WO2018185658A1

WO2018185658A1 - Dynamic generator device and virtual reality system incorporating same

Info

Publication number: WO2018185658A1
Application number: PCT/IB2018/052295
Authority: WO
Inventors: Philippe LOUBENS; Antoine FAUTRAD
Original assignee: Eurmeka
Priority date: 2017-04-03
Filing date: 2018-04-03
Publication date: 2018-10-11
Also published as: EP3607540A1

Abstract

The invention relates to a dynamic generator device for a virtual reality system, comprising a mobile pod carrying a seat and mounted on a fixed structure, driving means for inclining the pod along at least two axes of rotation, the two axes passing close to the head of a user when the user is installed in the seat, and means for controlling the drive means depending on the dynamic effects sought. The invention also relates to a virtual reality system comprising such a device. Said invention is applicable to simulators, in particular driving simulators.

Description

title

"Dynamic generator device and virtual reality system incorporating it" Field of the invention

The present invention generally relates to dynamic reality generators or kinetic simulators for enriching the user experience in virtual or augmented reality systems.

State of the art

The concept of "dynamic reality" consists, for a user interacting by means of a visual medium in the video environment in which he is immersed, to increase the realism of his immersion by the proprioception, that is to say the perception, conscious or not, of the positions and movements of the different parts of his body.

This perception is produced by the physical effects of a generator enslaved by the virtual accelerations of the program.

In a manner known per se, a dynamic reality generator is constituted by a mechatronic device comprising a moving mobile platform, relative to a fixed reference, by at least one actuator controlling the inclination of the platform according to the simulated acceleration. It is associated with a moving image viewing means designed to hide from the view of the user any object in the external repository.

WO93 / 24916 A1 describes such a generator.

Other documents including DE10211884C1, FR2623648A1, GB232611 1A, US5702307A, US2016303484A1, WO2016134389A1 and WO2017171318A1 describe such generators. Summary of the invention The present invention aims to improve existing generators by more accurately simulating the effects of acceleration that would be felt by the subject in real conditions of use of what is simulated.

According to a first aspect, a dynamic generator device for a virtual reality system is proposed, comprising a movable nacelle carrying a seat and mounted on a fixed structure, driving means for tilting the nacelle according to at least two axes of rotation, the two axes passing near the head of a user when installed in the seat, and control means of the drive means according to the desired dynamic effects.

This device optionally comprises the following additional features, taken individually or in any combination that the person skilled in the art will apprehend as being technically compatible:

* The nacelle is suspended at a center of rotation of the nacelle according to at least one axis.

^* The two axes of rotation have a point of intersection, the nacelle being suspended at the center of rotation common to both axes.

^* The suspension is performed by a cardan.

* the suspension is located immediately above the seat.

^* the cardan is annular and arranged around the seat.

^* The nacelle is rigidly connected to a plate, and the drive means are adapted to move individually three points of the plate located at the three corners of a triangle.

* The drive means comprise three variable geometry arms connected to the three points of the plate.

^* The nacelle is rigidly connected to a lever arm by which the nacelle is suspended at a suspension point, and the drive means are able to move in translation in two directions a point of the lever arm individually three points of the plate located at the three vertices of a triangle. the drive means are fixed in a lower region of the nacelle.

the drive means comprise a carriage controlled according to two orthogonal directions of sliding by motors.

* The drive means comprise two arcuate rolling tracks centered on the respective axes of rotation, integral with a fixed frame of the device.

the drive means further comprise two wheels with a low coefficient of friction, applied with effort against the respective tracks.

* The nacelle is suspended at a pivot defining one of the axes of rotation, said pivot being mounted on a structure rotating about the other axis of rotation.

* The nacelle is able to slide on a cradle forming a slide located in a circular arc centered on one of the axes of rotation, said cradle being adapted to rotate along the other axis of rotation.

* The nacelle is adapted both to be inclined along the two axes of rotation and to be translated in at least one of the two axes.

* the device comprises a first arm articulated on a fixed frame along a first axis, an intermediate connecting element articulated on the first arm along an axis parallel to the first axis, and a second arm articulated on said intermediate connecting element along a second axis , the nacelle being articulated on the second arm to be rotatable about an axis parallel to this second axis, the drive means acting in rotation at said joints.

each arm has a transmission means between its two joints along parallel axes.

* The device also comprises means for driving the nacelle in translation along at least one of the two axes of rotation.

* Platinum is constituted by a base of the nacelle.

the variable geometry arms comprise feet consisting of motorized compasses, and the drive means are also suitable for order a rotation at the attachment of each foot to the base of the nacelle.

^* The control means are adapted to cause an action of the drive means such that the dynamic acceleration decreases by the same amount of the increase of the gravitational acceleration.

^* the law of degrowth is expressed as follows:

Gp = Gdyn + G.sinQ

where Gp is the programmed acceleration,

Gdyn is dynamic acceleration, and

G.sinQ is the gravitational acceleration resulting from the inclination of the nacelle.

^* The drive means of the control means are adapted to selectively generate an acceleration mode by translation or an acceleration mode by tilting, or a combined acceleration mode. combination of both.

^* The drive means of the control means is responsive to the nacelle inclination threshold for varying the acceleration mode.

^* each of the two axes forms an angle with the vertical.

According to a second aspect, a dynamic virtual reality system is proposed, comprising in combination a dynamic generator device as defined above, a virtual reality headset, and a central unit able to apply visual reproduction signals to the headphones and to apply them. the kinematic generator of the control signals associated with the visual reproduction.

Brief description of the drawings

Other aspects, objects and advantages of the present invention will appear better on reading the following detailed description of a preferred embodiment thereof, given by way of nonlimiting example and with reference to the appended drawings. on which ones FIGS. 1A to 1C are schematic diagrams illustrating the kinematics of a dynamic generator device,

FIG. 2A is a perspective view of a dynamic generator device,

FIG. 2B is a diagram of the possible freedom of movement of the device of FIG. 2A,

FIG. 3A is a perspective view of another dynamic generator device,

FIG. 3B is a diagram of the possible freedom of movement of the device of FIG. 3A,

FIG. 4A is a perspective view of another dynamic generator device,

FIG. 4B is a diagram of the possible freedom of movement of the device of FIG. 4A,

FIG. 5A is a schematic perspective view of another dynamic generator device,

FIG. 5B is a diagram of the possible freedom of movement of the device of FIG. 5A,

FIG. 5C is a schematic side view of the device of FIG. 5A,

- Figure 5D is a schematic side view of the device with an example of dressing,

FIG. 5E is a perspective view from below of the device of FIGS. 5A, 5C and 5D,

FIG. 5F is a perspective view of a first detail of the device of FIGS. 5A, 5C, 5D and 5E,

FIG. 5G is a perspective view of a second detail of the device of FIGS. 5A, 5C, 5D and 5E,

FIG. 6A is a perspective view of the framework of a device according to a variant of that of FIGS. 5A to 5G, FIG. 6B is a perspective view of the device of FIG. 6A once equipped,

FIG. 7A is a side view of another dynamic generator device,

FIG. 7B is a diagram of the possible freedom of movement of the device of FIG. 7A,

FIGS. 8A and 8B are two perspective views of another dynamic generator device,

FIG. 8C is a diagram of the possible freedom of movement of the device of FIGS. 8A and 8B,

FIG. 9A is a perspective view of another dynamic generator device,

FIG. 9B is a perspective view of the device of FIG. 9A with an example of a covering,

FIG. 9C is a diagram of the possible freedom of movement of the device of FIG. 9A,

FIG. 10A is a perspective view of another dynamic generator device,

FIGS. 10B and 10C are two perspective views of another dynamic generator device,

FIG. 10D is a diagram of the possible freedom of movement of the device of FIGS. 10B and 10C,

- Figure 1 1A is a perspective view of another dynamic generator device,

- Figure 11 B is a schematic top view of the device of the

Figure 1 1A,

FIG. 11C illustrates in perspective a detail of the drive of the device of FIGS. 11A and 11B,

FIG. 11D is a diagram of the possible freedom of movement of the device of FIGS. 11A and 11B, FIG. 12A is a perspective view of another dynamic generator device,

FIG. 12B illustrates in perspective a detail of the drive of the device of FIG. 12A,

FIG. 12C is a perspective view of the device of FIG. 12A with an example of a covering,

FIG. 12D is a diagram of the possible freedom of movement of the device of FIGS. 12A and 12C,

FIG. 13A is a perspective view of another dynamic generator device,

FIG. 13B illustrates in perspective a variant of the device of FIG. 13A,

13C is a perspective view of the device of FIG. 12A with an example of a covering,

FIG. 13D is a diagram of the possible freedom of movement of the device of FIGS. 13A to 13C, and

- Figure 14 illustrates the main components of a virtual reality system using a dynamic generator device. Detailed description of embodiments

Introduction

The document W093 / 24916A1 mentioned above made it possible to highlight the need to synchronously compose horizontal translation movements making it possible to initialize without any spurious effect the acceleration to be felt by the user, and inclination movements enabling relay this acceleration by the gravitational acceleration simulated by the load factor resulting from the rotation of the body.

The present invention is based on an in-depth analysis of kinematic models, with emphasis on how the movements are felt by the human body. It also takes into account the parasitic effects analysis with a view to attenuating or eliminating them.

These parasitic effects are mainly the following:

- If the center of rotation of the mobile platform is positioned substantially below the inner ear during the acceleration produced by the inclination, the head is pushed forward while it should be pulled back; this is illustrated in Figure 1A, for a center of rotation located substantially at the basin: the top of the seat is erased to the rear, and the user has the feeling that his head is projected forward;

if, on the contrary, the center of rotation is positioned too far above the inner ear, this requires undesirable vertical oversizing of the device.

Thus, according to one aspect of the present description, both to avoid oversizing the dynamic reality generators and to ensure good quality simulation, positioning the center of rotation of the nacelle in the vicinity of the inner ear of the user installed in his seat. The geometry is illustrated in Figures 1B and 1C.

Thus, on the one hand the vertical congestion of the system is limited, and on the other hand it limits a movement in translation of the head which is unnecessary because the sensation of lateral or front / rear acceleration is provided by the inclination of the head.

More precisely, when the user is equipped with a virtual reality helmet, it has been observed that this superfluous displacement complicated the brain's analysis of the position of the body in space due to the rotational movements of the eyes. of the head in the virtual space of the helmet, on the one hand, and the proprioception provided by the generator on the other hand. This complexity of perception can create phenomena of nausea.

Nature of the acceleration felt (dynamic and gravitational)

The dynamic acceleration is that produced by the longitudinal or transverse displacement at the base of the seat by one or more motors. It is that which is felt proprioceptively at the initiation of the programmed acceleration, mainly at the level of the thorax and pelvis. It is immediately relayed by the gravitational acceleration provided at the inner ear by the inclination of the seat following the rotational movements produced.

This distinction being made, we define:

the programmed acceleration Gp, which is the one ordered by the program vectors,

- Gdyn dynamic acceleration, which is that provided by the movements at the base of the seat,

the gravitational acceleration G obtained by the inclination according to the angle Ω of the seat and which varies linearly according to the formula G = g.sinQ.

We have :

Gp = Gdyn + g.sinQ

steering

The simulation process of the acceleration consists in passing, during the duration of each programmed sequence, a dynamic acceleration to a gravitational acceleration so that the sum of the two remains essentially constant and equal to the programmed value.

The graph of an acceleration sequence, as shown in Figure 1D, shows that it lasts until the inclination corresponding to the necessary gravitational acceleration and thus the cancellation of the dynamic acceleration, and illustrates the way in which the instructions to be sent to the motor creating said acceleration (curve in solid lines) must vary according to the gravitational acceleration and therefore of the angle of inclination (dashed curve), of so that the sum of the two accelerations is generally constant and equal to the programmed acceleration (curve in phantom). (One can alternatively control the dynamic acceleration differently, depending on the total acceleration curve that one wants to obtain.)

In FIG. 1D, the x-axis represents the inclination variation Ω of the nacelle, while the y-axis represents the variation of the accelerations G.

FIG. 1 D shows an initialization period of the acceleration, typically of the order of 10 to 20 milliseconds depending on the characteristics of the electric motor, this period allowing the electric motor to take the maximum number of turns for create the initial jerk (jerk in English terminology) essential to the good acceleration.

Modes of realization

We will now describe a certain number of kinematic generators allowing the user to feel the proprioception resulting from the combination of dynamic and gravitational accelerations created in the virtual environment in which he evolves.

This proprioceptive immersion is the dynamic immersion created by a virtual reality helmet.

These embodiments have, depending on the figures, different advantages that will be detailed on a case by case basis.

In the figures, reference is made to an orthogonal system X, Y, Z where X is the longitudinal axis, Y is the transverse axis and Z is the vertical axis (with respect to a simulated displacement direction in a control system). virtual reality).

In addition, efforts will be made (however not systematically) to designate identical or similar elements by the same reference numbers, only the number of the hundreds being changed to correspond to the number of the corresponding Figure.

Referring first to Figure 2A, a first embodiment of a dynamic generator device comprises a frame or fixed platform 210 forming three ground support points 21 1 connected by a structural element 212.

First movable elements consist of three curved rods or arches 220 extending between the bearing points 211 and a plate 230 on which is mounted, with possibility of rotation along the Z axis, a ring gear 231 itself rigidly secured to a nacelle 240 carrying a seat 241 for a user, a steering wheel 242 and a pedal not shown (in the case of a driving simulation system).

The arches 220 are connected to the plate 230 respectively by three ball joints 221. Geared motors 213 located in the region of the bearing points 211 control forks 214 pivoting each on a horizontal axis, capable of varying the height of the base of the respective hoops 220 relative to the frame 210.

Another geared motor 232 is fixed with respect to the plate 230 and controls with the aid of an output gear 233 the rotation of the ring gear 231, so as to be able to rotate the nacelle 240 around the axis Z.

It will be understood that by synchronously controlling the three geared motors 213, it is possible to vary the angular position of the plate 230 and therefore of the seat 241 carried by the nacelle 240 both along the X axis and along the Y axis.

The gearmotor 232 makes it possible to vary the orientation of the seat along the Z axis, thereby producing a dynamic 3-axis generator system that makes it possible to generate a proprioception adapted to the images projected to the user, here by a reality helmet. virtual, in particular acceleration / braking effects (rotation around the Y axis) and centrifugal force effects in turns (rotation around the X axis).

It will be noted that by controlling the geared motors 213 for translations of the rollbars in the same vertical direction, it is also possible to generate a vertical translation of the whole of the platform 240, thus to apply to the user a dynamic fall simulation. or ascent. It is important to observe here that the center of rotation of the nacelle 240 is located near the head and therefore the user's inner ear, with the advantages mentioned in the introduction.

Referring now to Figures 3A and 3B, a fixed frame 300 comprises one or more uprights 301 rigidly fixed to the ground and supporting in height on the one hand a fixed plate 310 and on the other hand, at a distance above this fixed plate 310, a two-axis translation control structure 320.

This structure 320 comprises a fixed frame 321 rigidly connected to the foot 301 and the plate 10, this frame comprising two parallel rails on which can slide in a first direction (along the Y axis) a first carriage 323 having two parallel rails oriented to right angle to frame rails 321.

On these rails can slide along the X axis a second carriage 325. A fixed first gear motor 322, associated with a suitable drive mechanism (belt, rack, etc.) to control the translation of the first carriage 323 along the axis Y. A second geared motor 324, preferably associated with a drive mechanism of the same type, makes it possible to control the translation of the second carriage 325 along the X axis.

The device further comprises a structure 330 for hooking a nacelle 340, for example of the same type as that described above, this structure 330 comprising a rod 331 mounted in a central bearing of the carriage 325 and in a central bearing of the plate 310 , and fixed in 332 at the top of the nacelle 340 with total solidarity between the rod and the nacelle.

A shoulder formed on the rod 331 allows a lift of the nacelle 340 on the fixed plate 310 while allowing the pendular movements of the rod 331 in rotation about the X and Y axes.

It will be understood that by controlling the movements of the carriage 325 in X and Y with the aid of the respective geared motors 322, 324, the inclination of the rod 331 and thus of the nacelle is controlled to perform the simulation. desired dynamic in an analogous manner, in terms of effects, to the device of Figure 2A.

Note that it is possible to position the fixed plate 310 near the head of the user so as to minimize the distance between the point of rotation (defined at the fixed plate 310) and the head of the user .

Referring now to Figures 4A and 4B a dynamic generator device comprises a fixed frame 400 comprising one or more uprights 401 defining at their summit a point of attachment to ball or cardan 410 for a nacelle 440 similar to nacelles of the previous figures.

In the present embodiment, the tilting control of the nacelle by rotation around the X and Y axes on the point of attachment 410 is effected by a mechanism similar to that of FIGS. 3A and 3B, but acting in the lower part. of the nacelle 440.

This mechanism 420 comprises a fixed frame 421 rigidly fixed to the ground by feet 427 and part of the fixed frame 400, this frame 421 comprising two parallel rails on which can slide in a first direction (along the Y axis) a first carriage 423 having two parallel rails oriented at right angles to the rails of the frame 421.

On these rails can slide along the X axis a second carriage 425.

A first fixed gear motor 422, associated with a suitable drive mechanism (belt, rack, etc.), makes it possible to control the translation of the first carriage 423 along the Y axis. A second geared motor 424 preferably associated with a gear mechanism. drive of the same type, allows to control the translation of the second carriage 425 along the axis X.

This carriage 425 is connected to the base of the nacelle by a rigid rod 426. This rod is formed of two parts capable of sliding relative to each other in the direction of its length, so as to absorb differences in distance between the base of the nacelle 440 and the carriage 425, the nacelle pivoting on the catch 410 while the carriage 425 moves in a horizontal plane. It will be understood that by controlling the movements of the carriage 425 at X and Y with the aid of the respective geared motors 422, 424, the inclination of the nacelle 440 is controlled, in order to carry out the desired dynamic simulation in a similar way, in term of effects, to the device Figures 2A and 3A.

Note that it is possible to position the attachment point 410 in close proximity to the user's head so as to minimize the distance between the point of rotation that defines this snap point and the head of the user .

Note also that in this embodiment, and more generally in all embodiments where the tilt control of a suspended basket is made from below,

Referring now to FIGS. 5A-5G, another embodiment of a dynamic generator device comprises a tubular fixed structure 500 comprising a generally circular foot 501 from which two uprights 502 extend.

At the upper end of these uprights is provided a fastening structure 503 to which are fixed rigidly two rigid tubular frames 504, 505 respectively extending in a longitudinal vertical plane forward / backward and in a vertical plane transverse left right. This attachment structure also carries a universal joint 510 which constitutes the point of attachment, with possibility of pivoting along the X and Y axes, of a nacelle 540 whose structure is here also tubular, again carrying a seat 541 and a steering wheel. 542 and all other appropriate accessories.

The two rigid frames 504, 505 comprise in their lower region two arcuate portions 504a, 505a both centered on the point of rotation defined by the cardan 510, and located in the aforementioned orthogonal planes (it will be noted that in the versions of FIG. 5C and 5E, the frame 504 is not closed on itself).

This device further comprises drive means 530 (shown schematically in Figures 5A-5D) capable of operating between the base of the nacelle 540 and parts 504a, 505a above. In the present embodiment, these drive means are fixed to the base of the nacelle 540 and comprise two geared motors 531, 532 respectively controlling two wheels 533, 534 with flexible tread (for example pneumatic or belt wheels). elastomeric bearing) which are capable of frictionally engaging the top of the arcuate portions 504a, 505a of the respective frames 504, 505, said portions thus forming raceways for the wheels.

The pressure of the wheels against their respective circular arc is provided here by rollers 535, 536 located below the wheels and fixed to the axes of the respective wheels by not shown stirrups, the axes of rotation of the rollers being parallel to those of the wheels and each defining with the respective wheel, empty, a space of dimension slightly smaller than the height of the respective arcuate portion. Once assembled, it is understood that these rollers 535, 536 ensure a contact between each wheel and its respective arcuate part with sufficient pressure to prevent slippage between these elements.

It is understood that by driving a wheel in rotation with its respective geared motor, the base of the nacelle 540 is moved along the corresponding arc. Depending on the wheel being driven, it is a rotation inclination around the X axis (centrifugal forces) or the Y axis (acceleration or braking forces) which is caused. These two inclinations can of course be combined.

An advantage of this configuration is that the drive means do not have to support the weight of the nacelle, of the same material as for the embodiment of Figure 4A. Another advantage is the compactness that can be given to the drive means.

It should be noted that instead of a wheel drive moving in rotation on their respective arcuate part, provision can be made, for example, to integrate linear curvilinear motors in said arcuate portions. Figures 6A and 6B illustrate an alternative embodiment of the device of Figures 5A-5G.

In these figures, elements or parts identical or similar to those of FIGS. 5A to 5G are designated by the same reference signs, except that the number of the hundreds 5 has been replaced by the number of the hundreds 6, and will not be described again for the sake of simplification.

This variant is intended to allow placing the center of rotation of the nacelle in the very near vicinity of the user's head, and preferably closer to the inner ear.

For this purpose, the cardan 510 of small dimensions of the device of the Figures

5A to 5G is replaced by an annular gimbal 610 surrounding the top of the nacelle and in particular the region of the seat 541 where the head of the user will be.

This gimbal 610 comprises a fixed outer ring 61 1 connected to the ground by four feet 601, the assembly forming part of a fixed frame. The rigid frames 604, 605 having the arcuate portions 604a, 605a for driving extend from the outer ring 611.

Two diametrically opposed pivots 612 provide a rotating connection (rotation about the X axis) with an inner ring 613.

Two other diametrically opposed pivots 614, angularly offset by 90 ° with respect to the pivots 612, provide a rotating connection (rotation about the Y axis) with two lateral arms 643 of the nacelle 640.

Note that in Figure 6A, only the tubular structure is shown, while the wheel drive mechanisms (or by other means) have been schematized by blocks.

In an alternative embodiment, the ground level may be located at a height higher than that illustrated, and for example close to the cardan 610, the nacelle then being at least partially located in a cavity formed in the ground. Referring now to Figures 7A and 7B, there is shown another embodiment of a device that includes a fixed frame 700 having a ground support structure 701 and an arm 702 extending obliquely rearwardly. A pivot 710 of horizontal axis parallel to Y connects the fixed arm 702 with a movable arm 720, a cylinder 71 1 for controlling the mutual inclination between the arms 702 and 720.

At the end of the arm 720 opposite the pivot is mounted a structure 730 which can pivot about an oblique axis W located in the longitudinal plane XZ, this pivoting being achieved by means of a geared motor 731 located behind.

This pivoting structure 730 comprises an arm 732 which defines at its free end a pivot 733 around the Y axis, to which is attached a nacelle 740.

The top of the nacelle 740 comprises a lever 744 passing through the pivot 733 and extending generally upwards, which is articulated at its free end to the rod of a jack 734 fixed on a structural element 735 secured to the arm 732. .

It is understood that the cylinder 71 1 can move the nacelle substantially along the Z axis, to create a proprioceptive effect of climbing or falling in the user. The 731 gearmotor tilts the platform sideways to create the centrifugal effect when cornering, while the 735 cylinder tilts the platform backwards and forwards, creating a braking effect. acceleration respectively.

Again, the point of rotation of the nacelle 740, located at the pivot 733, is located in close proximity to the user's head.

With reference to FIGS. 8A to 8C, another embodiment of a dynamic generator device does not have a fixed frame on the ground, which can be useful especially when the ground space or an anchorage therein is not Not possible. The device comprises a nacelle 840 rigidly connected to a plate 830 located above the nacelle. Three jacks 820 are hingedly mounted to the three vertices of a triangle on a ceiling structure 800 and generally oriented downward.

At their opposite end, the three jacks are hingedly mounted to the three vertices of a triangle on the plate 830.

It is understood that by varying the length of the cylinders, one can vary the orientation of the plate 830 and therefore the nacelle 840 according to the two axes of rotation X and Y. Moreover, by varying the length of the cylinders 830 simultaneously in elongation or shortening, the device is capable of generating altitude variations to generate proprioceptive effects of fall or ascent.

Again, the pivot point of the nacelle, located in the center of the plate 830, can be placed near the head of the user.

Referring now to Figures 9A-9C, there is shown a device whose fixed frame 900 has a frame 901 for its installation or its anchoring to the ground and two spaced amounts 902 respectively located at the front and rear ends, these two amounts having their apex two pivots 903 defining a pivot axis along X. On these pivots is mounted a cradle 910 formed of a frame 91 1 having two curvilinear rails 912 extending along one of the other in the longitudinal direction, on a circle whose center is located near the head of the user when the latter is installed in the seat 941 of the device.

940 nacelle comprises two pairs of rails 945, for example equipped with wheels, arranged in a rectangle, two slides on the left ensuring sliding on the left rail, and two rails on the right ensuring sliding on the right rail.

A plate 913 secured to the cradle 910 carries a geared motor 920 which drives a belt 921. This cooperates with a system of drive rollers 946 provided on the nacelle 940 along one of the rails 912 to selectively and in a controlled manner, move the nacelle pendulously along the rails, thereby causing its displacement composed of a change inclination around the Y axis and a translation along the arc formed by the rail 912.

Furthermore, a geared motor 930 mounted on the fixed frame 900 drives a belt 931 which cooperates with a drive roller 913 integral with the cradle.

It will be understood that the geared motor 920 by which the movements of the platform 940 on the rails are controlled, makes it possible to create proprioceptive effects of acceleration / braking, whereas the geared motor 930 induces the movements of the cradle 910, and therefore of the nacelle, pivoting about the X axis defined by the pivots 903, and can create proprioceptive effects of centrifugal force turning left and right.

Figures 10A to 10D show a dynamic generator device capable of generating proprioceptive effects in acceleration / braking and cornering both by rotation of a nacelle around the X and Y axes and by translation of the nacelle along these axes.

Thus this device comprises a fixed frame 1000 having two transverse rails front and rear 1001.

On these rails can slide along the Y axis a carriage 1010 comprising a base 101 1 and two opposite amounts 1012 defining at their respective upper end a pivot 1013 along the axis X.

A cradle 1020 is mounted on these pivots so as to be rotatable about the X axis.

This cradle comprises a rectilinear slide 1021 on which can move a nacelle 1040 at a time in translation, with the aid of a geared motor 1022 and pivoting about a fictitious transverse axis passing in the vicinity of the head of the user , using a pair of oblique longitudinal cylinders 1023 acting at the front and rear of the nacelle 1040.

Another geared motor 1014 allows lateral displacement of the carriage 1010 along the rails 1001, while another geared motor not shown controls the rotation of the cradle on the pivots 1013 about the axis X. Figure 11A of the drawings illustrates an embodiment of a dynamic generator device where a seat 1 141 is mounted on a stirrup 1130 rotatably controlled by a geared motor 1 131 to move the seat 1 141 belonging to a nacelle not shown 1 140 around an axis of rotation passing through the hinge 1132 of the stirrup on a movable support element 1 120 itself capable of pivoting about a longitudinal axis X 'located below it with the aid of a geared motor 1,121 and a pair of rods 1,122.

An inclination control operating under the nacelle is thus carried out in order to achieve proprioceptive effects in acceleration / braking with the aid of the gearmotor 1 131 and in turning with the gearmotor 1121.

Figures 1 1 B to 1 1 D illustrate another dynamic generator device wherein a first arm 1 160 driven by a geared motor 1161 can pivot relative to a fixed frame 1150 about a transverse horizontal axis. A belt 1 162 passing around a fixed first roller 1163 secured to the framework causes, during the pivoting of the arm 1160, the rotation of a roller 1171 which is integral with a structural part 1170 and which drives it into position. rotation about a transverse horizontal axis.

It is understood that if the rollers 1 163 and 1171 have the same diameter, a drive by the geared motor 1 161 causes a change of inclination of the arm 1 160 without changing the inclination of the structural part 1 170. If the rollers 1163, 1171 have different diameters, so the variations of inclination of the arm 1 160 are accompanied by a certain variation of inclination of the part 1 170. In both cases, the geared motor 1161 makes it possible to move the part 1 170 in the longitudinal plane, with or without a component of rotation along the Y axis.

The structural part 1 170 carries a pivot 1 172 of longitudinal horizontal axis on which is mounted a second arm 1 180 extending upwards and at the upper end of which is provided a pivot 1 173 for a nacelle 1 140, whose seat 1141 is represented. A second geared motor 1174 drives a first roller 1175 around which passes a belt 1176 which also passes, in the region of the upper end of the arm 1180, around a roller 1148 integral with the nacelle.

This geared motor 1 174 thus makes it possible to control the rotation of the nacelle around the X axis, to create the centrifugal proprioceptive effect.

The gearmotor 1161 provides the proprioceptive effect of braking acceleration, if necessary combined with a change of altitude effect.

With reference to FIGS. 12A to 12D, there is shown a dynamic generator device which is similar to that of FIGS. 6A and 6B by the presence of a cardan defining a rotation point substantially at the level of the user (here at the level of FIG. a set of users placed on a row of seats 1241).

The device comprises a fixed frame 1200 comprising a fixed rectangular frame 1202 carried by four legs 1201 and defining two opposing front rear joints 1203 for a movable inner frame 1210.

A geared motor 121 1 and a transmission mechanism, a portion of which is visible at 1212, rotate an inner frame 1210 carried by the pivots 1203 about the X axis, in order to generate the centrifugal force effect.

The nacelle 1240 carrying the seats 1241 is mounted on two lateral joints 1213 of the inner frame 1210, allowing rotation about the axis Y.

Another geared motor (not visible) associated with a suitable transmission mechanism ensures the rotation of the nacelle around the Y axis to restore the proprioceptive effects of acceleration / braking.

The above device can be completed with mechanisms providing, in addition to the 2-axis rotation, translations along the X and Y axes, the pivots described above being in this case sliding pivots along the corresponding frames of the frames. outside and inside. The

Figure 12C gives an example of mechanical implementation of such pivots sliding, with a rack 1280 secured to the frame, a first gear 1281 and a second gear 1282 rotating on the axis forming the respective pivot.

Referring now to Figures 13A-13D, another embodiment of a dynamic generator device comprises a set of three legs 1300 each made of two parts forming a motorized compass at its angle. Thus each foot comprises a first portion 1301 having a ground support 1302 and a second portion 1303 secured to a nacelle 1340 via a link 1304 to cardan, this link being provided with a geared motor 1308 capable of forcing the rotation of the arm portion 1303 relative to a plate 1330 carrying the nacelle 1340 about an axis perpendicular to the plane of the plate 1330 (see Figure 13B).

The two parts 1301, 1303 of each arm are interconnected by a pivot link 1305 forming an angle between them can be controlled by a geared motor 1306. It is understood that independently controlling each of three geared motors 1306 and three geared motors 1308 in conditions compatible with the mechanical links in the presence, it is possible to apply to the nacelle 1340 displacements generating a variety of proprioceptive effects, in particular the effects of accelerations / braking and centrifugal force in turns.

Referring now to Figure 14, there is schematically illustrated a dynamic generator device G according to one of the embodiments described above. This device comprises a n-boat comprising a seat S for a user and, in the case of a driving simulator, a steering wheel V and a pedal P. It also includes motorized means

M to control the movements of the pod N, according to the principles discussed in the foregoing.

An electronic capture and transmission device CT, of a type known per se, collects information on the position of the steering wheel and the position of the accelerator pedal, the brake pedal and, if applicable, the clutch pedal. A central unit UC executes a simulation computer program, here driving simulation, in response to inputs constituted by the signals provided by the device CT, using appropriate input interfaces.

According to said inputs, the simulation program generates a visual and, where appropriate, audible reproduction for a VR virtual reality headset intended to be worn by the user installed in the seat S, and also generates motion control signals. of the nacelle for the drive means M of the device G, typically tilt commands around a transverse horizontal axis, close to the user's head, to restore acceleration / braking effects, and commands tilt around a longitudinal horizontal axis, also close to the user's head, to restore centrifugal force effects in a left or right turn.

Of course, the present description is not limited to the embodiments described and shown, but also includes any variant or modification that will spontaneously come to the mind of those skilled in the art using his general knowledge. It also includes any combination of elements taken from the various embodiments to the extent that the skilled person will apprehend these elements as being technically compatible.

Claims

claims

1. Dynamic generator device for virtual reality system, comprising a movable nacelle carrying a seat and mounted on a fixed structure, driving means for tilting the nacelle according to at least two axes of rotation, the two axes passing in the vicinity of the head of a user when installed in the seat, and means for controlling the drive means according to the desired dynamic effects.

2. Device according to claim 1, wherein the nacelle is suspended at a center of rotation of the nacelle according to at least one axis.

3. Device according to claim 3, wherein the two axes of rotation have a point of intersection, the nacelle being suspended at the center of rotation common to both axes.

4. Device according to claim 3, wherein the suspension is carried by a cardan.

The device of claim 4, wherein the suspension is located immediately above the seat (Fig. 5A).

6. Device according to claim 4, wherein the gimbal is annular and disposed around the seat (Fig. 6A).

7. Device according to claim 1, wherein the nacelle is rigidly connected to a plate, and the drive means are able to move individually three points of the plate located at the three corners of a triangle (Fig. 2A, Fig. 8A).

8. Device according to claim 7, wherein the drive means comprise three variable geometry arms connected to the three points of the plate (Figure 2A, Fig. 8A).

9. Device according to claim 1, wherein the nacelle is rigidly connected to a lever arm by which the nacelle is suspended at a point of suspension, and the drive means are able to move in translation in two directions. a point of the lever arm individually three points of the plate located at the three vertices of a triangle (Fig 3A).

10. Device according to one of claims 1 to 6, wherein the drive means are fixed in a lower region of the nacelle (Fig 4, Fig 5, Fig 6).

An apparatus according to claim 10, wherein the drive means comprises a carriage controlled in two orthogonal directions of sliding by motors (Fig. 4A).

12. Device according to claim 10, wherein the drive means comprise two arcuate rolling tracks centered on the respective axes of rotation, integral with a fixed frame of the device.

13. Device according to claim 12, wherein the drive means further comprises two low friction wheels, applied with effort against the respective tracks.

14. Device according to claim 3, wherein the nacelle is suspended at a pivot defining one of the axes of rotation, said pivot being mounted on a structure rotating about the other axis of rotation (Fig. 7A). .

15. Device according to claim 1, wherein the nacelle is able to slide on a cradle forming a slide located in an arc of a circle centered on one of the axes of rotation, said cradle being pivotable along the other axis of rotation (Fig. 9A).

16. Device according to claim 1, wherein the nacelle is adapted both to be inclined along the two axes of rotation and to be translated along at least one of the two axes (FIG 10A).

17. Device according to claim 1, which comprises a first arm articulated on a fixed frame along a first axis, an intermediate connecting element articulated on the first arm along an axis parallel to the first axis, and a second arm articulated on said element of intermediate connection along a second axis, the nacelle being articulated on the second arm to be rotatable about an axis parallel to this second axis, the drive means acting in rotation at said joints (Fig.11 B).

18. Device according to claim 17, wherein each arm comprises a transmission means between its two joints along parallel axes.

19. Device according to claim 6, also comprising means for driving the nacelle in translation along at least one of the two axes of rotation (FIG 12A).

20. Device according to claim 8, wherein the plate is constituted by a base of the nacelle (Fig. 13A).

21. Device according to claim 20, wherein the variable geometry arms comprise feet consisting of motorized compasses, and the drive means are also adapted to control a rotation at the attachment of each foot to the base of the nacelle.

22. Device according to one of claims 1 to 21, wherein the control means are adapted to cause an action of the drive means such that the dynamic acceleration decreases to the extent of the increase in gravitational acceleration.

23. Device according to claim 22, in which the decay law is expressed as follows:

Gp = Gdyn + G.sinQ

where Gp is the programmed acceleration,

Gdyn is dynamic acceleration, and

24. Device according to one of claims 1 to 23, wherein the control means of the drive means are adapted to selectively generate a translation acceleration mode or a tilt acceleration mode, or a mode of combined acceleration, combination of both.

25. Device according to claim 24, wherein the control means of the drive means are responsive to a tilting threshold of the nacelle to vary the acceleration mode.

26. Device according to one of claims 1 to 25, wherein each of the two axes forms an angle with the vertical.

27. Virtual reality system, comprising in combination a dynamic generator device according to one of claims 1 to 25, a virtual reality headset, and a central unit able to apply to the headphones signals. visual restitution and to apply to the kinematic generator control signals associated with the visual reproduction.