodiment of the present invention.
18 to 21 are diagrams showing repeatedly firing a recoil firearm that increases the accuracy degradation of a repeated shot according to an exemplary embodiment of the present invention.
22 is a perspective and side view of a linear motor and sliding mass according to an exemplary embodiment of the present invention.
23 is a perspective view of a sliding mass with an exemplary magnet removed according to an exemplary embodiment of the present invention.
24 is an enlarged perspective view of the sliding mass shown in FIG. 23 with the exemplary magnet removed.
25 is a diagram showing operation of a coil in a linear motor according to an exemplary embodiment of the present invention.
26 and 27 are diagrams showing the operation of coils in two different energized states of a linear motor according to an exemplary embodiment of the present invention.
28 and 29 illustrate the motion of a magnet through two different energized linear motors according to an exemplary embodiment of the present invention.
30 is a diagram showing magnetic flux density versus voltage output according to an exemplary embodiment of the present invention.
31 and 32 are diagrams of sensor voltage response vs. time for a slider moving through a linear motor in accordance with an exemplary embodiment of the present invention.
33 is a diagram of a sample waveform in accordance with an exemplary embodiment of the present invention.
34 and 35 are diagrams of sensor voltage response vs. time for a slider moving through a linear motor at two different constant linear speeds according to an exemplary embodiment of the present invention.
FIG. 36 is a diagram of force versus time plotting reaction force against a real firearm compared to reaction forces simulated by unused methods and devices using mechanical stops in accordance with an exemplary embodiment of the present invention.
FIG. 37 is a plot of plotted acceleration versus time versus recoil acceleration for a real firearm compared to simulated acceleration of a sliding mass by a method and apparatus with and without a mechanical stop according to an exemplary embodiment of the present invention. .
FIG. 38 is a plot of the speed versus time plotted against the recoil speed for a real firearm compared to the simulated speed of a sliding mass by a method and apparatus with and without a mechanical stop according to an exemplary embodiment of the present invention. .
39 is a side view of a simulated pistol according to an exemplary embodiment of the present invention.
40 is a side view of the simulated pistol shown in FIG. 39;
FIG. 41 is an exploded view of the simulated pistol shown in FIG. 40;
42 is a side view of an upper receiver of a simulated pistol according to an exemplary embodiment of the present invention.
43 is an internal side view of the components of the upper receiver shown in FIG. 42;
FIG. 44 is a view of the slider shown in FIG. 43 pulled rearward for caulking a simulated pistol according to an exemplary embodiment of the present invention.
FIG. 45 is a view of the slider shown in FIG. 44 returning to a pre-launched simulated position for a simulated pistol according to an exemplary embodiment of the present invention.
FIG. 46 is a view of a linear motor moving the sliding rod in a direction toward the rear until the shoulder of the slider shown in FIG. 45 according to an exemplary embodiment of the present invention hits the stop.
47 is a side view of a simulated pistol with a removable power supply (battery) of a magazine according to an exemplary embodiment of the present invention.
48 is a view of the power supply (battery) shown in FIG. 47 removed from a simulated pistol in accordance with an exemplary embodiment of the present invention.
49 is a diagram of a simulated magic wand with a linear motor removed according to an exemplary embodiment of the present invention.
50 is a side view of a user holding the gaming wand of FIG. 49;
52 is a front view of a simulated tennis racket with a plurality of linear motors in accordance with an exemplary embodiment of the present invention.
53 is a top view of the simulated tennis racket shown in FIG. 52 with the racket portion removed.
54 is a side view of a simulated tennis racket in accordance with an exemplary embodiment of the present invention.
55 is a perspective view of a sliding mass / rod combination and linear motor according to an exemplary embodiment of the present invention.
56 is a diagram of a standing or resonant waveform with charging characteristics according to an exemplary embodiment of the present invention.
57 is a diagram of various temporal waveforms with different characteristics of amplitude and period according to an exemplary embodiment of the present invention.
58 is a diagram showing various types of standing or resonant waveforms having constant waveform characteristics according to an exemplary embodiment of the present invention.
59 is a diagram of various types of standing or resonant waveforms of constant waveform characteristics according to an exemplary embodiment of the present invention.
60 is a view of a sliding mass comprising four magnets according to an exemplary embodiment of the present invention.
FIG. 61 is a diagram of a linear motor emulating a spring constant of force required to fill or caulk a slide of a simulated pistol according to an exemplary embodiment of the present invention.
62 is a diagram of a meter in which the generated current is measured according to an exemplary embodiment of the present invention.
63 is a diagram of a magazine of a shortened simulated pistol according to an exemplary embodiment of the present invention.
64 is a view of the magazine of the simulated pistol shown in FIG. 63;
65 is a diagram of a charging / loading mechanism for a neutralizer platform according to an exemplary embodiment of the present invention.
66 is a diagram of a charging / loading mechanism for a neutralizer platform according to an exemplary embodiment of the present invention.
67 is a diagram of a charging / loading mechanism for a neutralizer platform according to an exemplary embodiment of the present invention.
68 is a view of a person pulling a charging handle through a charging / loading mechanism for a neutralizer platform according to an exemplary embodiment of the present invention.
69 is an illustration of a peripheral device embodiment comprising a linear motor in accordance with an exemplary embodiment of the present invention.
FIG. 70 is an inner side view of the peripheral embodiment shown in FIG. 69 with a linear motor, sliding mass, and mechanical stop exposed.
71 is a side view of a virtual reality gaming peripheral device in accordance with an exemplary embodiment of the present invention.
FIG. 72 is an inner side view of the virtual reality gaming peripheral shown in FIG. 71;
73 and 74 are side views showing two positions of the linear motor on the chair according to the exemplary embodiment of the present invention.
75 is a side view of the linear motor attached to the chair at the position of the linear motor shown in FIGS. 73 and 74;
76 is a view of a linear motor attached in different orientations on a chair according to an exemplary embodiment of the invention.
77 is a side view of a modified butt stock comprising a linear motor system according to an exemplary embodiment of the present invention.
78 is a side view of the modified butt stock shown in FIG. 77;
FIG. 79 is a side view of the modified butt stock shown in FIGS. 77 and 78, showing a threaded buffer tube.
80 is an internal side view of a stock stick comprising a linear motor housed in a hollow cylinder according to an exemplary embodiment of the present invention.
FIG. 81 is a view of a user holding the impact stick shown in FIG. 80;
FIG. 82 is a side view of a user having a virtual reality gaming peripheral connected to a chair through a removable cable harness in accordance with an exemplary embodiment of the present invention and including a collision stick.
83 is an internal side view of a collision stick inserted into a peripheral body according to an exemplary embodiment of the present invention.

Methods and apparatus for haptic systems are provided.

Embodiments include linear motors configured to simulate haptic feedback for gaming devices and simulation systems, including gaming firearms and other peripherals used in various gaming environments.

Embodiments relate to simulation of recoil against firearms. More specifically, embodiments provide a method and apparatus for simulating recoil of a selected conventional firearm. Embodiments additionally provide a laser to simulate the path of the bullet when the bullet is fired from a firearm simulated by the method and apparatus.

Firearms training for soldiers, law enforcement officers and civilians, in addition to shooting, increasingly encompasses role-playing and decision making. These trainings often involve competing with roles and / or responding to situations projected on the screen in front of trainees.

If a self-healing screen exists, but permits the use of existing firearms for such training, using such a system requires a suitable location for the use of existing firearms. In addition, these systems are expensive and unreliable. Alternatives to existing firearms were developed. These alternatives include paintballs, simulated munitions, and the use of lasers to show the path taken when a bullet was fired.

However, these alternatives practically do not replicate all of the characteristics that fire with real ammunition with real ammunition, limiting the extent to which training will be carried out with the use of real guns. In various embodiments, the characteristics of the conventional firearm to be replicated are size, weight, grip configuration, trigger reach, trigger pull weight, sight type, accuracy level, recharge method, method of operation, operation and position of the control, and / or recoil It may include.

Real recoil is difficult to replicate. What the trainees who are not accustomed to the reactions generated by a particular gun do not get is one of the biggest drawbacks of using various gun training simulators. The recoil not only forces the gunner to regain sight after shooting, but also forces the gunner to adapt to the level of discomfort in proportion to the energy of the specific bullets fired by the gun. It is much more difficult to control recoil during fully automatic firing than semi-auto firing, and accurate simulation of recoil and cycle speed is important to ensure that simulation training leads to actual firearm use.

Embodiments provide a gun training simulator with recoil that emulates a recoil collision pattern of a particular gun firing a certain size and type of bullet. In one embodiment, the method and apparatus may include a laser beam projector for projecting a path of bullets fired from a specific gun being simulated.

In various embodiments, the method and apparatus may simulate additional operations of a particular firearm, which also include aiming, positioning of the firearm control unit and a method of operating the firearm. There are certain firearms that can simulate other common firearms, including M4, AR-15 or M-16 rifles and firearms and large firearms.

In one embodiment, the method and apparatus can be controlled by a combination of trigger assembly, bolt and linear motor. In an embodiment, the method and apparatus can simulate modes of semi-automatic and fully automatic firing. In various embodiments, the cyclic rate of the fully automatic firing mode simulation may be substantially the same firing rate as a conventional automatic rifle.

One embodiment provides a laser that substantially tracks the path of an actual bullet fired from a simulated firearm. One laser emitter can be accommodated in the barrel of the firearm simulating body. In one embodiment, the laser emitter can be operably connected to a controller that can be operably connected to the recoil. An embodiment of the switch can be a roller switch configured to be operated by a switching rod extending forward from the bolt. When the bolt moves forward as the trigger is pulled, the switching rod engages the roller of the switch, depresses the switch and activates the laser. Another embodiment may use a proximity switch mounted in a position where the magnet can contact during the forward movement of the bolt. The preferred location can be adjacent to the junction between the barrel and the upper receiver. The magnet attached to the bolt can be configured to approach the proximity switch when the bolt is in the foremost position, whereby the proximity switch activates the laser.

Embodiments provide a method and apparatus in which the level of reaction given to a user can be programmed by the user.

One embodiment provides a method and apparatus capable of both semi-automatic and fully automatic operation.

One embodiment provides a method and apparatus in which different firing rates of fully automatic firing can be programmed by the user.

One embodiment provides an apparatus and method that includes a laser assembly that substantially projects a laser along a path of bullets that can be fired from a simulated gun.

One embodiment provides a method and apparatus for simulating recoil of a conventional firearm operably coupled to a controller using a linear motor that controls a sliding mass (sliding mass). Instead of generating torque (i.e., through rotation), the linear motor can take into account an electric motor with a stator and rotor "unrolled" to produce a linear force along the length of the length. The most common mode of operation of a conventional linear motor is a Lorentz type actuator whose applied force is linearly proportional to the current and magnetic field.

Most designs apply to linear motors classified into two main categories: low acceleration and high acceleration motors. Low acceleration linear motors are suitable for maglev trains and other ground based transportation applications. High-acceleration linear motors are generally rather short and are designed to accelerate objects at very high speeds (see, for example, railguns).

High-acceleration linear motors are commonly used as ultra-high-speed collision research, large-capacity propulsion devices for gun or spacecraft propulsion. High-acceleration motors are generally AC linear induction motor (LIM) designs with an active three-phase winding on one side of the air gap and a passive conductor plate on the other side. However, a DC linear motor railgun may be another high-acceleration motor design. Low-acceleration, high-speed and high-power motors usually consist of a linear synchronous motor (LSM) design, with an active winding on one side of the air gap and an array of alternative pole magnets on the other side. These magnets can be permanent magnets or energized magnets. The Transrapid Shanghai motor is an LSM design.

Linear motors use the direct electromagnetic principle. The electromagnetic force provides direct linear motion without the use of cams, gears, belts or other mechanical devices. The motor consists of two parts: a slider and a stator. The slider is a precision assembly comprising a stainless steel tube filled with neodymium magnets, which are provided with threaded attachment holes at each end. Stator with coil, bearing for slider, position sensor and microprocessor board can be designed for use in harsh industrial environments.

The solenoid is a coil wrapped in a tightly packed spiral. The term solenoid refers to a long, thin wire loop wound around a metal core that generates a magnetic field when current passes through it. The term solenoid refers to a coil designed to create a uniform magnetic field in a volume of space (where a constant experiment can be performed). In the field of engineering, the term solenoid can also refer to various transducer devices that convert energy into linear motion.

The term also refers to a specific type of solenoid switch that uses an electromechanical solenoid internally to operate an electric switch or solenoid valve, which is an integrated device comprising an electromechanical solenoid that operates a pneumatic or hydraulic valve. For example, the electromechanical solenoid can be an automobile starter solenoid or a linear solenoid.

The solenoid includes an electromagnetic induction coil wound around an electromechanical movable steel or iron slug (called armature). The coil may be shaped such that the armature moves inside and outside the center to change the inductance of the coil to become an electromagnet. The armature can be used to provide mechanical force to some mechanism (eg, pneumatic valve control). Even though it is a very short distance, but typically vulnerable anywhere, the solenoid can be controlled directly by a controller circuit, thus having a very short reaction time. The force applied to the armature is proportional to the change in the position of the armature and the change in the inductance of the coil with respect to the current through the coil (see Faraday's law of induction). The force applied to the armature always moves the armature in a direction that increases the inductance of the coil. The armature can be a ferromagnetic material. Free recoil is the native language or terminology for the recoil energy of a firearm that is not supported by the rear. Free recoil represents the translational kinetic energy (Et) given to the shooter of a small arm when discharged, and is expressed in J (joule) and foot-pound force (ft-lbf) in a non-SI unit system. More generally, the term refers to the recoil of an independent firearm, unlike a firearm that is bolted or fixed to a large mount or wall.

Free kickback should not be confused with kickback. Free recoil is the name for the translational kinetic energy transmitted from portable weapons to the shooter. Rebound is the name given for the conservation of momentum that generally applies to everyday events.

Free recoil (also called recoil energy) is a by-product of the propulsive force of a powder charge in a firearm chamber (metal cartridge firearm) or in the haul (black powder firearm). The free kick physical event occurs when the powder charge in the firearm is blasted and the chemical energy retained in the powder charge is converted into thermodynamic energy. This energy can then be moved to the base of the bullet and to the rear of the cartridge or the dog's head so that the gun is propelled rearward to the shooter, increasing the speed while the projectile is being pushed forward under the barrel and delivered to the muzzle. The rear energy of the firearm is free kick and the forward energy of the bullet is the muzzle energy.

The concept of free recoil comes from the allowable limit of total recoil energy. Finding the gun's pure recoil energy (also known as felt recoil) is useless effort. Even anti-inflammatory; Recoil action or gas action; Mercury recoil suppression tube; Recoil reduction hip pads and / or hand grips; Rebound energy losses due to shooting vests and / or gloves can be calculated, but not human factors.

Free recoil can be considered a scientific measure of recoil energy. The level of comfort of the shooter's ability to tolerate free kick is personal perception. This personal perception may be similar to, for example, an individual's perception of how comfortable they feel for indoor or outdoor temperatures.

Many factors can determine how the shooter perceives the free kick of his portable weapon. Some of the factors include, but are not limited to: body weight; Body frame; experience; Firing position; Recoil suppression device; Portable weapon feet and / or environmental stressors.

Free kickback can be calculated using several different methods. The two most common methods are expressed by the short and long equations of momentum.

Both forms can produce the same value. The short form uses one equation, while the long form requires two equations. In the long form, the launch / portable bottle speed can be determined first. The free recoil of a portable weapon at a rate known for the portable weapon can be calculated using the translational kinetic energy equation. The calculation can be performed as follows:

Short form of momentum:

Long form of momentum:

및

And

here,

Etoug is the translational kinetic energy of a portable weapon expressed by J (Joule).

mgu is the weight (kg) of a portable weapon expressed in kilograms (kg).

mp is the weight of the projectile expressed in grams (g).

mc is the weight of the powder filling expressed in grams (g).

Vgu is the speed of a portable weapon expressed in meters per second (m / s).

vp is the speed of the projectile expressed in meters per second (m / s).

vc is the speed of the powder filling expressed in meters per second (m / s).

1000 is a conversion factor that sets the equation in kilograms.

In various embodiments, the linear motor can include a sliding mass / rod comprising a plurality of individual magnets, each having an arctic pole and an antarctic pole. In various embodiments, a plurality of individual magnets may be aligned longitudinally with the same pole of adjacent magnets facing the same pole. In various embodiments, a plurality of individual magnets may be aligned longitudinally with different poles of adjacent magnets facing different poles. In various embodiments, a number of individual magnets in a sliding mass / rod are 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 19, 20, 25 , 30, 35, 40, 45 and / or 50 magnets. In various embodiments, the number of magnets can be between any two ranges of the numbers listed above.

The linear motor may include a plurality of magnetic coils that are independently controllable with respect to each other with respect to the timing and / or amount of current flow. In various embodiments, the plurality of independently controllable magnetic coils are each independently controllable with respect to timing and / or amount of current flow and / or direction of current flow.

In embodiments, each of the plurality of independently controllable magnetic coils may include a plurality of sub-coil sections that are spaced apart from each other but electrically connected in series, and the spaced sub-coil sections electrically connected in series may be a single independently controllable magnetic field. Form a coil. In various embodiments, at least one sub-coil of the first independently controllable magnetic coil of the plurality of coils may be spaced intermediately between two spaced sub-coils of the second independently controllable magnetic coil of the plurality of coils. have.

The linear motor can include a plurality of independently controllable magnetic coils that are aligned and closely spaced from each other in the longitudinal direction, and at least two adjacent independently controllable magnetic coils can be energized to produce a magnetic field of reverse polarity. have. In an embodiment, the linear motor may include a number of independently controllable magnetic coils that are aligned in the forward direction, and adjacent independently controllable magnetic coils may be energized to simultaneously generate a magnetic field of reverse polarity.

In various embodiments, the linear motor may include a plurality of independently controllable gyro coils that are aligned longitudinally, closely spaced and slidably connected to the sliding mass of the magnet, the sliding mass aligned longitudinally Can comprise a plurality of adjacent magnets, wherein the linear motor changes current through the individually independently controllable coils with respect to the proximity of the particular magnets in the plurality of magnets to a particular coil in the plurality of independently controllable magnetic coils. It may cause movement of the sliding mass of the magnet.

In various embodiments, a plurality of individually controllable magnetic coils in a plurality of coils are 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 19, 20 , 25, 30, 35, 40, 45 and / or 50 independently controllable coils. In embodiments, the number of independently removable magnetic coils may be between any two ranges of the numbers listed above.

In one embodiment, a plurality of linear motors can be provided that independently control a plurality of different controllable weight units. In one embodiment, the housing facade unit is provided to include a plurality of spaced apart location locations (location locations) in the housing facade unit to receive and maintain one or more linear motors and a controllable weight unit. You can. In various embodiments, the location location can be selected by the user.

In other embodiments, facade units having a plurality of different angular orientations for receiving and maintaining one or more linear motors and controllable weight units may be provided. In various embodiments, the angular orientation can be selected by the user.

In another embodiment, a plurality of different housing facade units may be provided in different positions and / or angular orientations to accommodate and maintain one or more linear motors and controllable weight units. In various embodiments, the positional position and / or angular orientation may be selected by the user.

In one embodiment, a selectable set of linear motors and controllable weight units may be provided, each having an adjustable configuration including spacing and / or orientation of different controllable weights in the housing. In various embodiments, one or more linear motors and controllable weight units may include a plurality of different weight inserts. In another embodiment, one or more linear motors and controllable weight units may include a plurality of different selectable mechanical stop positions for the controllable weights.

In some embodiments, the methods and devices disclosed herein include tennis rackets, baseball bats, magic wands, hockey sticks, cricket bats, badmintons, full sticks, boxing glove (s), swords, light savers, bows and arrows, golf clubs, And the operation of one or more selectable gaming devices, such as fishing rods.

In various embodiments, the methods and apparatus disclosed herein tactile one or more secondary type operations of the emulated system, such as a halo plasma gun, a broken bat, a bat vibration after a baseball hit, firearm, charging / loading, etc. Can be simulated.

One embodiment may provide a firearm simulator body 20 capable of simulating an M-4A1, AR-15, M-16 rifle or any other type of rifle. Body 20 is shown in FIG. 1 as a rifle, but embodiments of the invention as described herein may include a variety of other gun bodies. For example, embodiments of the present invention may include simulation systems for pistols, rifles, shotguns and heavy weapons including M2, Mark 19, RPG (Rocket Propelled Grenade), mortars and machine guns. The above list is not exhaustive and may include various types of bodies including recoil / collision systems described herein for gun simulation in games, military and other applications.

As shown in the exemplary embodiments of FIGS. 1 to 4, the firearm simulator body 20 includes an upper receiver 120 and a lower receiver 140. As in the conventional M-16, the upper receiver 120 can be pivotally fixed to the lower receiver 140 by screws or pins.

The lower receiver 140 may include a pistol grip 160, a trigger 170 disposed in front of the pistol grip 160 and a selector 450 disposed on the pistol grip 160. The shoulder stock 220 may be fixed to the lower receiver 140.

The barrel assembly 300 may be mounted to the front portion of the upper receiver 120. The barrel assembly 300 can include a barrel 310 that can be secured directly to the upper receiver 120. The upper handguard 330 and the lower handguard 340 may be fixed to the barrel assembly 300. The front view block 360 may be disposed around the barrel 310.

1 is a side view of an embodiment of the firearm training system 10. 2 is a side view of a simulated firearm body 20. 3 is a perspective view of the upper assembly / receiver 120. 4 is an exploded view of the simulated total body 20.

The firearm training system 10 is simulated with a linear motor 500 operably connected to the slider mass 600 and a controller 50 operably connected to the linear motor 500 via a connecting wire bus 54. It may include a firearm body (20).

The simulated firearm body 20 may include an upper assembly 120 and a lower assembly 140. The upper assembly 120 may include a ship pear assembly 300 and a barrel 310 along with an upper 330 and a lower 340 hand guard. The lower assembly 140 may include a shoulder stock 220, a buffer tube 230, and a pistol grip 160. The pistol grip 160 may include a trigger 170. The cartridge 250 may be detachably connected to the lower assembly 140.

The linear motor 500 can be attached to the upper assembly 120 through the connector assembly 700. The connector assembly 700 may include a connector tube 740 having a first end 710, a second end 720, connector plates 721 and 722, and a bore 750. The connector plate 721 can include a fastener opening 730, and the connector plate 722 includes a fastener opening 732.

5 is a perspective view of the linear motor 500 and the sliding mass 600. 6 is an exploded side view of the linear motor 500 and the sliding mass 600. 7 is an assembly diagram of the linear motor 500 and the sliding mass 600.

The linear motor 500 includes a plurality of individually controllable energized coils 521, 522, 523, 524, 525, 526, 527, 528, which can electromagnetically interact with a plurality of magnets 640 within the mass 600. 529, 530).

By controlling the magnetic force, timing, and current direction of a specific magnetic coil in a plurality of individually controllable magnetic coils 520, the movement, acceleration, speed and position of the mass 600 over time for a specific firearm simulated It can be controlled to obtain the desired moment / impact curve for the time approximating a specific pulse curve.

One method of controlling power delivered to an advantageous linear motor in the present invention is PWM (Pulse-Width Modulation). PWM technology can be used to encode a message into a pulsing signal, which is a type of modulation. This modulation technique can be used to encode information for transmission, but its primary use allows control of the power supplied to the linear motor. The average value of the voltage (and current) supplied to the load can be controlled by turning the switch between supply and load on and off at high speed. The longer the switch compared to the off period, the higher the total power supplied to the load. The PWM switching frequency is significantly higher than affecting the load (powered devices), ie the resulting waveform sensed by the load should be as smooth as possible. Typically, in the case of a motor drive, switching of tens of kHz is performed. For example, in one embodiment, PWM can be used to control the sliding mass in the range of 10 kHz to 30 kHz for recoil / collision generation. This can be advantageous to keep the power consumption low and repeatability to the movement of the linear motor. The duty cycle represents the ratio of the 'on' time to the 'interval' at regular intervals, and the low duty cycle corresponds to low power because the power is turned off for most of the time. The duty cycle can be expressed as a percentage, and 100% is completely on. One of the main advantages of using certain linear motor applications and PWMs described herein is that the switching device has very low power dissipation. When the switch is turned off, no current actually flows. When the switch is on and power is transferred to the load, there is little voltage drop across the switch. Therefore, the power loss, which is the product of voltage and current, is close to zero in both cases.

By controlling the duty cycle of the linear motor, power savings can be achieved, especially when the battery / power supply is limited and expensive and unlimited use when the switch is ON to OFF. In one embodiment, the linear motor system can use a supercapacitor pack as a power source, and the duty cycle / PWM is linear optimized based on the duty cycle for power consumption to generate the recoil / collision and the duty cycle needed to generate the recoil. It can be selected to be optimized based on the resolution of the motor (minimum repeatable linear motion).

The linear motor 500 may include a mass 600 slidably connected to the linear motor 500. Mass 600 may include a first end 610, a second end 620 and a bore 630. The plurality of magnets 640 may be included inside the bore 630. The linear motor 500 may not be used in a simulated firearm to control reaction forces.

8 is a perspective view of one embodiment of a support portion 700 for a linear motor 500 and a sliding mass 600. The support 700 may include a first end 710 and a second end 720. The first end may be first and second connection flanges 721 and 722. The first connection flange 721 may include a plurality of connector openings 730. The second connection flange 722 can include a plurality of connector openings 732. The second end 720 can be a tubular section 740 having a tubular bore 750. The linear motor 500 may be mounted to the support 700 through a plurality of openings 730 and 732 connected to a plurality of connector openings 540. After being mounted on the support 700, the linear motor 500 can allow the sliding mass 600 to move controllably (eg, slide or accelerate) within the bore 750 and relative to the bore 750. have.

In one embodiment, a mechanical stop 800 can be used to increase free kick from the sliding mass 600. The mechanical stop 800 is simulated firearm body "strictly" at the end of the permitted travel length 660 (i.e., to allow the linear motor 500 to accelerate negatively faster with a possible zero sliding mass 600). (20) Can be used inside. This quick stop can create an enhanced recoil effect for the user 5 by increasing the reaction force to the user 5 to the maximum. Since the linear motor 500 uses a magnetic sliding mass 600 together with an electromagnetic stator, there is a coupling between the two devices and there is a maximum acceleration and deceleration that the device can achieve.

For this limitation, a mechanical stop 800 can be used. The linear motor 500 typically brakes the sliding mass 600 by reversing the driving magnetic field originally used to accelerate the sliding mass 600 in the opposite direction for stopping at the end of the original length 660. Instead of this method, the braking is kept in contact between the second end 620 of the sliding mass inside the lower assembly 140 and the first end 810 of the mechanical stop. Accordingly, the provision time of the sliding mass 600 may be faster than that of the linear motor 500, and this faster braking or deceleration generates a greater reaction force from the sliding mass 600, and thus a larger free recoil value results in a sliding mass. Generated by system 10 at time and location for 600.

In various embodiments, during the emulated firing cycle, the linear motor 500 becomes the last 1% of the total stroke of the sliding mass 600 as the sliding mass 600 moves to collide with the mechanical stop 800 Until the sliding mass 600 maintains the acceleration, the movement of the sliding mass 600 can be controlled. In an embodiment, acceleration is the last 2, 3, 4, 5, 10, 15, 20, 25 of the entire stroke of the sliding mass 600 as the sliding mass 600 moves in the direction of impact with the mechanical stop 800 , 30, 35 and / or 40%. In some embodiments, the control of increased acceleration is such that any two ranges of any of the aforementioned percentages of the entire stroke of the sliding mass 600 as the sliding mass 600 moves in the direction of impact with the mechanical stop 800 Can be until

During the emulated launch cycle, the linear motor 500 moves the sliding mass 600 to continue the acceleration for 1 millisecond before the sliding mass 600 collides with the mechanical stop 800. Can be controlled. In an embodiment, the acceleration is 2, 3, 4, 5, 6, 7, 8, 9, 10, 12, 14, 15, 16, 18 and / or before the sliding mass 600 collides with the mechanical stop 800. Or it can increase to 20 milliseconds. In various embodiments, the control of the increased acceleration can reach any two of the above mentioned periods before the sliding mass 600 collides with the mechanical stop 800.

The simulated firearm body 20 can include a selector switch 450 operably connected to the controller 50 to control the type of operation of the firearm training system 10. For example, selector switch 450 may have multiple simulation modes such as (1) safety, (2) semi-automatic firing mode, (3) fully automatic firing mode, and (4) burst firing mode.

To use the firearm training system 10, the user can select the position of the selector switch 450, aim the simulated firearm body 20 at the target, and pull the trigger 170. When the trigger 170 is pulled, the controller 50 causes the linear motor 500 to dynamically control the sliding mass 600 to generate reaction force, which is transmitted to the user to simulate the firearm body 20 Can be retained. The reaction force generated by controlling the sliding mass 600 can be controlled to substantially approximate the time and amount for a particular simulated ammunition as fired from a simulated firearm.

In one embodiment, a time vs. force chart of a specific round of ammunition fired from a specific simulated firearm can be identified, and the controller 50 controls the linear motor 500 to control the movement of the sliding mass 600 It can be programmed to do so, thereby controlling the acceleration vs. time of the sliding mass to generate substantially the same force over time. Force is the product of acceleration multiplied by mass, so we control force versus time by controlling acceleration versus time.

In some embodiments, multiple sets of simulation data points (eg, force vs. time values) may be generated. In one embodiment, certain types of ammunition can be tested in a simulated firearm, and an apparent reaction force versus time data set can be generated. Multiple measurements can take multiple times. In an embodiment, the program for the linear motor may substantially match the reaction forces of the sliding mass 600 in both time and amplitude, such as an emulated force diagram for a plurality of points. In an embodiment, at least three points can be matched.

In various embodiments, at least 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 14, 15, 16, 17, 18, 19, 20, 25, 30, 35, 40, 45, 50, 60, 70, 80, 90 and / or 100 simulation point data sets may be substantially matched. In embodiments, a range between any two of the specified number of simulation point data sets may be substantially matched.

In one embodiment, system 10 can be used to emulate a force versus time curve estimated to be generated according to a specific firearm that fires ammunition of a specific size and type that is simulated.

Recoil can be thought of as a force exerted on a user firing a firearm. This reaction force can depend on the size and structure of the firearm, along with the characteristics of the bullets fired from the firearm. When a firearm fires a first type of ammunition compared to a second type of ammunition, the reaction imposed on the user of the same firearm may be different.

In an embodiment, linear motor 500 and sliding mass 600 may have a total mass similar to that of a particular simulated firearm. In one embodiment, the simulated firearm body 20 comprising the combined linear motor 500 and sliding mass 600 has a total mass similar to that of the particular firearm being simulated. In various embodiments, one of the combined linear motor 500 and / or sliding mass 600 is approximately 65, 70, 75, 80, 85, 90, 95, and / or 100 of the mass of a specific simulated firearm. It may have a total mass having a total mass of% (and / or a simulated firearm body 20 comprising a combined linear motor 500 and a sliding mass 600). In embodiments, ranges between any two of the percentages mentioned above may be used.

In an embodiment, a substantially balanced simulated firearm body 20 can be provided. By positioning the linear motor 500 in front of the simulated firearm body 20, a better weight balance as well as a more realistic starting position for the simulated reaction force vector can be achieved. By locating the movement of the sliding mass 600 in this way, the center of gravity of the simulated firearm body 20 and the weight of the barrel 300 are seen by the user 5 when the system 10 is idle and not pulled. It can be realistic. This is due to the starting position of the sliding mass 600.

In one embodiment, the barrel 310 material used in the upper assembly 120 may not be steel, and the upper assembly 120 may be a user due to a change in weight distribution compared to the upper assembly for a simulated real firearm. (5) You may feel unrealistic.

To solve this problem, during the initial stages of the recoil simulation cycle, a portion of the sliding mass 600 may be arranged inside the barrel 310. This portion of the sliding mass can simulate this additional “missing” weight within the barrel 310, and this additional weight from the linear motor 500 is assisted.

When the user fires the system 10, the sliding mass 600 moves from the barrel 310 toward the rear of the simulated firearm body 20, and is stopped by a stop 800 equal to the beginning of the stock. Thereafter, the sliding mass 600 can return to its initial position and generate a seamless effect for the user 5, where the weight distribution of the firearm is felt as accurate when the firearm is not fired. In addition, as the weight distribution of the simulated firearm body 20 changes during the recoil / collision effect, additional rear loads that the user 5 can perceive enhance the perceived recoil / collision effect of the linear motor. This is because the linear motor slider moves toward the mechanical stop with high acceleration, keeping the firearm unbalanced toward the rear end of the simulator, and then hitting the mechanical stop to show the front of the simulated firearm in FIGS. 18 to 21. It is raised as shown. When the simulated firearm ascends, additional static loads towards the ground can be applied to the shoulder of the user 5 by a change in the center of gravity, whereby the user 5 increases from a linear motor hitting a mechanical stop. The recognition of the rebound effect and a new constant weight distribution is presented. In addition, the slider can return to its original position to complete the recoil cycle, which also exerts additional force on the user 5.

Although the above-described drawings show rifles, the same principle can be applied to the various firearms and devices mentioned herein, mainly with a linear motor placed on the device, controlling the position of the sliding mass, and placing a mechanical stop, for specific devices and users. Certain haptic effects are optimized.

In different embodiments, the position of the linear motor 500 can be moved from the hand grip position as in the stock 220 or is further raised into the receiver if necessary.

9 is a side view of one embodiment of a simulated firearm body 20. The size of the linear movement of the sliding mass 600 can be schematically illustrated by arrows 660. In this figure, the actual position 666 of the second end 620 of the sliding mass 600 is “time dependent” indicating the temporary position of the second end 620 of the sliding mass 600 at the travel length 660. Schematically illustrated by vertical line 666 "'. Arrow 1320 schematically represents the time-dependent reaction force that can be generated by the time-dependent acceleration of sliding mass 600 by linear motor 500. Clip 650 ) Can be removed from the sliding mass 600 before or after the installation of the linear motor 500 so that the first and second ends 610, 620 of the sliding mass 600 during control of the sliding mass 600, if necessary ) May be inserted between the first end 530 and the second end 534 of the plurality of coils 520 into the plurality of coils 520 of the linear motor 500.

FIG. 10 is a schematic flow diagram of various operations of the simulated firearm system shown in FIG. 1. In one embodiment, the controller 50 can be programmed to control the linear motor 500 to control the dynamic motion of the sliding mass 600 within the free travel length 660 of the sliding mass 600, The sliding mass thus creates the desired reaction force vs. time curve, where this force vs. time curve can simulate the force vs. time curve of a specific bullet fired from a specific simulated firearm. The linear motor 500 can include a sliding mass 600 controlled with a motor logic controller 504. The motor logic controller 504 can be operatively connected to the controller 50. A power supply 60 (eg, 24 volts) can be coupled to the logic controller 504 and controller 50 of both linear motors. Individual power supplies 60 (eg, 72 volts) may be connected to the linear motor 500 due to the greater current demand of the stator of the linear motor 500.

Sequencing

11-15 are flow charts showing the sliding mass 600 of the linear motor 500 in four different positions relative to the simulated firearm body 20. In one embodiment, system 10 may be programmed to simulate recoil for different types of ammunition that user 5 may use on a particular rifle. The programming of the system 10 uses the “free kick” formula to measure the force vs. time of the actual round in a particular firearm system simulated by the system 10 and determine the energy generated by the simulated real firearm system. It can be achieved by using. Once the force vs. time of the simulated real firearm system is known and the free recoil of the real system is known, then the system 10 then reacts and the user the sliding mass 600 substantially matches the same or similar force vs. time. It can be programmed to generate free recoil energy that must be delivered to (5). This method can provide the same perceived reaction as the ammunition fired from the actual firearm is simulated for the user 5.

Accordingly, by changing the stroke distance, speed, acceleration and / or deceleration at a predetermined time interval or point of the sliding mass 600, the reaction reaction force applied to the user 5 from the simulated firearm body 20 is controlled. Can be. This reaction reaction force can be controlled to mimic or simulate the following: (1) reaction force generated by a certain type of ammunition simulated round of a specific type of gun; (2) different types of ammunition rounds in a specific simulated gun The reaction forces produced by (other types of ammunition rounds can use more gun powder / less gun powder or use higher bullet / lower weight bullets or some combination thereof.

Various types of reaction forces can be performed only by the linear motor 500 changing the dynamic movement of the sliding mass 600 over time. For example, when a greater force is required at a specific time during the recoil time at this particular time point, the linear motor causes this reaction force by simply increasing the instantaneous acceleration of the sliding mass 600.

Figure 16 shows the hypothetical reaction force versus time (shown in square scale) of the first round of ammunition with force vs. time caused by a linear motor that dynamically controls the dynamics of the sliding mass (shown through triangle scale). It is a plotted graph.

16 can be compared to the sequencing of FIGS. 11-15.

At time 0, the second end 620 of the sliding mass 600 is as shown in FIG. 11 at position 666 and begins to accelerate in the opposite direction of arrow 1300 (the reaction force in the direction of arrow 1300 is Caused and applied on the simulated firearm body 20 and the user retains the body 20). Linear motor 500 until the second end 602 of the sliding mass 600 reaches a position 666 '(shown in Figure 12) that contacts the first end 810 of the stop 800. The arrow 1300 accelerates and moves in the opposite direction. Just before reaching 666 ', the acceleration of the sliding mass 600 causes a reaction force in the direction of the arrow 1300 (shown at negative reaction force and 16 milliseconds in FIG. 16). However, immediately after the collision between the first end 810 and the second end 620, this collision / contact accelerates the sliding mass 600 in the opposite direction of the arrow 1310 in the direction 1310 (FIG. 16). The time is shown between 16 to 36 milliseconds and generates a reaction force (positive reaction force).

During the same contact / collision between the second end 620 and the first end 810, the linear motor 500 is in the opposite direction of the arrow 1310 (reaction force 1310 shown in FIG. 12 by a force vector) (Added to), it can accelerate the sliding mass independently. At times 36-66 milliseconds on the graph shown in FIG. 16, the controller 50 can be programmed such that the linear motor 500 controls the acceleration of the sliding mass 500 to generate the desired simulated reaction reaction force.

Figure 13 shows the second end 620 at a position 666 "where the linear motor can accelerate the sliding mass 600 to generate the reaction force shown at 41 milliseconds in Figure 16. Figure 14 shows the linear motor Shows the second end 620 of the position 666 ", which can accelerate the sliding mass 600 to produce the reaction force shown in 56 milliseconds in FIG. 15 shows the second end 620 at the start position 666 of the next recoil cycle.

Now between the position 666 "'shown in FIG. 14 and the position 666 shown in FIG. 15, the linear motor 500 can accelerate the sliding mass in the direction of arrow 1330 (eventually decelerated and then next Sliding mass 600 is stopped at position 666 to prepare for the recoil cycle of.) However, this deceleration acceleration can be controlled to a minimum, so that the sound applied to the user 5 and the simulated firearm body 20 is The magnitude of the force of the force is minimized.This negative reaction force is not shown in Figure 16 and can be relatively small.In this way, the amplitude of the amplitude of the reaction force and the amplitude of the reaction force experienced by a user firing a certain type of ammunition from a particular gun. The timing of can be simulated by the programmed dynamics of the sliding mass 600 controlled by the linear motor 500. To simulate multiple firing cycles, the linear motor 500 Can control the dynamic movement of the sliding mass 600 to generate a repetitive force versus time pattern / schematic for the dynamic movement of the sliding mass 600 for a desired number of times or cycles.

17 is a graph plotting the virtual reaction force versus time of the first round of ammunition (shown through a square scale) along with the force vs. time generated by a linear motor that dynamically controls the dynamics of the sliding mass. 17 shows different bullets according to different force versus time curves simulated by a programmed linear motor 500 that controls the kinematic motion of the sliding mass 600. In addition, the total period of the curve may differ from 66 milliseconds and may vary depending on the recoil characteristics of the simulated firearm firing a specific bullet.

The ability of the linear motor 500 to generate reaction force with the sliding mass 600 can be further improved by alternating the mass of the sliding mass 600. In one embodiment, different overall lengths for sliding mass 600 can be used (the longer length option has a larger mass). Using a larger mass for a given acceleration of this mass, the generated reaction force is found by the formula (force equals mass X acceleration). In various embodiments, the sliding mass 600 may be a 270 mm long slider or 350 mm long, such optional sliding masses 600, 600 'to modulate the mass of the sliding mass 600 In order to be replaced with a linear motor 500. The 270mm sliding mass 600 has a mass of 215g, and the 350mm sliding mass 600 'has a mass of 280g. The change in mass produces different reaction forces caused by acceleration and different free reaction energy that can be used to better approximate the force versus time generated by a specific round of ammunition.

In addition, the length of the sliding mass 600 changes the overall acceleration and travel length 660. Linear motor 500 approximates the force versus time curve produced by a particular round of ammunition. According to the shorter sliding mass 600, the linear motor 500 can achieve higher speeds due to the longer acceleration time, and presents a larger value of free recoil energy to the user.

The maximum reaction force for different sliding masses 600, 600 'can be calculated as follows:

Since there is no powder or speed of the powder filler, these corresponding values (vc & mc) become 0, resulting in the standard kinetic energy formula K = (0.5 * m * v ² ). The maximum value of Etgu is as follows for both sliders:

Sliding Sliding Mass Sliding Mass Total mass freedom of firearms

Mass length Mass acceleration recoil

18-21 are schematic flow charts showing individually repeated five firings of the firearm simulating body 20 according to recoil, which increases the loss of accuracy with repetitive shots. These figures schematically illustrate simulation training through a semi-automatic firing mode in response to electronic recoil to train five individuals for accuracy.

One embodiment uses a firearm simulating body 20 with a linear motor 500 simulating an M4A1 rifle that fires a specific type of bullet (although different types of firearms and bullets are considered in different embodiments). . In one embodiment, the selector switch 450 can have three modes of operation: (1) semi-automatic, (2) burst, and (3) fully automatic. User launch after selecting the burst mode is schematically illustrated in FIGS. 18-21. A series of three simulated shot firings in burst mode 2 can be performed by system 10.

User 5 uses selector switch 450 to select a simulation type for this particular firearm. As schematically illustrated in FIG. 18, the user 5 can aim the simulated firearm body 20 in the target area 1400. Subsequently, the user 5 can pull the trigger 170 connected to the trigger switch 172 and transmit a signal to the controller 50. The controller 50 can control the linear motor 500, which in turn can control the sliding mass 600. The controller 50 can also control the laser emitter 1200. Aiming can be implemented with the system through laser emitter, magnetic tracking, optical tracking, 3D laser tracking, etc. Many types of tracking systems can be used / integrated in the present invention. For example, a positioning system can be used to determine the position and orientation of an object or person in an indoor, building or world. The time of the flight system determines the distance by measuring the propagation time of the pulse signal between the transmitter and receiver. If the distances of three or more positions are known, the fourth position can be determined using triangulation. In other embodiments, optical trackers such as laser distance trackers can also be used. However, such systems often suffer from gaze problems, and their performance may be degraded by ambient light and infrared light. On the other hand, it does not suffer from the distortion effect in the presence of metal and may have a high update rate due to the speed of light. In other embodiments, ultrasonic trackers may also be used. However, such a system has a more limited range due to energy loss according to the travel distance. In addition, it is sensitive to ultrasonic ambient noise and may have a low update rate. However, the main advantage is that they do not require attention. Systems that use radio waves, such as the Earth Navigation Satellite System, do not suffer from ambient light, but still need attention. In other embodiments, a spatial scan system can also be used. Such systems can typically use (optical) beacons and sensors. Two categories can be distinguished: (1) inside the system where the beacon is placed in a fixed position within the environment and the sensor is in the target, (2) outside the system where the beacon is in target and the sensor is in a fixed position in the environment. . By aiming the sensor at the beacon, the angle between them can be measured. Triangulation can be used to determine the position of an object. In other embodiments, an inertial sensing system can also be used, one of its advantages is that it does not require external reference. Instead, these systems measure rotation to a gyroscope or position with an accelerometer for a known starting position and orientation. Because these systems measure relative position instead of absolute position, this can suffer from accumulated errors and drift. Periodic recalibration of the system can provide higher accuracy. In other embodiments, mechanical linkage systems can also be used. These systems can use mechanical linkages between standards and targets. Typically, two linkages can be used. One is an assembly of mechanical parts that can each rotate, thus providing the user with multiple rotation capabilities. The orientation of the linkage can be calculated from various linkage angles measured with an incremental encoder or potentiometer. It may be a wire wound with another type of mechanical linkage coil. The spring system can ensure that the wire is tensioned to accurately measure the distance. The degree of freedom that the mechanical linkage tracker senses depends on the configuration of the tracker's mechanical structure. Although a degree of freedom of 6 is usually provided, only a limited range of motion is typically possible, due to the length of each link and the kinematics of the joint. In addition, the weight and deformation of the structure can increase with the distance from the reference to the target, and can limit the amount of work.

In other embodiments, a phase difference system can be used. This system measures the phase motion of the signal coming from the moving target emitter compared to the phase of the signal coming from the reference emitter. Accordingly, the relative movement of the emitter with respect to the receiver can be calculated. Like the inertial sensing system, the phase difference system can be subject to drift due to accumulated errors, but because the phase is continuously measured, it can generate a high data rate. In another embodiment, a direct field sensing system can also be used. The system uses a known field to derive the orientation or position, and a simple compass can use the Earth's magnetic field to know the orientation in two directions. The inclinometer can use the Earth's gravitational field to determine its orientation in the remaining third direction. However, the field used for positioning does not have to be derived from nature. A system of three electromagnets arranged perpendicular to each other can define spatial criteria. In the receiver, three sensors measure the component of the flux in the field received as a result of magnetic coupling. Based on these measurements, the system can determine the position and orientation of the receiver relative to the emitter's criteria. Since each system described herein has advantages and disadvantages, most systems can use more than one technique. Systems based on relative position changes, such as inertial systems, may require periodic calibration of systems using absolute position measurements.

Systems that combine two or more techniques can be used with the various embodiments of the invention described herein and are called hybrid positioning systems. In one embodiment, magnetic tracking can be used with the gun peripheral 20 and can substantially track its motion profile. In an embodiment, optical tracking of the peripheral body 20 can be achieved by placing optical markers on the body 20 at key points that may not be disturbed by the user 5 and pre-programmed cameras (optical trackers) ) Can successfully track the orientation of the body 20 during gaming and simulation training.

In an embodiment, direct field sensing is performed by magnetic tracking disposed on the body 20 and via a gyroscope sensor or other inertial sensor disposed on the body 20 to measure changes in angular orientation. Can be used to track Both sensors are added to the achievable resolution for tracking body 20. In one embodiment, direct field sensing (magnetic and inertial tracking) uses optical tracking to modify the direct field sensing tracker according to absolute positioning criteria to improve the resolution of the position of the body 20 in 3D space. It can be used in conjunction with optical tracking to track the gun peripheral body 20, thus preventing drift. In an exemplary embodiment, the body 20 can be any type of simulated body that provides a haptic effect according to the present invention, which can include gaming devices / peripherals or firearms.

The controller 50 induces an individual to traverse a pre-programmed kinematic motion that forms a reaction force over a predetermined reaction force versus time to simulate a reaction force that may experience actually simulating a specific bullet for a specific firearm The linear motor 500 can be controlled. The controller 50 can be connected to an infrared laser system 1200 that can cooperate with the user 5 pulling the trigger 170. The laser 1200 can be simulated on a target screen (area 1400 or 1410) from which the bullet can move from the simulated firearm body 20. If the laser 1200 is replaced by optical or magnetic aiming (tracking / positioning), the coordinates of the position around the gun in 3D space can be converted into a gameplay simulation for accurate tracking of the body 20. This allows the trigger 170 to be pulled by the user 5 and accurate calculation of the bullet trajectory can be performed and inserted into the simulation for real-time tracking and gameplay.

In FIG. 19, the first round of the three simulated burst rounds, the laser 1200 emits a laser line 1230 and may have a hit 1221 in the target area 1400. In FIG. 20, in the second of three simulated burst rounds, laser 1200 emits laser line 1230 at target area 1400 (but closer to non-target area 1410). It may have a hit 1231. In FIG. 21, in the third of three simulated burst rounds, laser 1200 may emit laser line 1240 and may have a hit 1241 in non-target area 1410. The arrow 1350 schematically represents a simulated recoil placed on the body 20 which degrades the aiming of the user 5. By repeatedly using the system 10, the user 5 can become familiar with the simulated recoil and adjust its aim.

In actual training, the projection system can simulate "target space" and "non-target" space for the user 5. When the user 5 fires at the screen 1400, it can be regarded as a "non-target" space 1410. This target 1400 can be moved or stopped and the size and shape can vary significantly. However, the projection system can add them by counting the total number of bullet strikes (eg 1221, 1231) in the target space and the non-target space. Accordingly, the following formula can be used to determine the accuracy for the user 5:

Accuracy = [[Total-(Non-Target Space)] / Total] * 100%

For example, if the user fires a total of 10 shots corresponding to 4 shots in the target space 1400 and 6 shots in the non-target space 1410, the formula is displayed as follows:

Accuracy = [[10-6] / 10] * 100%.

This simulation gives the user 40% accuracy.

Since the actual reaction effect is generated and adapted to the user's field of view from the aiming target space 1400, the system 10 trains the user 5 more accurately in firing the actual firearm system without the need to fire the actual ammunition. Can help. In one embodiment, the projection system described herein can be comprised of a computer system and a visual display system.

The laser emitter 1200 may be in the barrel 310. The laser emitter 1200 assembly may include a circuit board, a battery box, a switch, and a laser emitter. The laser emitter 1200 is preferably housed within the barrel 310 and can be oriented to emit a laser beam that is substantially parallel and coaxial with the longitudinal centerline of the barrel 310.

 According to embodiments of the present invention using the tracking system described herein or a combination thereof, users and / or devices may be tracked in real time for gaming and / or simulation purposes.

For example, tracking of user movement that can be converted into simulation may be implemented through a control on the gun body peripheral body 20 through magnetic or optical tracking of the joystick or the body 20. The user 5 can be tracked directly by magnetic or optical tracking instead of indirectly by applying tracking only to the gun body 20. Therefore, it is possible to obtain a more immersive and comprehensive level of realism than in the game play and training simulation by adding an additional motion other than 2D fixed aiming through the laser 1200. Although the gun peripheral body 20 has been described in the above embodiments, other devices, including the gaming devices described herein, may be tracked.

Virtual reality scenarios using projection-based displays, also called head-mounted displays (HMDs) and optical head-mounted displays (existing screen displays / projection systems are miniaturized and attached to the user's head), provide more accurate and successful simulation and gaming. It is increasingly necessary to create a play environment. This new display system can be used as a head-mounted display (or aerospace application) that is a display device worn on the head or as part of a helmet that can have a small display optic in front of one (monocular HMD) or each eye (binocular HMD). For helmet-mounted displays).

An optical head mounted display (OHMD), which is a wearable display that not only reflects the projected image but also allows the user to view it, can also be used. A typical HMD can have one or two small displays with a lens and translucent mirror built into a helmet, glasses (also called data glasses) or visor. The display unit may be miniaturized and may include CRT, LCD, liquid crystal on silicon (LCoS), or OLED. Some vendors may use multiple micro displays to increase overall resolution and visibility. The HMD differs depending on whether it can display only a computer-generated image (CGI) or a live image of the real world or a combination of the two. Most HMDs display only computer-generated images (also called virtual images). Most HMDs display only computer-generated images referred to as actual images. In some HMDs, the CGI may overlap in the actual view. This is usually called augmented reality or mixed reality. The combination of the real world and CGI can also be performed by projecting the CGI through a mirror that partially reflects it and looking directly at the real world. This method is often referred to as Optical See-Through. The combination of the real world and CGI can be done by electronically receiving the video from the camera and electronically mixing it with the CGI. This method is commonly referred to as Video See-Through.

The optical head mounted display can use an optical mixer partially made of a silver mirror. This not only reflects the artificial image, but also allows the user to see the actual image across the lens. Various techniques exist for see-through HMDs. Most of these technologies can be summarized into two main product families: "curve mirror" based and "waveguide" based. Curved mirror technology is used by Raster Technologies and by Vuzix in the Star 1200 product. Various waveguide technologies exist. Such techniques include, but are not limited to, diffraction optics, hologram optics, polarization optics, and reflective optics.

Major HMD applications include military, government (fire, police, etc.) and civil / commercial (medicine, video games, sports, etc.). The ruggedized HMD is increasingly being integrated into the cockpit of modern helicopters and fighters, and is generally fully integrated with the pilot's flight helmet and may include protective visors, night vision devices and other symbolic displays.

Engineers and scientists use HMD to provide a stereoscopic view of the CAD schematic. This system can be used for the maintenance of complex systems because it can effectively present a "x-ray vision" to the technician by combining computer graphics such as system diagrams and images with the technician's natural vision. There are applications of surgery in which a combination of radiographic data (CAT scan and MRI imaging) can be combined with a surgeon's natural surgical view and anesthesia where the patient's biosignals can be within the field of the anesthesiologist's field of view. Research universities often use HMD to conduct research on vision, balance, cognition, and neuroscience.

Low cost HMD devices can be used with 3D gaming and entertainment applications. One of the first commercially available HMDs was the Forte VFX-1, presented at the Consumer Electronics Show (CES) in 1994. The VFX-1 comes with a stereoscopic display, 3-axis head tracking and stereo headphones. Another pioneer in this field is Sony Corporation, which launched Glasstron in 1997, has an optional position sensor that allows the user to see around, and deep immersion as the head moves as the vision moves. Gives One application of this technology is the game MechWarrior® 2, which is visually viewed by users of iGlass from Sony Glasstron or Virtual I / O Inc. By allowing the user to visualize the battlefield through his eyes and through the aircraft's own cockpit, it allows a new visual perspective from inside the aircraft's cockpit. Many brands of video glasses can now be connected to video and DSLR cameras and applied as a new generation of monitors. As a result of the glasses' ability to block ambient light, filmmakers and photographers can see live images more clearly.

The Oculus Rift® is an upcoming Virtual Reality (VR) head-mounted display manufactured by Palmer Luckey and developed by Oculus VR, Inc. for virtual reality simulation and video games. . VR headsets are configured for use with game consoles such as Xbox One® and PS4®.

The main application of HMD is training and simulation, which can allow virtual deployment of trainees in situations that may be too expensive or dangerous to replicate in real life situations. Training with HMD includes a variety of applications including, but not limited to, driving, welding and spray painting, flight and vehicle simulators, separate soldier training, and medical procedure training.

Embodiments of the present invention can be used with the systems described above. In one embodiment, the HMD can be used in a simulation system that includes a peripheral body 20 that includes a linear motor recoil / collision system, and the user 5 can use the 3D internal location tracked body 20 to 3D. A recoil is generated to emulate firearm firing while allowing firing at a simulated target in virtual space. In one embodiment, the HMD can be used in a gaming system incorporating a 3D position tracked peripheral gaming body including a linear motor recoil / collision system, where the user 5 can interact with the linear motor 500 according to the interaction from virtual space. ), It is possible to interact with the virtual space by generating a haptic output.

In one embodiment, the virtual space can be controlled and created by a computer system to transmit visual information to an HMD or other visual system. In another embodiment, the virtual space may obtain positioning data from the tracking method described herein, transmit the positioning data to the computer, the computer may update the virtual space and display visual information of the virtual space. HMD or other visual systems. In other embodiments, the simulation system described herein can include a computer system. In other embodiments, the simulation system described herein may include a computer system that runs a virtual simulation, a visual display, a tracking system, a linear motor including a sliding mass, and a controller that controls the operation of the sliding mass of a motor vehicle. . In other embodiments, the gaming system described herein can be a computer system.

In an exemplary embodiment, a typical firing speed for a fully automatic firing with a low firing speed is about 600 rounds / minute. A typical firing rate for fully automatic firing at high firing speeds is about 900 rounds per minute, roughly simulating the firing speeds of M-4A1, AR-15 and / or M-16 rifles.

The firearms training simulator thus simulates the recoil, firing speed, configuration, control, and gun operating modes used to train the shooter. The training simulator provides the opportunity to perform a decision training scenario projected on the screen while reducing the safety and facility cost of using a laser instead of a live ammunition, while sufficiently reproducing the characteristics of an existing firearm, so that the training is effective against the existing firearm. Can be performed.

In a further embodiment, a system is provided that can be integrated into an existing structure, including structures designed to provide recoil using pneumatics. Referring to the simulator 10 of FIG. 1, the controller 50 may be attached in a wired or wireless communication type configuration as described herein for the linear motor 500 as well as the infrastructure of an existing system. Embodiments include configurations in which components of the controller 50 can be located within the body 20 of the simulator 10.

The existing infrastructure can be connected to a simulation / gaming computer that can track game / simulation statistics for the user 5. Depending on the particular installation / application, the existing infrastructure may require a communication / power receptacle (e.g. hanging from the floor / wall / ceiling) where the pneumatic system was previously connected for communication with the simulation / gaming computer. It can contain. In some embodiments, the controller 50 can be connected to these sockets for communication with a simulation / gaming computer.

When the simulation / gaming computer is connected to the controller 50 in a wired / wireless or hybrid configuration, the system 10 can be tracked for evaluation by the user 5. For example, the computer is consumed by the user in training whether the user 5 is properly squeezing the trigger based on similar sensor data or accelerometers of the trigger and / or whether the user 5 is hit in game / simulation goals. You can decide how many rounds are lost. Figure 51 is on the right side of the open diagram (motor feedback from game / simulation) for more immersive feedback from linear motor 500 in additional scenarios / gameplay, and collects data from user 5 on the left. It is a drawing shown.

22 is a perspective view of another embodiment of the linear motor 500 and sliding mass 600. The linear motor 500 may include sensors 550 and 552 that may be Hall effect sensors. 23 is a perspective view of a sliding mass 600 with a number of exemplary magnets 640 removed. 24 is an enlarged perspective view of the sliding mass 600 with the exemplary magnet 640 removed. 23 and 24, the plurality of magnets 640 (eg, magnets 642, 644, 646, etc.) may include neodymium. In addition, a spacer (eg, a spacer 643 between magnets 642 and 644, and a spacer 645 between magnets 644 and 645) may be provided between the pair of magnets 640. . In a preferred embodiment, the spacer can include iron (such as ferromagnetic iron). In an embodiment, a plurality of magnets 640 are aligned such that the same pole faces the same pole (ie, North Pole vs. North Pole and South Pole vs. South Pole). 23 and 24, starting from the left, the left pole of the first magnet 640 is the north pole and the right pole of the first magnet 640 is the south pole.

In the middle, the left pole of the second magnet 640 is the south pole and the right pole of the second magnet 640 is the north pole. Finally, in the third magnet 640 located at the far right, the left pole of the third magnet 640 is the north pole and the right pole of the third magnet 640 is the south pole. In an exemplary embodiment, the pattern of poles of the same magnet facing the poles of the same magnet is repeated through slider 600. Thus, the plurality of magnets 640 included in the slider / driven mass 600 can have similar poles facing each other, which creates a repulsive force. In a preferred embodiment, the outer shell of the sliding mass 600 can hold the plurality of magnets 640 and the spacer in a longitudinal direction fixed to each other. In an embodiment, the outer shell is stainless steel, which may be a non-magnetic material that does not substantially interfere with the magnetic force between the plurality of coils 520 of the linear motor 500 and the plurality of magnets 640 of the sliding mass 600. Can be

In one embodiment, the sliding mass 600 can be used, for example, with ceramic magnets and neodymium magnets to reduce manufacturing costs while substantially maintaining the acceleration profile where the arrangement of magnets for a known set of motions substantially requires a known set of motions. The same combination of magnetic materials can be used. For example, if the initial motion requires high acceleration of the sliding mass 600, the slider 600 may be selected such that the most expensive and strongest magnet is located within the coil (s) of the linear motor 500 before moving. have. This allows the high efficiency energy input to the linear motor system to accelerate the sliding mass 600 at high speed, followed by coiling the neodymium magnet at low speed using a ceramic magnet to prepare for the next recoil / collision effect motion. ) To the center.

22 shows a linear motor system with a linear motor 500 and a sliding mass 600. 60 shows a sliding mass 600 comprising four magnets. As shown, two neodymium magnets are in the center, and two ceramic magnets are on both sides. Two neodymium magnets start inside the stator for each movement. This allows the strongest magnet to accelerate the sliding mass 600 quickly during the initial part of the stroke of the linear motor system. Upon reaching the ceramic magnet, the linear motor 500 can still control the sliding mass 600 and return the slider to the initial starting position with the neodymium magnet in the center of the stator. Accordingly, while the higher cost neodymium magnet is preserved, while using a low-cost ceramic magnet, the linear motor 500 can perform substantially the same function for recoil / collision effect and haptic feedback movement.

In one embodiment, the sliding mass 600 can have magnets of different lengths of different types of magnets. In an embodiment, the sliding mass 600 can have neodymium and ceramic magnets of equal length in a linear path to produce the single most effective recoil / collision effect or haptic feedback effect. In other embodiments, the sliding mass 600 can have different lengths of neodynium and ceramic magnets in a linear path to produce the most effective single recoil / collision effect or haptic feedback effect possible.

In an embodiment, the linear motor 500 can be modified such that the coil (s) provides the most efficient energy transfer possible for both types of magnets. In one embodiment, the linear motor 500 can be modified such that the coil (s) provides the most efficient energy transfer possible for one magnet type. In one embodiment, the sliding mass 600 may have multiple magnet materials (neodymium, ceramic, etc.) in multiple configurations (changes in length and order) to produce an efficient recoil / collision effect or haptic feedback effect.

25 to 29 schematically illustrate the operation of the linear motor 500 and the sliding mass 600 by driving a plurality of magnets 640 by a plurality of coils 520. 25 is a schematic diagram showing the operation of the plurality of coils 520 in the linear motor 500. 26 and 27 are schematic diagrams showing the operation of the coil 520 of the linear motor 500 in two different energizing states.

In FIG. 25, the coils 521, 523, and 525 of the stator of the linear motor 500 can be wired in series and labeled as phase 1 (these coils in phase 1 are single independently controllable when wired in series). Can be considered to be a sub-coil of the magnetic coil). The coils 522 and 524 can also be wired in series and labeled as phase 2 (when these coils in phase 2 are wired in series, they can be considered sub-coils of independently controllable magnetic coils). The independently controllable magnetic coil 520 of the linear motor 500 can be wound in the same or different directions depending on the design. Each independently controllable coil in phases 1 and 2 can produce its own magnetic field when energized. This allows the independently controllable magnetic coils of phases 1 and 2 in the plurality of coils 520 to repel each other or, in the case of phases 1 and 2, the coils can be pulled together according to the way that the phases are polarized and the coils are wound . These alternative polarization states are shown in FIGS. 26 and 27. In Fig. 26, phase 1 and phase 2 are polarized in the same direction so that the coils of the two phases are pulled from each other. In FIG. 27, phase 1 and phase 2 are polarized in opposite directions so that the coils of the two phases push each other. By changing the polarization of the phases in the plurality of independently controllable magnetic coils 520 of the linear motor 500, the sliding mass 600 is controllably moved as desired through the plurality of coils 520 to achieve the desired reaction force. Can generate, which can include time dependent control (collision), acceleration, velocity, position, and / or momentum.

28 and 29 are schematic diagrams showing the movement of the plurality of magnets 640 of the sliding mass 600 through the plurality of coils 520 of the linear motor 520 in different energizing states.

28 schematically shows the initial motion of the sliding mass 600 with a plurality of magnets 640 through a plurality of coils 520 of a linear motor 500.

  In FIG. 28, the first magnet 642 of the sliding mass 600 is inserted into the plurality of coils 520 of the linear motor 500. The plurality of coils 520 are energized to phase 2 as shown and phase 1 is not energized (or off).

28 schematically shows the initial motion of the sliding mass 600 with a plurality of magnets 640 through a plurality of coils 520 of a linear motor 500. In FIG. 28, the first magnet 642 of the sliding mass 600 is inserted into a plurality of coils 520 of the linear motor 500. The plurality of coils 520 are energized with polarized phase 2 as shown and phase 1 is not energized (or off). Thereby, the magnet 642 (and sliding mass 600) is pulled deeper into a plurality of coils (shown schematically by the right arrow).

As schematically illustrated in FIG. 29, when the first magnet 642 moves to the middle of the coil 522, phase 1 can be energized (or turned on), thereby creating a pull force on the magnet 642 Then, the second magnet 644 is introduced into the center of the coil 521 to push the magnet 642 at the same time. The movement of the sliding mass 600 eventually stops when the plurality of magnets 640 reach a steady state by the plurality of coils 520, in this case, the north poles of the coils 521 and 522 are magnets 644 and 642 ), Respectively, the north pole of the coil 522 is aligned with the south pole of the magnet 644 and the south pole of the coil 521 is aligned with the north pole of the magnet 642.

Thus, the magnetic force is in equilibrium and motion ceases and phases 1 and 2 remain energized to this polarization state. Thus, by turning the coil on or off and alternating the polarization of the coil, the slider (charged with a neodymium magnet) can be pushed or pulled through the stator (composed of many coils). Further, the number of coils shown in FIGS. 25 to 29 can be increased to have a larger acceleration cross section.

In one embodiment, two or more phases may be present in the linear motor 500. In other embodiments, two phases of the linear motor 500 may use two or more coils 520. The speed, acceleration and linear distance of the sliding mass 600 can be measured as a function of Hall effect sensors 550 and 552 with a 90 degree phase difference. The phase difference Hall effect sensors 550 and 552 may respectively generate a linear voltage in response to an increasing or decreasing magnetic field. 22 shows the mechanical alignment in the linear motor 500 and sensors 550, 552. The response that the sensors 550 and 552 represent as a function of magnetic field strength (flux through the sensor) versus voltage (other than the sensor) is shown in FIG. 30, and FIG. 30 is a diagram showing magnetic flux density versus voltage output. 31 and 32 are exemplary diagrams of the voltage response over time of the sensors 550 and 552 for a slider moving through a linear motor.

When the sliding mass 600 moves through the plurality of coils 520 of the linear motor 500, the 90 degree phase difference sensors 550 and 552 are shown in FIGS. 32 (Cosine (x) for the sensor 552) and 31 As shown in (Sine (x) for sensor 550), it provides a voltage response to time falling into a sine or cosine function. This resulting wave is generated by sensors 550 and 552 because the generated magnetic flux for multiple magnets 640 in sliding mass 600 is the strongest at the magnetic pole. Thus, as the north pole of two magnets approaches, the wave rises to the anode and peaks when it is just above that pole. If it continues in the same direction, as the Antarctic approaches, the wave goes to the cathode and peaks when it is just above the pole. Thus, one sensor 550 provides the function of sine (x), and the other sensor 552 provides the function of cosine (x). As shown, these functions have a 90 degree phase difference. Two sensors 550 and 552 can be used for better precision feedback and control of the sliding mass 600 through multiple coils 520 of the linear motor 500, allowing the sliding mass to be tracked continuously and accurately. Can be used as a method.

To provide further explanation, a sensor 550 that generates a sine wave is shown in FIG. 31, which will be further investigated as to how this graph can be used to track the speed, acceleration and displacement of the sliding mass 600. . 32 shows the cosine wave generated from sensor 552. 33 is a diagram of a sample waveform showing various components of the waveform generated by sensor 550. The wavelength λ is related to the speed of the sliding mass 600 through the plurality of coils 520 of the linear motor 500. As the wavelength shortens, the frequency can be calculated by f = 1 / λ, and the frequency will increase as the wavelength shortens.

34 and 35 are exemplary diagrams of the time versus voltage response of the sensor 550 to the sliding mass 600 moving through the linear motor 500 at two different continuous linear speeds. For example, in FIG. 34, the sliding mass 600 moves through the plurality of coils 520 at 1 meter per second to generate this wave. 35 can be created with a sliding mass 600 speed of up to 2 m / s. As shown, the increase in wave frequency corresponds to the speed at which the sliding mass 600 moves through the plurality of coils 520 of the linear motor 500.

In addition, the waveform changes in FIGS. 34 and 35 are related to the acceleration of the sliding mass 600. 34 and 35 respectively show the constant speed of the sliding mass 600 (the constant speed of FIG. 35 is twice the constant speed of FIG. 34). In both of these figures, there is no acceleration, and the slider of the sliding mass 600 As it approaches the linear speed of 2 meters per second shown in FIG. 35, the frequency increases to the value in FIG. 35 so that the frequency change over time can be used to calculate the acceleration of the driven mass 600.

Finally, the distance traveled by the driven mass 600 can be calculated by recognizing the length of the plurality of magnets 640 in the sliding mass and counting the number of wavelengths passing through the sensor 550. Each wavelength may correspond to the entire length of the permanent magnet in the main body of the sliding mass 600. Also, waveforms from both sensors 550 and 552 can be used to keep the slider 600 in a steady state (non-moving).

For example, by looking at the outputs of the sensors 550, 552, 90 degrees to maintain a steady state drive signal from the controller 50 that does not drift (or complex error) based on the accuracy of two measurements other than one. Because of the phase difference, sine and cosine waves can be compared. Thus, speed, acceleration, and distance can be calculated from the graphs of voltage versus magnetic flux of sensors 550 and 552.

Emulation of full recoil collision

In one embodiment, the linear motor 500 and the sliding mass 600 can be used to emulate a total recoil collision for a particular gun firing a particular type of bullet.

"Actual reaction force" is the force produced by a particular type of aeration that fires a certain type of ammunition at any point in time after the force is delivered to the user. This actual reaction force may be planned over a period of time from the initial firing of the gun's ammunition to the end of any actual reaction force after firing.

Meanwhile, the “generated reaction force” is a reaction force generated by the linear motor 500 that controls the movement of the sliding mass 600. The reaction force generated in this way can be transmitted to the user 5 holding the simulated firearm body 20 of the simulator system 10.

Real recoil collisions are areas under force versus time diagrams where forces are generated by a particular type of firearm that fires certain types of ammunition. The reaction recoil generated is under the force versus time diagram 1600 of the reaction force generated by the linear motor 500 that controls the movement of the sliding mass 600 over time (eg, acceleration, speed and distance). Area.

16 shows an example of a diagram for actual reaction force 1500 versus time, along with generated reaction force 1600 versus time. The area under the actual reaction force vs. time diagram 1500 is the actual reaction force collision. The area under the generated reaction force vs. time diagram 1600 is the generated reaction collision. The area under the generated recoil collision can be positive (greater than 0) and negative (less than 0). In a preferred embodiment, the negative region can be subtracted from the positive region when calculating the total collision. In other embodiments, the negative region may be ignored when calculating the total collision.

As shown, the force vs. time diagrams 1500 and 1600 of the actual recoil over time against the reaction forces generated by the sliding mass 600 and the linear motor 500 over time are tracked close to each other. The collision and reaction collision are almost the same. However, in different embodiments, the sliding mass versus time and the actual recoil vs. time diagram 1500 for the reaction forces produced by the linear motor 500 is calculated at the end of the firing cycle (from the area under the diagram). As long as they get close to each other, they can change substantially.

FIG. 36 shows a single diagram of the following three force vs. time plots: (1) 0.223 Remington ammunition with a total weight of force versus actual force (1500) (about 7.5 pounds (3.4 kg)). (1st plot for M16 / AR-15 type rifle firing / round), (2) time vs. force of reaction force generated by linear motor and sliding mass in combination with mechanical stop (1600), and (3) mechanical stop Force vs. time generated by the linear motor and sliding mass without using (1600 '). The positive value of the force represents the force pushing the user 5 backward. As shown by time, a firing cycle of about 90 milliseconds is used.

The diagram 1600 includes spikes 1610 when the sliding mass 600 collides with the mechanical stop 800, and the area under each plot 1500, 1600 should be approximately the same to obtain the same overall collision. . For the diagram 1600, time 1700 represents the initial contact between the sliding mass 600 and the mechanical stop 800. In a different embodiment, because the collision time between the sliding mass 600 and the mechanical stop 800 is very short (less than about 5 milliseconds), the initial contact time 1700 also uses the time of the peak reaction force 1620. Can be calculated.

36 shows the peak 1520 of the actual reaction force 1500 and the difference 1630 between these peaks compared to the peak 1620 of the generated reaction force 1600. In various embodiments, the mechanical stop 800 can be used to generate a spike 1610 from the generated reaction force, the spike 1620 having a difference 1630 compared to the peak 1520 of the actual reaction force 1500. .

In various embodiments, peak 1620 may be a peak where difference 1630 can be minimized. In one embodiment, during the emulated launch sequence, the difference 1630 is less than 50% of the peak 1620. In various other embodiments, the difference 1630 is 45, 40, 35, 30, 25, 20, 15, 10, 5, 4, 3, 2 and / or 1% or less of the peak 1620. In an embodiment, the difference 1630 can be within a range between any two of the aforementioned percentages of the peak 1620.

In various embodiments, average generation by linear motor 500 controlling sliding mass 600 during a specific simulated firing sequence prior to initial contact of sliding mass 600 and mechanical stop 800 at time 1700 The reaction force can be calculated by calculating the collision divided by the initial collision at time 1700 divided by the time at time 1700. In an embodiment, the peak 1620 of the generated reaction force is a linear that controls the sliding mass 600 during a specific simulated firing sequence prior to the initial contact of the sliding stop 600 with the mechanical stop 800 at time 1700. At least 50% greater than the average generated reaction force by the motor 500.

In various embodiments, the peak generating reaction 1620 is a linear motor that controls the sliding mass 600 during a specific simulated firing sequence prior to the initial contact of the sliding stop 600 with the mechanical stop 800 at time 1700. The average generated reaction force by 500 is 55, 60, 65, 70, 75, 80, 85, 90, 95, 100, 110, 120, 130, 140, 150, 175, 200, 225, 250, 275, 300 , 400, 500, 600, 700, 800, 900, 1000, 1200, 1500, and / or 2000% larger. In embodiments, ranges between any two of the percentages mentioned above may be used for this comparison.

The average generated reaction force by the linear motor 500 that controls the sliding mass 600 during the entire specific simulated launch sequence can be calculated by dividing the time during this entire launch sequence and calculating the collision during the entire launch sequence. In various embodiments, the peak 1620 of the generated reaction force is slid during the entire specific simulated firing sequence (i.e., before and after the initial contact of the mechanical stop 800 and the sliding mass 600 at time 1700). It may be at least 50% greater than the average generated reaction force by the linear motor 500 controlling the mass 600. In an embodiment, the peak generating reaction force is 55, 60, 65, 70, 75, 80, 85, 90 more than the average generating reaction force by the linear motor 500 controlling the sliding mass 600 during the entire specific simulated firing sequence. , 95, 100, 110, 120, 130, 140, 150, 175, 200, 225, 250, 275, 300, 400, 500, 600, 700, 800, 900, 1000, 1200, 1500, and / or 2000% Bigger. In embodiments, ranges between any two of the percentages mentioned above may be used for this comparison.

The average generated reaction force by the linear motor 500 controlling the sliding mass 600 during a specific simulated firing sequence after the initial contact of the mechanical stop 800 and the sliding mass 600 at time 1700 is the time 1700 ) Can be calculated by calculating the collision after the initial collision at time 1700 divided by time. In an embodiment, the peak 1620 of the generated reaction force is linear to control the sliding mass 600 during a specific simulated firing sequence after the initial contact of the sliding mass 600 with the mechanical stop 800 at time 1700. At least 50% greater than the average generated reaction force by the motor 500. In an embodiment, the peak generating reaction force is applied to the linear motor 500 that controls the sliding mass 600 during a specific simulated firing sequence after the initial contact of the sliding mass 600 with the mechanical stop 800 at time 1700. The average generated reaction force by 55, 60, 65, 70, 75, 80, 85, 90, 95, 100, 110, 120, 130, 140, 150, 175, 200, 225, 250, 275, 300, 400, 500 , 600, 700, 800, 900, 1000, 1200, 1500, and / or 2000% larger. In embodiments, ranges between any two of the percentages mentioned above may be used for this comparison.

37 compares the simulated acceleration of a sliding mass caused by a method and apparatus using a mechanical stop 1602 and no mechanical stop 1602 'to the recoil acceleration for an actual firearm 1502. Here is an exemplary diagram of acceleration versus time shown for. The force from the acceleration diagram can be calculated using the formula (force equals mass X acceleration). 38 shows the recoil speed for an actual firearm 1506 compared to the simulated speed of a sliding mass caused by a method and apparatus using a mechanical stop 1606 and no mechanical stop 1606 '. Here is an example diagram of speed versus time.

In one embodiment, the stop 800 is a reaction force diagram generated from the linear motor 500 controlling the sliding mass 600 by rapidly increasing the reaction force at the point of impact between the sliding mass 600 and the mechanical stop 800. It can be adopted to modify.

The mechanical stop 800 is within the simulated firearm body 20 “strictly” at the end of the permitted travel length (ie, accelerates faster and negatively with a sliding mass 600 of 0 than the linear motor 500). Can be adopted in. This rapid stop creates an enhanced recoil effect for the user 5 and creates a high repulsive force. In one embodiment, the reaction force generated by the sliding mass 600 colliding with the mechanical stop 800 is any force generated by the linear motor 500 accelerating the sliding motor 600 during the emulated launch sequence. Can be greater.

In an embodiment, during the emulated launch sequence, the maximum reaction force generated by the linear motor 500 accelerating the sliding mass 600 is of the reaction force generated by the sliding mass 600 colliding with the mechanical stop 800. Less than 50%. In various embodiments, the maximum reaction force generated by the linear motor 500 accelerating the sliding mass 600 is 55, 60, 65 of the reaction force generated by the sliding mass 600 colliding with the mechanical stop 800, 70, 75, 80, 85, 90, 95, 99 and / or 100% or less. In another embodiment, the maximum reaction force generated by the linear motor 500 accelerating the sliding mass 600 is any of the above-mentioned percentages of reaction force generated by the sliding mass 600 colliding with the mechanical stop 800. It can be within the range between the two.

In various embodiments, the actual recoil collision and / or the generated recoil collision by the linear motor 500 controlling the sliding mass 600 is about 50, 55, 60, 65, 70, 75, 80, 85, 90 , 95, and / or 100%. In various embodiments, ranges between any two of the percentages mentioned above can be used.

In various embodiments, the total time of emulated firing cycles by the linear motor 500 controlling the sliding mass 600 may be less than about 200 milliseconds. In embodiments, the maximum time of the emulated firing cycle is about 25, 30, 35, 40, 45, 50, 55, 60, 65, 70, 75, 80, 85, 90, 95, 100, 110, 120, 130, 140, 150, 160, 170, 180, 190, and / or 200 milliseconds. In one embodiment, the maximum time can be between any two of the times mentioned above.

Emulation of gun force versus time plots.

In one embodiment, a real firearm with real ammunition can be tested and the actual reaction force over time is shown. In this embodiment, linear motor 500 and magnetic mass / shaft 600 motion (eg, acceleration, speed and position) can be programmed to emulate the actual force versus time diagram obtained from the test. In different embodiments, the emulated force versus time can be in the range of 1, 2, 3, 4, 5, 10, 15, 20, 25, 30, 35, 40, 45 and / or 50% of the plot. In an embodiment, the variation can be within a range between any two of the aforementioned values. Given that it is difficult to detect changes in force over time over very short time intervals with respect to reaction forces, the total collision (which is the integral or sum of the area under the force vs. time diagram) can be emulated over a relatively short time sequence , You can effectively feel the entire collision of reaction forces in the firearm.

Changes in the strength of the magnetic field of a linear motor

In one embodiment, the strength of the magnetic field generated by the plurality of coils 520 of the linear motor 500 as a magnet in the magnetic mass / shaft 600 is passed by and / or from an initial value by a particular coil generating a magnetic field. It is in contact with a specific coil that creates a magnetic field that can be increased. In different embodiments, the strength of the magnetic field can be changed to 1, 2, 3, 4, 5, 10, 15, 20, 25, 30, 35, 40, 45 and / or 50% of the initial value. In an embodiment, the change can be within a range between any two of the percentages mentioned above.

Based on the sensor input, it has the linear motor control dynamic characteristics of the sliding mass and uses the sensor to measure the dynamic characteristics of the sliding mass directly / indirectly.

In one embodiment, the acceleration, velocity and / or position versus time of the magnetic mass / shaft 600 can be measured directly and / or indirectly (eg, by sensors 550 and / or 552) and , By changing / setting the intensity of the magnetic field generated by the plurality of coils 520 to obtain a predetermined value of acceleration, speed and / or position versus time for the sliding mass 600. In different embodiments, a given value of emulated acceleration, velocity, and / or position versus time may be based on emulating a force versus time diagram obtained by testing (or emulating a collision) a real firearm. . In an embodiment, the emulated diagram can be within 1, 2, 3, 4, 5, 10, 15, 20, 25, 30, 35, 40, 45 and / or 50% of the plot. In different embodiments, the change can be within a range between any two values of the values recited above.

Options for the program at different changes to the firearm being simulated

In various embodiments, a user of the system 10 may be provided with one or more of the following options when using the system 10 for changes in gun type simulated by the recoil system 10: (a ) Different sizes / calibers / types of ammunition in a real type firearm simulated according to a certain type of ammunition. (B) a muzzle suppressor for a real type firearm simulated according to a certain type of ammunition. Addition / removal. (C) Bolt springs of different sizes / types for actual types of firearms simulated according to specific types of ammunition.

In each of the above options, the system 10 allows the linear motor 500 to control the sliding mass 600 to generate a reaction force versus time diagram (or create a collision) different from the simulation for the type of gun without the selected option. Can, and approximates the recoil of these options.

Use of the same core simulation system with different firearm model accessories to provide users with the option to better simulate different types of firearms.

Embodiments of the present invention are provided for an apparatus and method that includes the same core simulation system as described herein, but with different firearm parts for simulating different firearms. Here, the same controller 50 and attached linear motor 500 are used to have different firearm parts (eg, AR-15 rifle unit parts and Glock pistol unit parts). Further, without changing the linear motor 500, the magnetic sliding mass / shaft 600 slidably connected to the linear motor 500 can be changed.

In various embodiments, the simulator 10 may include a plurality of different body parts 20, 20 ', 20 "for simulating recoil patterns from a number of different types of firearms, each of a plurality of body parts Can be interchangeably connected to the linear motor 500. In an embodiment, each of the plurality of body parts (20, 20 ', 20 ", etc.) each of a predetermined set of recoil simulating motions of the sliding mass 600 In one selection, a unique identifier indicating the controller 50 may be included, thereby simulating a recoil pattern for a particular type of firearm represented by a particular body part.

Based on the unique identifiers of specific body parts 20, 20 ', 20 "that can be operatively connected to the linear motor, the controller 50 controls the sliding mass 600 to control the linear motor 500. One of a plurality of predetermined sets of kinematic movements is selected to generate a series of predetermined movements for the sliding mass 600 and emulate recoil for a specific type of firearm represented by a particular connected accessory.

In an embodiment, the individual identifier may be a microphone controller, the microcontroller identifying a particular type of firearm simulated firearm when the body part 20 is connected to the linear motor 500 and the microcontroller 50 (FIG. 10) (Shown in). In one embodiment, a plurality of interchangeable different types of body parts (20, 20 ', 20 ", etc.) includes a plurality of different types of rifle. In an embodiment, a plurality of interchangeable different types of body parts. (20, 20 ', 20 ", etc.) includes a plurality of types of shotguns. In one embodiment, the plurality of interchangeable different type body parts 20, 20 ', 20 ", etc. includes one or more rifle body types and one or more shotgun body types and / or one or more pistol body types. In, a plurality of interchangeable different type body parts ((20, 20 ', 20 ", etc.) includes a plurality of different types of rifles and different types of shotguns and / or pistols.

In various embodiments, wireless / communication may be provided for one or more of the components of the method and apparatus 10, for example, the body accessory 20 and / or linear motor 500 may be Although not wired to the controller 50, these components communicate wirelessly with each other along with one or more battery power supplies used to power the linear motor 500 and / or the controller 50 and / or other components. Is set. In one embodiment, a battery power supply for a linear motor may be included in the body 20 (such as where the battery simulates an ammunition clip inserted into the body 20).

Pistol

In one embodiment, a method and apparatus for charging or "cocking" a simulated pistol using a linear motor system 500 when the linear motor 500 is in the path of caulking of the slider 900 Can be provided. In one embodiment, a pistol 10 with a linear motor 500 with a mechanical sheer 680 and a spring 950 can be provided. In an embodiment, spring 950 includes a spring constant that emulates the force required to charge or "cock" the slider 900 of the simulated pistol. In another embodiment, spring 950 includes a spring constant that stores an amount of potential energy substantially equal to the work energy required to charge or "coke" the slider 900 of the simulated pistol.

In an embodiment, the pistol 10 may include a linear motor 500 that emulates the spring constant of the force required to charge or “coke” the slider 900 of the simulated pistol. This can be achieved by treating the linear motor as a simple spring. Figure 61 shows the force exerted on the user attempting to return to the original position x, the spring F _restore , which can be explained by Hooke's law (F = -kx). The change in x or (Δx) generally determines the force of the spring the user pulls until the material deformation is reached as the distance x increases (F _restore ).

This emulation of the filling spring by a linear motor can follow the typical spring used for a real pistol by changing the resistance to the linear position of the slider of the motor with a single spring constant (k). Or the motor emulates a number of spring constants (k1..2..3 ...) to simulate other mechanical resistance experienced during linear motion of a typical pistol platform associated with charging or "caulking" the firearm slider 900. It can be emulated. For example, as the slider of the motor moves to the position (Δx), the spring constant (ki) can be applied to the user by changing the force available to the motor to resist changes in the slider position. Thereafter, the spring constant k2 can be applied to the user changing the F _rester over a linear position as the motor slider moves to position 2 (Δx). Thus, the normal force of the firearm spring can be emulated over a straight position along with other mechanical forces.

39 is a side view of another embodiment of a simulated firearm 10 that simulates a hand gun. 40 is a side view of a simulated pistol system 10 taken from the opposite side shown in FIG. 39. 41 is an exploded view of a simulated pistol system 10.

The small size of the simulated pistol can provide less space for integrating elements of the method and device, including, but not limited to, a linear motor 500, a sliding rod / mass 600 and a control device. Volume area 978 may include control circuitry for linear motor 500 and power supply 60 (instead of controller 50 shown in the embodiment of FIG. 1). See, eg, FIG. 41. In various embodiments, volume regions 970 and / or 974 may be used to accommodate control circuitry in addition to (or instead of) volume region 978. This configuration allows the entire control system to be accommodated within a simulated firearm body 20 that provides compact characteristics for the simulator.

The control circuit can be operatively connected to the linear motor 500, the charging slider 900 and / or the trigger 170. The control circuit may respond to user-requested actions to charge (coke) the slider 900 or pull the trigger 170 to operate the linear motor 500 to generate a recoil or some other request unique to the simulated firearm. . The control circuit can also monitor the input signal from the sensor on the linear motor 500 for the sliding rod / mass 600, such as a current control loop or position sensing hall effect sensor. In various embodiments, the sensor may indicate a temporary longitudinal position of the sliding rod / mass 600, and the control circuitry may generate a predetermined waveform to emulate a specific recoil of the firearm to which the sliding rod / mass 600 is simulated. The linear motor 500 may be operably controlled to dynamically follow. In various embodiments, the controller may make corrections for the dynamic motion of the sliding rod / mass 600 relative to the linear motor 500 based on the received sensor data. In an embodiment, the controller can be programmed based on parameters entered by the user 5.

The volume regions 970, 974 can be used to boost the voltage from the battery 60 to the required voltage (DC-DC converter) and drive the power waveform to the linear motor 500 for movement control of the sliding rod / mass 600. have. By maintaining the volume areas 970, 974 above the pistol system 10 around the linear motor 500, the convection current from the movement of the slider 900 (by charging or sliding sliding rod / mass 600) Prediction can be used to help remove waste heat from the electronics of the linear motor 500 supporting the reaction and reaction reactions (whether motion induced by the linear motor 500).

In various embodiments, all positions relative to the volume area are unique in that appropriate drive power can be used in the linear motor 500 for recoil simulation, and also after each trigger pull or charge of the firearm simulated by the user. It is unique in proper space and heat transfer material / method for removing waste heat from linear motor 500. Also, if the sliding mass 600 moves directly with the pistol slider 900 during the charging or "caulking" of the simulated pistol, it is herein described using energy input from the charging or "caulking" by the user 5. The supercapacitor simulated magazine described is routed for storage again. Moreover, the systems described herein can be likened to regenerative braking as used in hybrid vehicles and locomotives. The device may include coil (s) of magnet (s) and wire passing through the coil (s) to generate current in coil (s) that may be stored in any conventional electrical storage device, such as a battery, capacitor, etc. You can.

62 shows a meter to which a capacitor or other power storage device can be coupled. In the case of an active system, the coil can be coupled and separated from the drive electronics to properly store energy. This can be done with conventional switching and switching components such as transistors (MOSFETs). The driving electronics can be coupled to the coil (s) for generating recoil and haptic effects. Subsequently, while the user 5 is not in the process of charging (loading) or 'caulking' a simulated firearm or peripheral device while the user 5 does not use a linear motor to generate the recoil, the drive electronics are coil (s). It is coupled to the power device via a switch or sensor that detects the operation of the user 5 in order to load the simulated device.

For example, the user 5 grips the simulated firearm slider 900 and depresses a sensor or switch that couples the linear motor coil (s) to the power storage device, then charges or loads the simulated firearm and loads the linear motor. Electricity is generated by moving the magnet of the linear motor 500 through the coil (s). This electricity can be stored directly in the power storage device or driven through an additional electronic device to modify the parameters (voltage) for proper storage in the power storage device. Thereafter, the user 5 can release the slider 900 and the switch or sensor can recombine the linear motor coil (s) to the driving electronics.

To implement a control loop, the linear motor 500 may be a linear motor through a proportional-integral-derivative (PID), linear-quadratic regulator (LQR), linear-quadratic-Gaussian (LQG), or any other suitable control loop method. It can be controlled from a controller. In one embodiment, the linear motor 500 can be controlled via a PID controller and has a PID implementation substantially programmed to produce a recoil / collision effect. In another embodiment, linear motor 500 can be controlled via an LQR controller and has an LQR implementation that is programmed to produce a recoil / collision effect. In other embodiments, the linear motor 500 can be controlled via an LQG controller and can have an LQG implementation programmed to produce a substantially recoil / collision effect.

In an embodiment, the motion of the linear motor 500 can be more efficient using a PID controller to create a recoil / collision effect. In one embodiment, the motion of the linear motor 500 can be more efficient using an LQR controller to create a recoil / collision effect. The motion of the linear motor 500 may be more efficient using an LQG controller to create a recoil / collision effect.

The linear motor 500 can be more efficient using a PID controller to generate regenerative charging and recoil / collision effects arising from the input of the user 5 as described above. In another embodiment, the linear motor 500 can be more efficient using an LQR controller to generate regenerative charging and recoil / collision effects arising from the input of the user 5 as described above. In another embodiment, the linear motor 500 can be more efficient using an LQR controller to generate regenerative charging and recoil / collision effects arising from the input of the user 5 as described above.

In general, the pistol system 10 may include a pistol body 20, the linear motor 500 operatively controls the sliding rod or mass 600, and the linear motor 500 herein is connected to the controller. It is attached to a power supply 60 for supplying power and a controller 50 operably connected to a linear motor 500, and a simulated firearm body 20. In this embodiment, the pistol system 10 may include a caulking slider 900 having first and second ends 910 and 920.

42 is a side view of the upper receiver 120 of the pistol system 10. 43 shows the internal components of the upper receiver 120 ready for caulking of the slider 900 prior to the start of the simulation cycle.

The upper receiver 120 may include a slider 900, a linear motor 500, a sliding mass 600 and a spring 950. As in other embodiments, the linear motor 500 is operably connected to the sliding mass 600 and dynamically controls the kinematic motion of the sliding mass 600 to obtain a predetermined kinematic output from the sliding mass 600. To simulate the reaction from the firing of the pistol.

The slider 900 can be slidably connected to the linear motor 500. The sliding mass 600 may be elastically connected to the slider 900 through a spring 950. The slider 900 may include a first end 910 and a second end 920. The sliding mass / rod 600 may include a first end 610 and a second end 620. The spring 950 may include a first end 954 and a second end 958.

44 is a diagram schematically showing that the slider 900 is pulled backwards to coat the simulated pistol. 45 schematically shows a slider 900 that returns to the pre-launch simulated position for a simulated pistol. Prior to the launch cycle, catch 680 resists longitudinal movement of sliding mass / rod 600 along longitudinal center line 508 by catch 680 that contacts second end 620.

During the simulated pistol charging operation, when the user 5 pulls the slider 900 of the simulated pistol back, the trigger pin or sheer 680 pushes the rear of the sliding rod / mass 600 of the linear motor. Resists longitudinal movement towards. During the rear pull of the slider 900, the trigger pin or sheer 680, which blocks the rear longitudinal movement of the sliding rod / mass 600 of the linear motor, is a sliding rod / mass of the linear motor during the simulated pistol filling operation. Excludes any need to apply force to the linear motor 500 to resist the rearward motion of 600).

When the sliding mass / rod 600 is held in position in the longitudinal direction, the slider 900 can be pulled back (shown schematically by the arrow 904) to simulate the pistol's caulking. The movement of the slider 900 in the direction of the arrow 904 is such that the second end of the slider until the shoulder 914 of the slider 900 contacts the stop, such as the first end 501 of the linear motor 500. The spring 950 attached to both the 920 and the second end 920 of the sliding mass / rod 600 may cause expansion. The user 5 releases the slider 900 and the expanded spring 950 causes the slider 900 to move forward in the direction of the arrow 906.

During the simulated pistol filling operation, when the user 5 releases the slider 900 of the simulated pistol, the spring 950 will release the slider (until the slider 900 returns to the position shown in FIG. 45). 900) can be pulled forward. During the caulking process, catch 680 prevents sliding mass / rod 600 from moving longitudinally in the direction of arrow 904. The sliding mass / rod 600 of the linear motor 500 and the spring 950 connected to the slider 900 of the simulated pistol are the actual pistols that the user 5 can feel when charging the pistol by pulling the pistol's slider. It may have a spring constant for simulating the size of the resistor charging / caulking.

When the trigger 170 is pulled, the trigger pin or sheer mechanism 680 may release the sliding rod / mass 600 of the linear motor and supply power to the linear motor 500. The powered linear motor 500 enters a simulation cycle herein to linearly simulate the reaction force that the linear dynamic motion of the sliding mass / rod 600 can feel when the user of the actual pistol fires the actual pistol. It is controlled by the motor 500.

46 emulates recoil of the pistol until the shoulder 914 of the slider 900 collides with a mechanical stop (in this case, the shoulder 914 contacts the first end 501 of the linear motor 500). Schematically shows a linear motor 500 that moves the sliding mass / rod 600 rearward (shown by arrow 922) for rating. The simulation cycle is an arrow that releases the sliding mass / rod 600, moves the catch 680 in the direction of the arrow 991, and controls the linear motor 500 to enter the simulation cycle to operate the controller 60. It can be initiated by a trigger 170 pulling in the direction of (990).

Other types of mechanical stops may be contemplated, such as those described in other embodiments of the present application, for example, the first end 610 may include a stopping shoulder on a simulated pistol other than the first end 501. Contact. During movement in the direction of the arrow mark 992, the second end 620 of the sliding mass / rod 600 can press the first end 954 of the spring 950 that is fully compressed, and the spring ( 950) The second end 958 may press the second end 920 of the slider 900. Thus, during the initial stroke of the sliding mass 600 in the direction of the arrow 992, the effective / actual mass that is kinematically controllable by the linear motor 500 is the sliding mass / rod 600 + spring 950 + It is a combined mass of slider 900. As described in other embodiments, hitting a mechanical stop may result in an enlarged transmission of collision energy that simulates the recoil by the user, and also simulates the linear motor 500 with the simulated pistol shown in FIG. 45. Arrange in the return mode of the sliding mass / rod 600 to the pre-launch simulated position for. The arrow 994 shows the linear motor 500 until the sliding mass / rod 600 reaches a predetermined simulated position for the simulated pistol shown in FIG. 45 after the slider 900 collides with the mechanical stop. ) Shows that the sliding mass / rod 600 is controllably moved in the forward direction (shown schematically with arrow 994). During the reverse stroke (direction of arrow 994), the second end 620 of the sliding mass / rod 600 can pull the first end 954 of the spring 950 somewhat extended based on its spring constant. The second end 958 of the spring 950 and pull the second end 920 of the slider 900 in turn. Therefore, during the return stroke of the sliding mass 600 in the direction of the arrow 994, the effective / actual mass that is kinematically controllable by the linear motor 500 is the sliding mass / rod 600 + spring 950 ) + Can be a combined mass of slider 900 (assuming the spring constant of spring 950 is relatively large compared to the mass of slider 900). The kinematic control of the linear motor 500 can be programmed to kinematically control the mass (e.g., acceleration, speed and / or position), so that the linear motor 500 has various virtual reaction forces vs. time for the pistol. Moving to emulate the diagram, the force vs. time diagram can be substantially different from these rifles including substantially matching a plurality of simulation point data sets.

47 shows a simulated pistol system 10 with removable power supply 60 replicating a magazine. 48 shows a side view of the power supply 60. The power supply 60 can include a first end 61 and a second end 62 having electrical contacts 64 and 65. In one embodiment, the simulated ammunition clip 60 with a power supply can include the same appearance and feel (other than contacting power) to the magazine of the simulated firearm. The contacts 64, 65 can be any contact normally available and can be spring loaded to repeatedly and securely connect to electronic devices housed within the firearm simulated body.

In one embodiment, linear motor 500 may be powered down between recoil simulation cycles, but may maintain the home simulation position of sliding mass / rod 600 before the start of each simulation cycle. Power down of the linear motor 500 reduces overall power consumption because the linear motor 500 does not consume power to maintain the groove or pre-simulation position of the sliding rod / mass 600 between simulation cycles. . In addition, powering off the linear motor 500 between simulation cycles can help charge the power supply 60 for the method and device.

Wireless power method

Due to the space constraints associated with smaller simulation devices, e.g. gaming controllers, collision sticks, pistol-based simulators, etc., embodiments of the present invention may include alternatives such as conventional batteries, such as lithium ion chemicals. . These alternatives can be applied to all ranges of simulators contemplated herein for use in firearm training programs or gaming peripherals.

Power supply / power availability is important in both consumer and military applications of the present invention. Embodiments of the invention may include a power source that drives the motor system and / or controller described herein. One embodiment may include a super-capacitor (ultra-capacitor) as a battery pack method for the simulator.

63 shows a reduced simulated pistol magazine as described herein for FIGS. 47 and 48. The electrodes used to connect the emulated pistol magazine to the simulated firearm for power are not shown, but may be located on the side of the magazine or arranged in the same position as in FIG. 48. The magazine can accommodate multiple super-capacitors electrically connected in series or in parallel or in multiple configurations in series and parallel to create a possible voltage and current source capable of powering a linear motor system. The simulated pistol magazine can take the form of a different size and shape to match different gun simulator types for proper simulation of the clip or magazine, which can accommodate multiple super-capacitors of the configuration described herein. have.

64 shows the same simulated pistol magazine as in FIG. 63 with a visible made super-capacitor and a transparent made outer housing. The balancing circuit and wire are briefly omitted, but should be included in the allowable space shown. This circuit regulates the charging of the capacitor when connected to the charging terminal and balances the voltage between the capacitors for proper operation. It is important to use a super-capacitor in this application because it is used in conjunction with several other factors.

The controller system for the linear motor 500 can allow excessive power reduction while powering only a minimal number of radio and logic components upon turning off the motor after each recoil cycle as described herein. In addition, the number of shots available in each simulated magazine can be considered through power reduction. In the above magazine, sufficient power can be used for 30 recoil cycles, and it can drive radio and logic components for more than 10 hours. Considering this, charging time is an important factor. However, capacitor-based technology has a faster charging time than typical lithium-ion battery technology. This is related to the nature of the capacitor. Thus, in the case of a typical simulated magazine using a supercapacitor, it is possible to implement a charging time in minutes or hours in seconds to avoid charging the battery, and accurate simulation of the whole system without tether is obtained. Lose.

65 is an isometric view of a charging / loading mechanism for a firearm platform. According to an embodiment of the present invention, a method of emulating a charging / loading mechanism for a firearm platform is provided. According to an embodiment of the present invention, a linear motor employed in firearm simulation can typically apply a force of 67N to 700N. To emulate the filling spring, the filling handle can be mechanically connected to the linear motor slide and after use it can be separated from the linear motor slider. While using the charging handle, a switch or sensor instructs the linear motor controller to reduce power to the linear motor to reduce the maximum force constant or the maximum force that can be applied to resist changes in slider motion. See Figure 66. As shown, the motor maintains its position along the straight path (not firing). The user 5 is signaled to the motor controller (signed via a button or sensor) to hold the charging handle so that the motor controller reduces power to the motor. The user 5 is able to pull the handle and the motor can resist position changes due to force F, but is unable to resist due to a decrease in the allowable power of the linear motor controller (e.g. motor position delay). See Figures 67 and 68. The reduced power of the motor can emulate the spring in a normal caulking mechanism and the user 5 can release the handle to complete the charging cycle. The motor can return to its initial position with reduced power (still emulating a spring). When the initial linear start position is reached and the user no longer activates the charge handle button / sensor, the motor can return to full power and be ready to emulate recoil.

As shown in Fig. 61, the linear motor is treated with a simple spring. F _restore is the force transmitted to the user by a spring that returns to its original position (x), which can be explained by Hooke's law (F = -kx). The change in x or (Δχ) generally determines the force of the spring pulling the user until the material deformation is reached (such as F _restore ) as the distance x increases.

The emulation of the filling spring by a linear motor can follow the conventional spring used in an emulated neutralizer simulator by varying the resistance to the linear position of the slider of a motor with a single spring constant (k). Alternatively, the motor may emulate multiple spring constants k1..2..3 ... to emulate other mechanical resistances experienced by the linear motion of a typical neutralizer platform associated with the charging handle.

For example, the spring constant k1 can be applied to the user by changing the force available to the motor to resist changes in the slider position as the slider of the motor moves to the position (Δx). After that, when the motor moves to position 2 (Δχ), the user can apply a spring constant (k2) that changes F _restore for a linear position. Thus, a conventional neutralizer spring can be emulated over a linear position along with other mechanical forces.

The value for the spring constant (k1..k2..k3 ...) can be found either by the spring manufacturer's specification sheet or by testing the force limit of a conventional spring with a force measurement tool per Δχ.

The embodiments of the invention described herein can be applied to charging handles / charge mechanisms for pistols, rifles, shotguns, etc., as well as examples of heavy weapons described herein.

51 schematically illustrates an embodiment of a method and apparatus of system 10. System 10 may be part of a “game” or may include a “game”. Games can utilize the Unity development environment / platform or Unreal Engine® development environment / platform or similar development environment. The Unity development platform is a flexible and powerful development engine capable of creating multiplatform 3D and 2D games and interactive experiences. Other platforms, such as the Unity development platform and the Unreal Engine® platform, are used in a variety of industries to create an immersive simulation and gaming environment. In an exemplary embodiment, the Unity plug-in / game, dynamic link library (DLL) and / or other plug-in / game are serial, CAN bus and / or other between the linear motor 500 block shown in FIG. 51 and the “game”. Can interact with communication bus / protocol. This allows the "game" portion of the diagram to interpret the signals of the user 5 as described herein, and then feed these signals to the plug-in so that the linear motor 500 can move randomly in the manner specified by the gaming / simulation conditions. .

An example of this interaction between the gaming environment and user 5 can be described with respect to FIG. 82. As shown, user 5 sits through the chair gaming / simulation peripheral, and user 5 also holds the VR peripheral with the attached impact stick. The communication interface may be formed between the VR peripheral of FIG. 51 (including the linear motor 500) and the simulation / gaming environment or "game" block. The “game” portion of FIG. 51 can capture the location of the VR peripheral in free space because the VR peripheral can report its location in free space through a location tracker as described herein.

While the user 5 has a VR peripheral as shown in FIG. 82, the " game " portion of FIG. 51 can interpret this configuration by setting the VR peripheral to a general pistol or rifle. Thus, the “game” portion of FIG. 51 can direct the linear motor 500 through a plug-in to emulate a typical firing sequence when the trigger is pressed. If the user 5 then holds the VR peripheral body perpendicular to the location shown in FIG. 82, the “game” portion of FIG. 51 interprets the location change, meaning that the VR peripheral should be considered a chainsaw. can do. Thus, the “game” portion of FIG. 51 can direct the linear motor 500 to emulate a typical chainsaw effect through a plug-in, where the linear motor 500 moves the slider 600 in a constant forward and backward motion. And then increase the frequency of the exercise if the trigger is pressed on the VR peripheral.

In one embodiment, a plug-in can be used to control the linear motor 500 from a gaming or simulation environment.

In one embodiment, the plug-in can have a graphical user interface that simplifies the development of specific motor movements.

In an embodiment, the graphical user interface may present a hybrid graph for exercise vs. time, acceleration vs. time, speed vs. time, and / or linear motor 500.

In further embodiments, the graphical user interface can present graphs described herein, and the developer can arbitrarily manipulate the graphs to program any movement for the linear motor 500.

In another embodiment, the plug-in can have a drop-down menu, so typical workout effects can be easily assigned to different events.

In additional embodiments, plug-ins can be invoked by larger programs (games / simulations) to aid in faster development times without having to reconfigure virtually all functionality and communication protocols from the plug-ins and integrate into each larger program. .

In one embodiment, the plug-in may communicate via a wireless interface to the “games” and “linear motors” portion of FIG. 51 as described herein.

In one embodiment, the plug-in may receive temperature and power usage data from the linear motor 500.

In another embodiment, the plug-in can use temperature and power usage data as described herein to calculate maximum motion so that motor 500 does not fail (slider 600 jogging away from Gully, too large Power use, etc.).

Wand embodiment

49-51 show one embodiment for integrating the linear motor 500 into the gaming portion of the wand 2000. 49 shows one embodiment of a simulated magical wand 2000 with the linear motor 500 removed. 50 shows a user 5 with a gaming wand 2000. The wand 2000 may include a first end 2010 and a second end 2020, and may have a longitudinal centerline 2050 having a center of gravity 2060. The linear motor 500 with the longitudinal centerline 508 can include a sliding mass / rod 600 and can be integrated inside the wand 2000. Integrating the linear motor 500 into the wand 2000 may cause the center line 508 to coincide with the center line 2050 such that the sliding motion of the sliding mass / rod 600 follows the center line 2050. In other embodiments, the centerline 508 can be spaced apart from the centerline 2050 at any angle in a parallel or non-parallel state. When spaced apart and parallel, the sliding motion of the sliding mass / rod 600 can be parallel without following the centerline 2050. When spaced apart and not parallel, the sliding motion of the sliding mass / rod 600 may not follow the centerline 2050 and may not be parallel.

In various embodiments, during gameplay, center of gravity 2060 may be repositioned to at least 25% of the total length of wand 2000. In an embodiment, the center of gravity 2060 can be repositioned to at least 30, 35, 40, 45, 50, 55, 60, 65, 70, 75, 80, 85 and 90% of the overall length of the wand 2000. . In various embodiments, center of gravity 2060 may be rearranged along a range between any two of the aforementioned percentages of the overall length of wand 2000.

In one embodiment, the linear motor 500 and the sliding mass / rod 600 may provide an increased level of gaming grant to gaming users, such as virtual reality gaming grant. For example, in-game play can be used to analyze the effect of a given linear motor 500 given to the user generated by the controlled movement of the sliding mass / rod 600.

In one embodiment, this effect may be in the form of communicating to the user as to whether the gaming goal is successfully completed (eg, whether he or she casts spelling correctly or incorrectly). For example, while playing a game, the user can move the wand 2000 to accurately cast the gaming spell. This gaming spell may require the wand to move through some temporary / time-dependent movement. In one embodiment, as the user successfully performs the first set of predetermined temporary movements, the linear motor 500 is the agent that causes the sliding mass / rod 600 to transmit the first set of haptic sensations to the user. Make it move through a set of movements (such as vibrations or general movements to inform the user that the spell is being performed correctly). In an embodiment, as the user successfully performs a second set of temporary movements, the linear motor 500 slides the mass / load through the second set of movements to allow the user to transmit a second set of haptic sensations. Let 600 move (increased intensity vibration or increased general motion to inform the user that the spell is being performed correctly). From this, the completion of the spell suggests a third set of haptic sensations, such as large collisions or vibrations.

In an embodiment, when the user fails to perform the first set of temporary movements, the linear motor 500 generates a modified first set of movements that causes the modified first set of haptic sensations transmitted to the user. Sliding mass / rod 600 can be moved through (generated weakening vibration / ping or weakening to indicate to the user that the spelling was performed correctly or to indicate to the user that the spell was incorrectly cast) Exercise).

In an embodiment, the method and apparatus described herein can include the following steps to create a haptic effect for a user during game play:

1) The user starts casting the spell by moving the wand 2000 into which the accelerometer (s) and gyroscope (s) are inserted.

2) The accelerometer (s) and gyroscope (s) deliver the collected information about the movement of the wand 2000 to the game 10.

3) The game 10 interprets how the linear motor 500 should respond from pre-programmed data, and then moves the linear motor 500.

4) The user experiences a change 2060 of vibration (s), collision (s) and center of gravity induced by the linear motor 500 from the body or front of the wand 2000.

Tennis racket

52 shows an embodiment of a simulated tennis racket 3000 having a plurality of linear motors 500, 500 '. 53 shows a simulated tennis racket 3000 with a plurality of linear motors 500, 500 'with the racket portion removed. 54 schematically shows a tennis ball hitting a tennis racket.

The racket 3000 may include a hand grip 3005, a first end 3010, and a second end 3020, and may have a longitudinal center line 3050 having a center of gravity 3060.

The linear motor 500 'with the longitudinal centerline 508' can include a sliding mass / rod 600 'and can be integrated inside the racket 3000. The integration of the linear motors 500, 500 'into the racket 3000 results in a centerline 3050 where the centerlines 508, 508' coincide with the centerline 3050, causing sliding motion of the sliding masses / rods 600, 600 '. ). In other embodiments, the centerlines 508 and / or 508 ′ may be spaced apart from the centerline 3050 at any angle in a parallel or non-parallel state. When spaced apart and parallel, the sliding movements of the sliding masses / rods 600, 600 'may be parallel but not along the centerline 3050. When spaced apart and non-parallel, the sliding motions of the sliding masses / rods 600, 600 'may not be parallel without following the centerline 3050.

The movement of the sliding masses / rods 600 and 600 'allows the movement of the center of gravity 3060 of the racket 3000 relative to the hand grip position 3005 to the new position 3060'. Moving the center of gravity 3060 relative to the hand grip position 3005 allows the racket to simulate different rackets for the user. In various embodiments, center of gravity 3060 may be located on longitudinal axis 3050. In other embodiments, the center of gravity 3060 may be located away from the longitudinal axis. In an embodiment, center of gravity 3060 may be repositioned during gameplay. During gameplay, the center of gravity 3060 may be relocated to at least 25% of the total length of the tennis racket 3000. In an embodiment, the center of gravity 3060 can be relocated to at least 30, 35, 40, 45, 50, 55, 60, 65, 70, 75, 80, 85 and 90% of the total length of the tennis racket 3000 have. The center of gravity 3060 can be rearranged along a range between any two of the aforementioned percentages of the total length of the tennis racket 3000.

Multiple linear motors (eg, 500 and 500 ') may be provided in spaced and / or non-parallel / tilted positions relative to the simulated article to allow for an increased number of simulation events and types. For example, controlled kinematic motion of a plurality of sliding masses / rods 600, 600 'by linear motors 500, 500' while tilted and spaced within the housing of the simulated article is force, angle, impact , Vibration, rotation, torque can be simulated along with other types of dynamic movement.

In FIG. 53, the center line 508 forms an angle 3200 with the center line 3050, the center line 508 'forms an angle 3200' with the center line 3050, and the center line 508 has a center line 508 '. And angle 3300. Different sliding angles and / or different sliding positions of the sliding masses 600 and 600 ', together with independent kinematic control of the sliding masses 600 and 600', allow controlled emulation of many different kinematic activities possible in the real world. .

For a vector type system (ie, non-scalar), it is assumed that Cartesian coordinates are used (a polar coordinate system may also be used).

54 describes an embodiment that can be used to emulate a real sports game in which a tennis ball is hit by a tennis racket. This figure assumes that the hand grip position 3005 is the origin of the coordinate system. At the point of collision 3080 between the tennis racket 3000 and the tennis ball (orthogonal coordinates Dx (3081), DY (3082) and Dz (3083)), the tennis ball is a velocity vector (orthogonal) to the tennis racket (3000) Velocity components Vx, VY and Vz). The relative velocity vector may take into account the calculated velocity vector of both the tennis ball and the tennis racket 3000. In one embodiment, the speed of the tennis racket 3000 may be assumed to be zero. In another embodiment, the speed of the racket 3000 may be calculated based on a gaming sensor within the game portion of the racket 3000.

Hand grip 3005 due to the virtual collision between the collision point 3080 and the tennis ball (with velocity vector and mass _b ) on the tennis racket 3000 with the center of gravity (at position 3060) and full mass _tr The relative forces of the phase (torque, force and collision) can be calculated using standard Newton's law of motion, force and energy. From this first collision on the hand grip position 3005 (eg, what the user feels) one or more of these calculated relative forces (torque, force and collision) independently of the sliding mass / rod 600, 600 '. It can be emulated by linear motors 500, 500 'that move and / or control.

In various embodiments, the virtual webbing 3110 can also be modeled and used in the calculation of relative forces (torque, force, and impact) on the hand grip 3005 due to the virtual collision between the tennis racket 3000 and the tennis ball. In this case, the elasticity of the webbing 3110 can be set along with the tightening of the string, the size of the web, and the relative position of the impact point 3080 on the webbing relative to the center 3160 of the webbing.

In various embodiments, the state torque emulated at the hand grip point 3005 is driven by a linear motor 500, 500 'that independently moves and / or controls the sliding mass and / or rods 600, 600'. Can be created. In an embodiment, the emulated relative force at the hand grip point 3005 is driven by a linear motor 500, 500 'that independently moves and / or controls the sliding mass and / or rods 600, 600'. Can be emulated. In another embodiment, the emulated relative impact at the hand grip point 3005 is directed to a linear motor 500, 500 'that independently moves and / or controls the sliding mass and / or rods 600, 600'. Can be emulated by

Similarly, the relative forces (torque, force, and force) on the hand grip 3005 due to the second virtual collision between the tennis ball (with the second velocity vector) and the tennis racket 3000 with the second collision point 3080 '. Collision) can be calculated using standard laws of motion and force. One or more relative forces (torque, force and impact) calculated from the second impact on the hand grip position 3005 are linear motors that independently move and / or control the sliding masses and / or rods 600 and 600 '. (500, 500 ').

Similarly, a third virtual between the third collision point 3080 "(occurs at the same location at the first collision 3080) and the tennis racket 3000 (a third velocity vector different from the first and second velocity vectors). The relative forces (torque, force, and collision) on the hand grip 3005 due to the collision can be calculated using standard laws of motion and force. One or more of these from the third collision at the hand grip location 3005. The calculated state forces (torque, force, and collision) can be emulated by linear motors 500, 500 'that independently move and / or control sliding masses and / or rods 600, 600'. .

In various embodiments, the relative forces (torque, force, and collision) on the hand grip 3005 caused by the collision between the tennis ball and the racket 3000 are emulated by a linear motor 500 and / or 500 '. Can be.

In an embodiment, the method and apparatus can actually calculate the post collision velocity vector after the tennis ball leaves the tennis racket 3000.

Various options using one or more linear motors (500, 500 ', 500 "), etc. are described below:

(1) In one embodiment, a plurality of linear motors 500, 500 ', 500 "that independently control a plurality of different controllable weight units 600, 600', 600" may be provided.

(2) In one embodiment, a plurality of spaced apart units in a housing facade unit to receive and retain one or more linear motors 500, 500 ', 500 "and controllable weight units 600, 600', 600". It can be provided to have a location. In various embodiments, the location location can be selected by the user.

(3) In another embodiment, a housing facade having a plurality of different angular orientations for receiving and retaining one or more linear motors 500, 500 ', 500 "and controllable weight units 600, 600', 600". Units may be provided. In various embodiments, the angular orientation can be selected by the user.

(4) In another embodiment, having different position and / or angular orientations to receive and retain one or more linear motors 500, 500 ', 500 "and controllable weight units 600, 600', 600". A plurality of housing facade units can be provided. In various embodiments, the angular orientation can be selected by the user.

In various embodiments, different positional positions and / or angular orientations may be selected by the user.

(5) Selectable sets of linear motors 500, 500 ', 500 "and controllable weight units 600, 600', 600" may be provided, each of which is a different controllable unit 600, 600 ', 600 ") with adjustable spacing and / or orientation.

(6) In various embodiments, one or more linear motors 500, 500 ', 500 "and controllable weight units 600, 600', 600" may include a plurality of different weight inserts.

(7) In an embodiment, one or more linear motors 500, 500 ', 500 "and controllable weight units 600, 600', 600" are provided with a plurality of different and selectable mechanical stopping positions for controllable weights. It may include.

(8) In various embodiments, the methods and devices described herein include tennis rackets, baseball bats, magic wands, hockey sticks, cricket bats, badmintons, full sticks, boxing glove (s), swords, light savers, It can simulate the behavior of one or more selectable gaming devices, such as bows and arrows, golf clubs, and fishing grounds.

(9) In an embodiment, the methods and apparatus described herein haptic one or more secondary types of operation of the system, such as, for example, a halo plasma gun, a broken bat, a bat vibrating after a baseball strike, or charging / loading, etc. Can be simulated.

In various embodiments, a linear motor system including a firearm simulation system described herein can be used in virtual reality peripherals.

For example, FIG. 69 shows a simulated firearm embodiment comprising a linear motor 500. This embodiment is tracked with a set marker on the body of the simulated firearm, along with a virtual reality game and / or other tracking system via optical tracking.

FIG. 70 shows a perspective view of the simulated firearm shown in FIG. 69 with a mechanical stop 800 as well as an exposed sliding mass 600 and a linear motor 500. As shown the mechanical stop 800 is a multi-component stop made of polypropylene and rubber bumpers and is visible toward the rear of the simulated firearm body. Polypropylene or other acceptable plastic allows the slider to transfer energy quickly without damaging the sliding mass 600. The rubber bumper behind the polypropylene piece also allows the transfer of energy to be regulated over time for the end user and additionally to transfer energy safely to the body of a simulated firearm. This method of energy transfer using multi-component mechanical stops 800 applies to all mechanical stops herein.

71 and 72 show side views of additional virtual reality gaming peripherals. This peripheral uses a multi-component mechanical stop 800 of the same type as shown and described in the foregoing embodiments. This gaming peripheral has an additional charging handle to simulate the game-play-charge (reload) of the simulated firearm. It can also be tracked as a virtual reality game, but this simulated peripheral body can be tracked using magnetic tracking (positioning) as a mount for the tracker shown at the top of each figure.

These gaming peripherals do not have to be in the form of a simulated firearm, linear motor 500, sliding mass 600, mechanical stop 800, power and controller (which can be built into the body), triggers, etc. It can emulate other bodies. Other bats include baseball bats, magic wands, tennis rackets, cricket bats, full sticks, boxing gloves, conventional gamepads, two-handed controls, fishing rods and reels, light savers, swords, nun chucks (nunchaku), It could be a golf club, chainsaw, axe, knife, police baton, chair, etc. In these embodiments, substantially the same impingement or reaction forces can be emulated as emulated in the simulated firearms described in various embodiments herein.

For example, consider a conventional chair in which a linear motor recoil system is implemented for use in training and simulation. The chair can be used in conventional games or simulations for deep immersion through force feedback (crash and rumble). It can be further used for deeper immersion through force feedback in a virtual reality environment in which a simulation of a user 5 having an HMD seating a chair and an environment having a seating position can be emulated. If there are chairs in a simulated helicopter cockpit, truck or any other vehicle that typically includes an operator seated chair, each can be emulated for the user 5.

73 and 74 show a typical chair used to describe two positions of a linear motor 500 that generates recoil, collision, vibration, force feedback, etc. for the user 5. In a typical chair, the user 5 interfaces with the back of the chair supporting the weight of the user 5 and the bottom of the chair. By changing the linear motor as described herein, the user 5 may experience force feedback and recoil effects that are not normally available during game play or training simulation.

Fig. 75 shows two linear motors connected to the back and bottom of the chair. These two or more (not shown) linear motors can work in concert to create a reaction and force feedback related effect on the user's 5 virtual reality experience with respect to what the user perceives in a training simulation or game play. .

In one embodiment, the entire linear motor system can be included in a chair or attached to a chair. The system can include a linear motor 500, a sliding mass 600, a mechanical stop 800, a linear motor controller and a linear motor power source, as described herein.

In an embodiment, the linear motor system can be attached in the form of a collision stick as described herein. 76 shows an embodiment of a linear motor attached in different orientations to create different effects (force vectors) for the user 5. In one embodiment, multiple linear motors may be attached to the bottom and rear of the chair. In an embodiment, the linear motor may be driven through sound from a simulation or game that converts certain preset frequencies to control the movement of the linear motor (s). In other embodiments, the linear motor (s) can be driven directly from the simulation or game through the mechanisms and flow diagrams described herein. In embodiments, the linear motor (s) may be attached to the legs of the chair.

Linear motor system as accessory

The various advantages of using a removable motor system and a removable motor body of the firearm simulator body 20 become apparent when using the removable section as a substitute for the actual firearm of the system during simulation training. For example, referring to FIGS. 2 and 3, FIG. 2 is the complete assembly of the firearm, and FIG. 3 is the upper assembly of FIG. 2. In FIG. 3, the motor can be accommodated in the upper assembly 120 and mated with the lower assembly 140. The upper assembly 120 comprising a linear motor system can be used as a substitute for a real firearm for simulation training. The upper assembly 120 includes a laser assembly for target painting, as described above, and a set of features needed to emulate a real firearm. The upper assembly 120 can also include a controller and power unit to direct the movement of the linear motor 500 for secondary reaction effects and recoil production generated by the emulated actual firearm system. To further consider the idea, the linear motor system can be placed in a typical butt stock housing for use as a drop of a detachable training piece or kit.

77 and 78 show a modified butt stock comprising a linear motor system. The butt stock includes a mechanical stop and may also include a controller and power supply needed to drive the motor. Butt stocks come in a variety of sizes and shapes, and the position and placement of linear motors and mechanical stops can be changed to allow for this space constraint. In addition, the position of the controller unit and power unit in the butt stock can be changed to reflect space constraints. Finally, the foremost position where the butt stock is attached to the body of the firearm simulator 20 or the actual firearm may vary depending on the requirements of the attachment point from the body 20 or the actual firearm to which the typical buttstock is attached.

For reference to the attachment portion of the butt stock, a threaded butter tube 230 is shown in FIG. 79. Therefore, the attachment points in the previous two figures can be modified to be attached to the normal point of the actual firearm or the point of the body 20 as a drop of the kit for simulation training.

The butt stock embodiments described herein can be powered by the power devices mentioned herein, such as batteries, capacitors or super-capacitor packs. The butt stock embodiments described herein can be controlled by the linear motor controller described herein.

Crash stick

80 shows a linear motor 500 housed in a hollow cylinder (collision stick) with two multi-part mechanical stops on the left and right sides of the sliding mass 600 and sliding mass 600. A multi-part (multi-component) mechanical stop 800 is described herein. As shown in FIG. 80, the linear motor 500 is offset to the left side of the impact stick. The user 5 can have a collision stick as shown in FIG. 81. This offset exhibits a gravitational effect, and the user 5 can effectively hold the impact stick. The impingement stick can produce all of the effects included herein, and can create recoil, collision, vibration, transient vibration, force feedback, and haptic effects described herein.

In an embodiment, the mechanical stop 800 can be substantially the same.

In an embodiment, the mechanical stop 800 can use different materials to form different force vs. time graphs, although the linear motor applies the same force vs. time for each individual mechanical stop.

In embodiments, the collision sticks are baseball bats, magic wands, tennis rackets, cricket bats, full sticks, boxing gloves, conventional gamepads, ambidextrous controls, fishing rods and reels, light savers, knives, nunchaku, golf It can be inserted into different housings that emulate different peripherals such as clubs, chainsaws, axes, knives, police baton, chairs, and the like.

In an embodiment, the collision stick can be used with another collision stick for game play.

In an embodiment, the impact stick may be used with two or more additional impact sticks and two or more peripheral bodies.

In an embodiment, the impingement stick can be a virtual reality peripheral that can be used alone or in a separate housing as described herein.

In an embodiment, the linear motor 500 of the impingement stick may move up or down the linear path for center of gravity adjustment.

In an embodiment, the impact stick can transmit location information via tracking as described herein for a training simulation or game.

In an embodiment, the impingement stick may be a non-tether, and may include a linear motor system: a linear motor 500, a sliding mass 600, a mechanical stop 800, a linear motor controller, and a power source.

In an embodiment, the impact stick can be a tetherless and include a wireless communication device.

In an embodiment, the impact stick can charge its power through the movement of the user 5 through the same mechanism as described herein.

In an embodiment, the impact stick embodiment may be small enough to fit in a smartphone or cell phone housing for the generation of vibration, force feedback, recoil or collision.

In another embodiment, the impact stick, which may be small enough to fit in a smartphone or cellphone housing, can be used to charge the smartphone or cellphone through the movement of the user 5 through the same mechanism described herein.

In an embodiment, the sliding mass 600 of the impingement stick may be composed of a plurality of different types of magnets (neodynium, ceramic, etc.).

In an embodiment, the sliding mass 600 of the impingement stick may be composed of a plurality of different types of magnets (neodynium, ceramic, etc.), and the magnets form a repeating pattern within the slider (ie neodynium, ceramic, neo Dinium, ceramic, etc.).

In an embodiment, the sliding mass 600 of the impingement stick may be composed of a plurality of different types of magnets (neodynium, ceramic, etc.), the magnets forming irregular patterns within the slider (ie, ceramic, neodynium, Neodynium, ceramic, etc.).

In other embodiments, the impingement stick may include a connector plate configured to enable its associated power and communication to be placed on or within individual enclosures. For example, this enclosure may include a chair or other body from which the impact stick can be inserted or removed.

FIG. 82 shows a user 5 having a VR peripheral device that can include a collision stick described herein that can be connected to a chair through a removable cable harness. As shown, the chair may include both the gaming console / computer running the game or the simulation and the electronic devices needed to communicate with the collision stick and for power.

In an embodiment, the impingement stick, as described herein, can be inserted into the chair and separated from the cable harness shown in FIG. 82 and removed from the VR peripheral.

In embodiments, the impingement stick as described herein can be inserted into the chair and removed from the VR peripheral without the need to remove the cable harness.

FIG. 81 shows a user 5 holding the impact stick shown in FIG. 80. User 5 may wear the head mounted display or other virtual reality display described herein. The location of the impingement stick can be monitored through a location tracking and / or other tracking system, such as the tracking system described herein. Since the user 5 is wearing the HMD, the visual reality of the user 5 is changed. When the user 5 looks down to see the impact stick, he can see one of the aforementioned peripherals, for example a tennis racket. If the grip of the impact stick (where user 5 physically holds the impact stick) is substantially similar to that of a tennis racket, then user 5 can be considered to be cheating by holding tennis.

Training simulation or in-game-play can be further enhanced when the linear motor moves kinematically as described herein. This experience applies to the width of a peripheral or object with one and two hands. For example, a tennis racket can be considered to be a one-handed object. Since both hands are used, a baseball bat can be considered an object of both hands. These objects can be successfully emulated on the impact stick as long as the user 5's physical contact point with the impact stick has a 'real feel' and successfully reproduces the senses by the physical grip.

Thus, in one embodiment, multiple grips can be applied to the impact stick for proper emulation of an object emulated in simulation or game play.

83 shows the impact stick inserted into the peripheral body. The peripheral body may include all necessary elements for power, communication, control and signal transmission to and from the body in wired or wireless form. In another embodiment, the impingement stick can be inserted into different housings that include the correct grip for that housing embodiment, and can have multiple grips that can be applied to the housing into which the impingement stick is inserted. As shown in Figure 83, the front grip to the left and the rear grip to the right are examples of grips that trick the user 5 into thinking that they have a simulated gun / gaming gun peripheral in VR, which is This is because it emulates the exact feel and placement of the various grips found on firearms.

Standing and temporarily manufactured waveform

55 is a perspective view of a linear motor 500 and sliding mass / rod 600 combination.

In various embodiments, the slide motor 500 is capable of applying and generating a predetermined force, acceleration, speed, position, momentum, and collision of the sliding rod / mass 600 in various and different predetermined manners of the sliding rod / mass 600. The sliding rod / mass 600 can be programmed to move kinematically in a predetermined control manner to generate a standing or resonant frequency of. In embodiments, the standing or resonant frequency may have the following characteristics:

(1) standing amplitude,

(2) standing cycle, and

(3) Standing frequency.

56 shows a standing or resonant waveform 5000 with varying characteristics such as amplitude 5010. 57 shows various transient waveforms 6000 with different characteristics of amplitude 6010 and period 6030.

58 shows various types of standing or resonant waveforms 5000 (sine curves), (5000 ') (steps or rectangles) with constant waveform characteristics of amplitude 5010, wavelength 5020 and period 5030, ( 5000 ") (triangle) and (5000" ') (tooth). The wavelength and period are functions of each other according to the speed of the wave, and the formula wavelength is the same as the wave period of the wave. Period is the reciprocal of frequency.

In various embodiments, the original and / or different kinds of standing or resonant frequencies may be selected from standing wave frequency groups including sinusoidal, sawtooth, triangular, rectangular and / or step wave functions. In various embodiments, linear motor 500 may be switched between those that generate a type or type of standing or resonant waveform. In an embodiment, the linear motor 500 that controls the sliding mass / rod 600 can be programmed to switch from generating a plurality of possible standing or resonant frequencies to generating different standing or resonant frequencies, the choice being It is based on different gaming events (eg, meeting gaming goals or failing gaming goals) and / or different user inputs.

In an embodiment, the linear motor 500 has different waveform characteristics such as (1) standing amplitude, (2) standing period, and / or (3) standing frequency, but generating the same type or kind of standing or resonant waveform Can be switched between. In various embodiments, for a particular standing or resonant waveform, the linear motor 500 may have a minimum percentage change from the initial value, such as a change in value of at least 5% (e.g., a standing amplitude with an initial predetermined standing or resonance). At least 5% of the amplitude value) to change the selected characteristic (eg, amplitude, period, frequency) of the waveform from an initial predetermined standing or resonance predetermined waveform value to a second selected predetermined standing or resonance predetermined waveform characteristic value You can. In an embodiment, the change in percentage is at least 5, 10, 15, 20, 25, 30, 35, 40, 45, 50, 55, 60, 65, from an initial predetermined value of standing or resonant waveform characteristics to the change value. 70, 75, 80, 85, 90, 95, and / or 99%. In other embodiments, the percentage of change in the selected characteristic may be within a predetermined range of percentage change selected from any two of the above specified percentages of minimum change (eg, 10% to 45% change). .

The linear motor 500 is superimposed over the force generated by the linear motor 500, acceleration, the center of gravity of the sliding rod / mass 600, the momentum and the standing resonance frequency of the collision, acceleration, sliding It can be programmed to generate one or more transient vibrations of the center of gravity, momentum, and impact of the rod / mass 600. In various embodiments, the superimposed transient frequency can have the following characteristics:

(1) temporary amplitude,

(2) temporary cycle,

(3) temporary frequency,

(4) a temporary period of overlap, and

(5) Interval between temporary periods of overlapping temporary periods.

59 shows various types of standing or resonant waveforms 5000 '(sine curves), (5000') (steps or rectangles) with overlapping transient waveforms 6000 with possible changing waveform characteristics, but with constant waveform characteristics. (5000 ") (triangle) and (5000" ') (tooth).

For the sinusoidal resonance or standing waveform 5000 generated by the linear motor 500, the linear motor can also be programmed to generate various transient waveforms, such as waveforms 6000, 6100, 6200, 6300, 6400.

In an embodiment, the characteristics of each temporary waveform 6000, 6100, 6200, 6300, 6400 (e.g., amplitude, period, and wavelength along with the time interval between the temporary waveforms) is substantially different from other generated temporary waveforms. It can be the same. In various embodiments, one or more characteristics of each temporary waveform (6000, 6100, 6200, 6300, 6400) (eg, amplitude, period, and wavelength along with the time interval between the temporary waveforms) is a characteristic (eg, For example, the amplitude, period, and wavelength along with the time interval between temporary waveforms may be the same as other temporary waveforms. For example, the amplitude 6010 can be the same as the amplitudes 6110, 6210, and / or 6310. As another example, the period 6020 may be the same as the periods 6120, 6220, and / or 6320. As another example, the wavelength 6030 may be the same as the wavelengths 6130, 6230, and / or 6330. As another example, the time interval 6040 may be the same as the intervals 6140, 6240, and / or 6340. Similar examples of transient waveforms can be provided for standing or superposition of resonant waveforms 5000 ', 5000 ", 5000"'.

In various embodiments, one or more characteristics of each temporary waveform (6000, 6100, 6200, 6300, 6400) (eg, amplitude, period, and wavelength along with the time interval between the temporary waveforms) is one or more other generated. In the case of a transient waveform, it may vary from each characteristic of one or more of the same respective characteristics (eg, amplitude, period, and wavelength along with the time interval between the temporary waveforms). For example, the amplitude 6010 can be different from the amplitudes 6110, 6210, and / or 6310. As another example, the period 6020 may be different from the periods 6120, 6220, and / or 6320. As another example, wavelength 6030 may be different from wavelengths 6130, 6230, and / or 6330. As another example, the time interval 6040 can be different from the intervals 6140, 6240, and / or 6340. Similar examples of transient waveforms can be provided for standing or superposition of resonant waveforms 5000 ', 5000 ", 5000"'.

In various embodiments, linear motor 500 may include (1) temporary amplitude, (2) temporary period, (3) temporary frequency, (4) temporary overlap period, and / or (5) temporary overlap periods. It includes different waveform characteristics but can be switched between those that generate the same type or type of standing or resonant waveform. In an embodiment, for a particular imposed transient frequency, the linear motor 500 is subject to a minimum percentage change from the initial value, such as a change in value of at least 5% (e.g., the temporary amplitude of the initial predetermined temporary amplitude value). At least 5% change) between the selected characteristics of the waveform (eg, amplitude, period, frequency, overlap period, impositions of different temporary frequency waveforms) from an initial predetermined temporary waveform value to a second selected predetermined temporary predetermined waveform characteristic value Period). In an embodiment, the percentage change is at least 5, 10, 15, 20, 25, 30, 35, 40, 45, 50, 55, 60, 65, 70, from the initial predetermined value of the transient waveform characteristic to the change value. 75, 80, 85, 90, 95, and / or 99%. In other embodiments, the percentage of change in the selected characteristic may be within a predetermined range of percentage change selected from any two of the above specified percentages of minimum change (eg, 10% to 45% change). .

The linear motor 500 controlling the sliding mass / rod 600 can be programmed to switch and / or generate between different generating temporary frequencies from a plurality of possible sets of predetermined temporary frequencies, the selection of different gaming events (E.g., meeting gaming goals or failing gaming goals) and / or based on different user inputs. In various embodiments, creation and / or conversion may be intended to emulate collisions from virtual gaming play. Collision is a term for the extreme force a material experiences (usually measured in terms of acceleration versus time). A mechanical or physical collision is, for example, a sudden acceleration or deceleration due to a collision, drop, kick, earthquake or explosion. The recoil described herein is a form of collision. The impact can be characterized by peak acceleration, duration, and the shape of the impact pulse (eg, half sine, triangle, trapezoid, etc.). The collision response spectrum is a method for further evaluating mechanical impact.

In an embodiment, the amplitude of a particular superimposed transient frequency generated by the linear motor 500 controlling the sliding mass / rod 600 may change over time. In various embodiments, the amplitude may decrease over time, increase over time, or decrease and increase over time.

The frequency of the superimposed transient frequency generated by the linear motor 500 controlling the sliding mass / rod 600 may change over time. In various embodiments, the frequency may decrease over time, increase over time, or decrease and increase over time.

In various embodiments, one or more of the above specified characteristics of the amplitude of a particular superimposed transient frequency generated by linear motor 500 controlling sliding mass / rod 600 is the same standing generated by linear motor 500. It can vary between different superimposed transient frequencies for the resonant frequency.

Temporary wave functions can be used to simulate various abnormal operating conditions within a firearm, such as mechanical failure, misfire, jamming and supply failure of a second round of fired ammunition that may or may cause jamming.

As for further discussion of the use and operation method of the present invention, it will become apparent from the above description. Therefore, it will not be discussed further on how to use and how it works.

While embodiments have been described for various implementations and uses, it will be understood that these embodiments are exemplary and the scope of the present invention is not limited thereto. Various variations, modifications, additions and improvements are possible. Also, the steps described herein can be performed in any desired order, and any desired steps can be added or deleted.

Claims (42)

As a simulation system,
main body,
Linear motor attached to the main body-A linear motor has two or more independent magnetic coils, and when current flows through at least one magnetic coil of the two or more independent magnetic coils, at least one magnetic coil and magnetic field of two or more independent magnetic coils are magnetic. -Sliding mass with one or more magnets interacting interactively,
A simulation system comprising a controller that controls the movement of the sliding mass by controlling the current flowing through at least one of the two or more independent magnetic coils so that the sliding mass generates forces on the body simulating the haptic effect. The simulation system of claim 1, wherein the controller has a programmed impulse value to induce the motion of the sliding mass. The simulation system of claim 1, wherein the haptic effect is one or more of simulated firearm reaction force, gaming firearm effect, and gaming peripheral effect. The simulation system of claim 1, wherein the haptic effect is a rifle, pistol, heavy firearm, semi-automatic firearm, and firearm reaction force to one or more of the automatic firearms. The simulation system of claim 1, further comprising a mechanical stop, and the sliding mass is driven relative to the mechanical stop to simulate a haptic effect. The simulation system of claim 1, wherein the mechanical stop comprises an oblique surface that transmits a portion of the force in a direction different from the direction of the sliding mass. The simulation system of claim 1, wherein the body is a pistol and the center of gravity thereof is substantially aligned with the center of gravity of the pistol when the linear motor and the sliding mass are arranged in the starting position. The simulation system of claim 1, wherein the body is a rifle, and when the linear motor and the sliding mass are arranged in the starting position, their center of gravity is substantially aligned with the center of gravity of the rifle. The simulation system of claim 1, further comprising a power unit that supplies power to one or more of the controller and the linear motor. 10. The simulation system of claim 9, wherein the power unit includes a battery provided in the circuit to boost the voltage before being supplied to a controller attached to the linear motor. As a simulation system,
main body,
Linear motor attached to main body-Linear motor controls sliding mass-,
A simulation system comprising a controller that controls the movement of the sliding mass such that the sliding mass generates forces on the body simulating a haptic effect. 12. The simulation system of claim 11, wherein the controller has a programmed impulse value to induce the motion of the sliding mass. 12. The simulation system of claim 11, wherein the haptic effect is one or more of simulated firearm reaction force, gaming firearm effect, and gaming peripheral effect. 12. The simulation system of claim 11, wherein the haptic effect is a rifle, pistol, heavy firearm, semi-automatic firearm, and firearm recoil for one or more of the automatic firearms. The pistol, rifle, automatic firearm, semi-automatic firearm, wand, shock stick, tennis racket, golf club, bat, glove, chair, cricket bat, full stick, boxing glove, game pad according to claim 11 , Gaming controller, two-handed controller, fishing rod and reel, light saber, sword, nun chuck, chainsaw, axe, knife, police baton, halo plasma gun, hockey stick, laser gun, badminton racket and bow Simulation system with one or more of the arrows. 12. The simulation system of claim 11, further comprising a mechanical stop, and the sliding mass is driven relative to the mechanical stop to simulate a haptic effect. 17. The simulation system of claim 16, wherein the mechanical stop comprises an oblique surface that transmits a portion of the force in a direction different from the direction of the sliding mass. 18. The simulation system of claim 17, wherein the force is transmitted substantially perpendicular to the person holding the body and towards the person holding the body. 17. The simulation system of claim 16, wherein the mechanical stop is detachably secured to the body such that the mechanical stop is interchangeable with other mechanical stops. 20. The simulation system of claim 19, wherein the other mechanical stop comprises a material different from the mechanical stop so that different simulation effects are felt by the user. 17. The simulation system of claim 16, wherein the mechanical stop changes the angle of impact of the sliding mass such that different simulation effects are felt by the user. 22. The simulation system of claim 21, wherein the mechanical stop is at least one of manually adjustable and automatically adjustable. 12. The simulation system of claim 11, wherein the body is a pistol and its center of gravity is substantially aligned with the center of gravity of the pistol when the linear motor and sliding mass are arranged in the starting position. The simulation system of claim 1, wherein the body is a rifle, and when the linear motor and the sliding mass are arranged in the starting position, their center of gravity is substantially aligned with the center of gravity of the rifle. 12. The simulation system of claim 11, wherein the body is an M4 rifle body. 12. The simulation system of claim 11, wherein the body is a neutralizer and its center of gravity is substantially aligned with the center of gravity of the neutralizer when the linear motor and the sliding mass are arranged in the starting position. 27. The simulation system of claim 26, wherein the body is an M2 neutralizer body. 12. The simulation system of claim 11, further comprising a power unit that supplies power to one or more of the controller and the linear motor. 29. The simulation system of claim 28, wherein the power unit comprises a battery. 29. The simulation system of claim 28, wherein at least one of the power unit and the controller is tethered to the body by a power cord and is external to the body. 29. The simulation system of claim 28, wherein at least one of the power unit and controller is directly connected to the body without a cord. 29. The simulation system of claim 28, wherein the power unit comprises a battery provided in the circuit to boost the voltage before being supplied to a controller attached to the linear motor. 12. The simulation system of claim 11, wherein the controller comprises an energy storage device that provides power to the controller logic circuit when the main battery is one of removed and discharged. 29. The simulation system of claim 28, wherein the power unit comprises a super capacitor. 29. The simulation system of claim 28, wherein the power unit comprises a battery and a super capacitor hybrid. 12. The simulation system of claim 11, wherein the linear motor comprises a plurality of independently controllable magnetic coils, each independently controllable with respect to timing and one or more of the direction and amount of current flow. 12. The simulation system of claim 11, wherein the linear motor comprises two or more independently controllable magnetic coils. 12. The method of claim 11, wherein the linear motor comprises a plurality of independently controllable magnetic coils that are longitudinally aligned with each other and closely spaced, and two or more adjacent independently controllable magnetic coils to generate oppositely polarized magnetic fields. A simulation system that is energized for. 12. The method of claim 11, wherein the linear motor is magnetically coupled to the sliding mass and comprises a plurality of independently controllable magnetic coils that are closely spaced and longitudinally aligned with each other, and the sliding mass is adjacent to the plurality of longitudinally aligned. Including a magnet, the linear motor changes the movement of the sliding mass of the magnet by varying the current through the individually independently controllable coil in relation to the proximity of the particular magnet in the plurality of magnets to a specific coil in the plurality of independently controllable magnetic coils. A simulation system that triggers. As a simulation system,
Visual display to communicate with the user,
Peripheral device comprising a linear motor and a body having a sliding mass,
A tracking system that monitors one or more of the peripheral's movement and the user's movement,
Includes a computer system that implements the simulation, provides an output image from the simulation on a visual display, and updates the image using a series of position data from a tracking system, where the position data is captured by one or more of the peripheral motion and the user's motion. To respond,
A computer system is a simulation system that communicates with a control system that controls a sliding mass that generates forces on the body that simulates the haptic effects associated with the simulation. 41. The simulation system of claim 40, wherein the visual display is a head mounted display that can be attached to a user. 41. The simulation system of claim 40, wherein the visual display is a projection based system that provides images directly to the user's eyes.

Images