WO2023283724A1

WO2023283724A1 - Novel motion base for driving simulator

Info

Publication number: WO2023283724A1
Application number: PCT/CA2022/051072
Authority: WO
Inventors: Alex STICKEL; Andy Ho
Original assignee: Serious Labs Inc.
Priority date: 2021-07-15
Filing date: 2022-07-08
Publication date: 2023-01-19

Abstract

The present invention provides for a novel driving simulator, comprising a lower motion base with omnidirectional wheels providing three degrees of freedom, a VR headset, and a boundary system projecting visible light, all in digital communication so as to provide an improved user simulator experience.

Description

NOVEL MOTION BASE FOR DRIVING SIMULATOR

CROSS-REFERENCE TO RELATED APPLICATIONS

The present application claims priority from U.S. Provisional Patent Application No. 63/222,171 filed July 15, 2021, such application is expressly incorporated by reference herein for all purposes.

FIELD OF THE INVENTION

The present invention pertains to the field of driving simulators providing virtual environments to improve the user experience.

BACKGROUND OF THE INVENTION

All of the publications, patents and patent applications cited within this application are herein incorporated by reference, in their entirety, to the same extent as if the disclosure of each individual publication, patent application or patent was specifically and individually indicated to be incorporated by reference in its entirety.

As virtual reality technology becomes more available, with improved resolution and of increased sophistication, its utility providing effective simulation of environments or activities increasing, especially when implemented in combination with other technologies. The current art provides for one form of virtual reality system which provides for the projection of an image into the eyes of a human subject, or presentation of images viewable by the human subject, all as implemented on a headset worn by the human subject. The headset contains sensors capable of tracking the position of the headset in a three-dimensional space, over time, which allows the changing of images presented or projected, all in accordance with the position of the user’s head, as measured by the headset sensors. These sensors may include gyroscopes, accelerometers, magnetometers, cameras or sensors detecting reflection or refraction of ambient or emitted radiation all to provide information on the position, motion and orientation of user or the virtual reality system. This information in turn used to generate information on the linear velocity, angular velocity and acceleration of the virtual reality system or user of the virtual reality system; which can be utilized by the virtual reality system to improve the images presented to the user, so as to substitute a “virtual” reality for that which the user operates in.

Allowing freedom of movement in the virtual environment that correlates with a freedom of movement in the real-world environment, as opposed to providing constraints on the movement of the user, provides significant advantages to the authenticity of the virtual reality experience, but at the expense of the complexity and increased size of the virtual reality system. Further, operation in a virtual reality environment, absent physical constraints on the user, can be challenging or potentially even dangerous. Numerous technologies have been disclosed in the art for the establishing, monitoring and intervening with respect to a user operating a virtual reality system within a space, see for example U.S. Pat. No. 10,535,199 and U.S. Pat. App. 20180373412 which describe a combination of sensors providing information to a computer system capable of creating a representation of a physical three-dimensional space by way of the sensors inputs and providing altered image displays to the user by way of the virtual reality headset. U.S. Pat. App.

20200258278 describes a system for detecting, identifying, and monitoring of objects surrounding the user of a virtual reality headset; and providing altered image output to a virtual reality headset based on the location of the headset relative to those objects. U.S. Pat. App. 20160131761 describes the use of transmitters distributed throughout a space within which a virtual reality headset is worn, the transmitters emitting directionally oriented light by way of a fan shaped laser beam which is detected by optical receivers located within the virtual reality headset, thereby enabling the positioning and orientation of the virtual reality system within the space in which it is operating.

The use of virtual and augmented reality in the provision of improved simulation of the operating of machines, for example vehicles, is known in the art. The provision of motion cues to those within the simulator, correlating to the images being provided within the virtual environment, is observed to increase user satisfaction, improve correlation of the simulation to the real world environment, as well as reducing motion sickness experienced by users of the simulator (“cybersickness”) which can cause nausea, disorientation, drowsiness and other discomforts (Stanney, K. et al. International Journal of Human-Computer Interaction, 36:19, 1783-1803). Motion can be imparted to a user within a simulator as shown in FIG. 1a and FIG. 1b, which illustrates the six dimensions of movement a user may experience and example nomenclature for the specific degree of freedom heave, surge, sway, yaw, pitch and roll; which describe six degrees of freedom (DOF) a user may experience within a simulator environment. While presented separately, the prior art has recognized the benefits of a user being capable of experiencing all six degrees of freedom.

The art has provided for driving simulators capable of providing greater than 3 DOF to the user, but they have suffered with respect to the size and expense associated with those driving simulators. For example, U.S. Pat. App. 20070269771 to Lefton provides for a vehicle simulator with up to six DOF, though it is constrained in its ability to provide acceleration in the surge dimension as well as the simulator itself being stationary, though these constraints provide easier monitoring of the user position and orientation within the space that the simulator is operating. For larger systems providing a driving simulator within a virtual reality environment, for example when operating with a moving platform within it, a physical impediment preventing or inhibiting the translocation of the moving platform outside a pre-established area of operation may be implemented by way of a safety cushion, see for example U.S. Pat. No. 6,719,563 by Donges.

Donges further describes a driving simulator comprising at least a platform within which a human subject may be located, operating within a space encompassed by a projection surface, which in combination with images projected on the projection surface provides for a projected environment to surround a human subject operating a driving simulator platform therein. While Donges provides for a multiplicity of movement modules surrounding the platform with the drive elements of each movement module capable of rotation about an axis perpendicular to the surface upon which the driving simulator operates; the extent to which the driving simulator may operate is constrained by the size of the projection screen within which it operates.

U.S. Pat No. 10,403,164 by Tischer et al. , describes a driving simulator which, amongst other advancements in the art, provides for the projection of images within an outer shell that forms part of the motion base, advantageously eliminating the restriction of the size of the projection screen of Donges on the extent to which the driving simulator may operate. Yet the existence of the projection screen, notwithstanding that it is located on, and movable with, the motion base; provides additional weight and size to the driving simulator providing challenges for its transport and restrictions on the spaces in which it can operate.

It is obvious that the prior art relating to driving simulators for greater than five DOF, suffer from large size of the simulator or increased size of the environment in which the simulator must operate, which in turn reduces the ease of transport, assembly or even relocation of the simulator within the general location of its use. The art is in need of a driving simulator with reduced size and portability while providing the capability of providing 6 DOF to the users of the simulator.

SUMMARY OF THE INVENTION

In one aspect the present invention provides for a self-propelled driving simulator comprising an upper motion base comprising an upper motion base lower surface and an upper motion base upper surface, the upper motion base upper surface comprising a space for receiving an user, the upper motion base lower surface in mechanical communication with a lower motion base upper surface by a multiplicity of linear actuators, the linear actuators capable of producing pitch, roll, heave or combinations thereof to the upper motion base and thereby impart movement to a subject in the control seat therein, relative to the lower motion base; the lower motion base comprising a lower motion base lower surface and an upper motion base upper surface, the lower motion base lower surface comprising at least three omnidirectional wheel assemblies capable of contacting a substantially planar surface, the lower motion base upper surface comprising the multiplicity of linear actuators in mechanical communication with the upper motion base; the lower motion base providing surge, sway and yaw by way of the operation of the omnidirectional wheels on said substantially planar surface; a virtual reality headset capable of placement on the user comprising displays capable of projecting or presenting images to said human subject’s eyes, positional sensors capable of determining the position and rotation of the headset with respect to the self-propelled driving simulator, communication means capable of receiving information relating to the image or series of images to be projected, and communication means capable of transmitting data from the positional sensors; and a boundary system which comprises a light projector capable of projecting onto said substantially planar surface. In one embodiment the boundary system further comprises a paired transmitter/receiver elements wherein at least one of said paired transmitter/receiver elements is located on said motion base, at least one of said paired transmitter/receiver elements is located on the underlying surface, and if at least one of said paired transmitter/receiver elements located on said motion base is capable of transmitting then the at least one of said paired transmitter/receiver elements is located on the underlying surface are capable of receiving, or if at least one of said paired transmitter/receiver elements located on said motion base is capable of receiving then the at least one of said paired transmitter/receiver elements located on the underlying surface are capable of transmitting. In a further embodiment the space for receiving an user comprises a control seat. In another further embodiment the space for receiving an user comprises a seat capable of independently imparting accelerations on the user. In another embodiment the boundary system further comprises an emitter element capable of emitting electromagnetic radiation which is capable of being reflected from objects, and a receiver element capable of detecting electromagnetic radiation of the emitter element reflecting from objects. In a further embodiment the space for receiving an user comprises a control seat. In another further embodiment the space for receiving an user comprises a seat capable of independently imparting accelerations on the user.

In another aspect the present invention provides for a self-propelled driving simulator comprising a motion base comprising a motion base lower surface and a motion base upper surface, the motion base upper surface comprising space for receiving an user, the motion base lower surface comprising at least three omnidirectional wheel assemblies capable of contacting a substantially planar surface; the motion base providing surge, sway and yaw by way of the operation of the omnidirectional wheels on said substantially planar surface; a virtual reality headset capable of placement on a human subject comprising, displays capable of projecting or presenting images to said human subject’s eyes, positional sensors capable of determining the position and rotation of the headset both with respect to the self propelled driving simulator, communication means capable of receiving information relating to the image or series of images to be projected, and communication means capable of transmitting data from the positional sensors; and a boundary system which comprises a light projector capable of projecting onto said substantially planar surface. In one embodiment the boundary system further comprises a paired transmitter/receiver elements wherein at least one of said paired transmitter/receiver elements is located on said motion base, at least one of said paired transmitter/receiver elements is located on the underlying surface, and if at least one of said paired transmitter/receiver elements located on said motion base is capable of transmitting then the at least one of said paired transmitter/receiver elements is located on the underlying surface are capable of receiving, or if at least one of said paired transmitter/receiver elements located on said motion base is capable of receiving then the at least one of said paired transmitter/receiver elements located on the underlying surface are capable of transmitting. In a further embodiment the space for receiving an user comprises a control seat. In another further embodiment the space for receiving an user comprises a seat capable of independently imparting accelerations on the user. In another embodiment the boundary system further comprises an emitter element capable of emitting electromagnetic radiation which is capable of being reflected from objects, and a receiver element capable of detecting electromagnetic radiation of the emitter element reflecting from objects. In further embodiment the space for receiving an user comprises a control seat. In another further embodiment the space for receiving an user comprises a seat capable of independently imparting accelerations on the user.

In another aspect the present invention provides for a self-propelled driving simulator comprising an upper motion base comprising an upper motion base lower surface and an upper motion base upper surface, the upper motion base upper surface comprising a space for receiving an user, the upper motion base lower surface in mechanical communication with a lower motion base upper surface; the lower motion base comprising a lower motion base lower surface and an upper motion base upper surface, the lower motion base lower surface comprising at least three omnidirectional wheel assemblies capable of contacting a substantially planar surface; the lower motion base providing surge, sway and yaw by way of the operation of the omnidirectional wheels on said substantially planar surface; a virtual reality headset capable of placement on the user comprising displays capable of projecting or presenting images to said human subject’s eyes, positional sensors capable of determining the position and rotation of the headset with respect to the self-propelled driving simulator, communication means capable of receiving information relating to the image or series of images to be projected, and communication means capable of transmitting data from the positional sensors; and a boundary system which comprises a light projector capable of projecting onto said substantially planar surface. In one embodiment the boundary system further comprises a paired transmitter/receiver elements wherein at least one of said paired transmitter/receiver elements is located on said motion base, at least one of said paired transmitter/receiver elements is located on the underlying surface, and if at least one of said paired transmitter/receiver elements located on said motion base is capable of transmitting then the at least one of said paired transmitter/receiver elements is located on the underlying surface are capable of receiving, or if at least one of said paired transmitter/receiver elements located on said motion base is capable of receiving then the at least one of said paired transmitter/receiver elements located on the underlying surface are capable of transmitting. In a further embodiment the space for receiving an user comprises a control seat. In another further embodiment the space for receiving an user comprises a seat capable of independently imparting accelerations on the user. In another embodiment the boundary system further comprises an emitter element capable of emitting electromagnetic radiation which is capable of being reflected from objects, and a receiver element capable of detecting electromagnetic radiation of the emitter element reflecting from objects. In a further embodiment the space for receiving an user comprises a control seat. In another further embodiment the space for receiving an user comprises a seat capable of independently imparting accelerations on the user.

BRIEF DESCRIPTION OF THE FIGURES

FIG. 1 shows an illustration of one set (FIG. 1a and FIG. 1b) of three independent degrees of freedom comprising a total of six degrees of freedom which may be experienced by a user within a driving simulator;

FIG. 2 shows an illustration of one embodiment of the driving simulator of the present invention;

FIG. 3 shows a front and side view schematic of a driving simulator of the present invention including linear actuators for imparting additional degrees of freedom to a user;

FIG. 4 shows the implementation of additional degrees of freedom by selective activation of linear actuators on a driving simulator of the present invention; FIG. 5 shows a block diagram of one embodiment of the driving simulator of the present invention;

FIG. 6 shows a top down perspective of an embodiment of the driving simulator of the present invention operating on a substantially planar surface; and

FIG. 7 shows an exemplary implementation of a multiplicity of driving simulators of the present invention.

DETAILED DESCRIPTION OF THE PRESENT INVENTION

As used herein “omnidirectional wheels” means a multiplicity of wheel assemblies that, when operated in concert, are capable of providing motion and therefore acceleration in three degrees of freedom being surge, sway and yaw; relative to a planar surface upon which the wheels are mounted. Omnidirectional wheels include, but are not limited to, those known generally in the art as skate wheels, mecanum wheels, or powered castors capable of powered rotation of the wheel about an axis perpendicular to both the axis of rotation of the powered wheel and the planar surface upon which the wheel moves.

As used herein “linear actuator” means a mechanism capable of imparting a controlled and substantially linear acceleration to a component. It is contemplated that a linear actuator may utilize any means known in the art to impart the controlled and substantially linear acceleration such as by generation on hydraulic, pneumatic, mechanical, or electromagnetic forces. One skilled in the art would be capable of selecting the form of linear actuator to be used in the present invention by reference to the performance characteristics sought, the operating conditions expected including temperature, humidity, and service requirements; as well as the power consumption characteristics.

FIG. 2 shows an exemplary embodiment of the driving simulator of present invention, 201, comprising a lower motion base 202 and upper motion base 203. The lower motion base comprises a lower motion base lower surface 204, which presents at least three omnidirectional wheels 205 which may form contact with an underlying surface on which the driving simulator will operate (not shown). In a preferred embodiment the underlying surface upon which the driving simulator operates is substantially planar in nature, so as to limit uncontrolled accelerations imparted by cracks, bumps or larger deformations in the underlying surface from being communicated to the user; diminishing the quality of the VR experience or increasing cybersickness. The operation of the omnidirectional wheels 205 in concert, are capable of providing surge, sway and yaw to the motion base. Further, the lower motion base may optionally include linear actuators, 206, attached between the upper surface of the lower motion base 202 and lower surface of the upper motion base 203.

Upper motion base 203 comprises space for the user, in the exemplary embodiment presented in FIG. 2 being seat 207, controls for the user 208, and a VR headset (not shown). It is contemplated that controls 208, the VR headset (not shown), omnidirectional wheels 205, and if included linear actuators 206, are all in digital communication with, and therefore under the control of, a motion base computing system. In a preferred embodiment the motion base computing system is distinct from the VR headset user computing system and environment server, each as further described herein. This provides for distributed computing power wherein the VR headset user computing system may restrict its processing to the display of images and detection of positional movements; while allowing a distinct computing system, for example an environment server, to receive input and provide coordinated instructions to the VR headset, omnidirectional wheels, controls and optional linear actuators.

While the present invention contemplates space for the positioning of the user on the upper motion base; the use of a seat 207, with optional linear actuators 206, is but one of the multiple embodiments of the present invention. It is contemplated that the motion base of the present invention may be utilized with other apparatus or systems to impart accelerations on the user so as to improve the user experience while participating in a simulation, by way of non-limiting example the 6-axis “Hexapod” positioning system (manufactured by Physik Instrumente L.P, Auburn MA), or the D- Box haptic system (manufactured by D-BOX Technologies Inc, Quebec, Canada.

The coordinated activation of optional linear actuators 206 may provide up to three additional DOF to the user of the driving simulator of the present invention. FIG. 3 provides a preferred embodiment of the present invention, with linear actuators 301 disposed, at a minimum, on both lateral, front and rear sides of the motion bases; relative to the direction of a user seated within the driving simulator (not shown). By coordinated activation of the linear actuators, as shown in FIG. 4., additional degrees of freedom may be enabled, allowing a user located on the upper surface of upper motion base 203 to experience roll, pitch and heave by way of differential activation of linear actuators 301. So long as the linear actuators are not fully extended, or retracted, it is contemplated that both negative and positive accelerations in all three degrees of freedom are capable of being imparted on the user of the driving simulator of the present invention.

As generally known in the art, absent visual stimulus, humans are more sensitive to imposition of accelerations, rather than velocities. As such, generation of positive or negative accelerations through any of the degrees of freedom contemplated herein, particularly to a user with visual stimulus presented by way of a coordinated VR headset; provides improved ability to present a realistic virtual environment. Further, the improved correlation of the VR environment with the accelerations perceived by the user, advantageously decreases the likelihood of cybersickness as a function of time, or alternatively decreases the severity of the cybersickness experienced by the user. As presented in FIG. 2, the accelerations for a user of the driving simulator of the present invention may be generated, in a preferred embodiment, by way of at least three omnidirectional wheels 205, or in a even more preferred embodiment by way of at least three omnidirectional wheels 205 in combination with at least two linear actuators interposed between the upper motion base and the lower motion base, with axis of extension of the actuators substantially perpendicular to the plane of the surface of each motion base, and in a still more preferred embodiment by way of at least three omnidirectional wheels 205 in combination with at least six linear actuators interposed between the upper motion base and the lower motion base, with the axis of extension of the actuators substantially perpendicular to the plane of the surface of each motion base.

In a preferred embodiment by way of operation of the omnidirectional wheels while in contact with a substantially planar surface, the lower motion base is capable of providing no less than three degrees of freedom of movement, with the option to provide additional degrees of freedom by imparting accelerations on an upper motion base capable of motion independent of the lower motion base, such motion controlled and imparted by a multiplicity of linear actuators 206 positioned so as to impart degrees of freedom in addition to those imparted by the lower motion base. The lower motion base 202 has an upper surface (not shown) which is in mechanical communication with the upper motion base 203, by way of a multiplicity of linear actuators 206; and an upper motion base lower surface (not shown) which is supported from the lower motion base 202. The upper motion base is in mechanical communication with the lower motion base by at least the multiplicity of linear actuators 206, and an upper surface upon which a user is located, by way of non limiting example as shown in FIG. 2, on seat 207. Controls, 208 are located on the upper surface of the upper motion base, located within reach of the user while engaging with the driving simulator, which may be in locations approximating their respective location in the vehicle to which the simulator is intending to simulate.

While standardized locations of controls 208 are contemplated by the present invention, controls which are capable of repositioning or being located on the upper motion base so as to mimic particular vehicles, are also contemplated. By way of non-limiting examples, the present invention may incorporate controls which are specifically designed for simulation of a single vehicle, controls which may be modified (including being moved in location within the upper motion base to correspond to simulation of different vehicles), or fixed controls which are used notwithstanding changes to the vehicle being simulated.

The lower motion base 202 is capable of experiencing up to three DOF by way of the omnidirectional wheels on the lower motion base lower surface, which are therefore experienced by the upper motion base 203 by way of communication between the lower motion base upper surface and the upper motion base lower surface. It is contemplated that the mechanical communication may be by way of linear actuators, fixation points, fixed struts, shock absorbing elements as known in the art, or combinations thereof.

On the upper surface of the upper motion base, is space for receiving a human user, by way of illustrated example seat 207; which secures and comfortably maintains the user. Securing the user may be implemented by way of seat-belts, as known in the art, with selection of the securing dependent upon the speeds and forces that are expected to be imparted upon the user by the driving simulator: with low accelerations being imparted encouraging the use of a two-point belt arrangement, with increased accelerations being imparted encouraging the use of three, four, five, six or seven point seat belt systems, as generally known in the art. As disclosed herein, a seat represents but one example of a manner in that a human user may be received, or located, on the driving simulator of the present invention. Other alternatives include, but are not limited to, the 6-axis “Hexapod” positioning system (manufactured by Physik Instrumente L.P, Auburn MA), or the D-Box haptic system (manufactured by D-BOX Technologies Inc, Quebec, Canada). The present invention contemplates the use of, and improvement of user experience arising from, the incorporation of housings for a user which provide increased user experience in a VR environment independent of the accelerations imparted on the user by way of the lower motion base and the optional upper motion base in mechanical communication with the lower motion base by way of linear actuators. It is contemplated that the incorporation of housings for a user which provide increased user experience in a VR environment, as generally known in the art, will provide for additional degrees of freedom, mobility of the overall system, improved user experience, and reduced cybersickness in the driving simulator of the present invention; by reason of the use of the lower and upper motion base as a platform upon which the housing for a user may be placed.

By way of this mechanical communication between the lower motion base 202 and the upper motion base 203, the upper motion base 203 is capable of experiencing three DOF communicated by the lower motion base 202, with additional degrees of freedom capable of being imparted to the upper motion base 203 by way of linear actuators 301. FIG.4 presents one embodiment of the present invention implementing at least four linear actuators between the lower motion base 202 and the upper motion base 203, providing roll, pitch and heave DOF to the upper motion base 203. In combination with the lower motion base DOF of yaw, surge and sway imparted by way of the omnidirectional wheels 205, it is contemplated that the self- propelled driving simulator of the present invention is capable of providing surge, sway, yaw, pitch, roll and heave to a user within seat 207. These six DOF will be imparted to the user through the operation of both the omnidirectional wheels 205 in contact with an underlying surface upon which the wheels roll, in concert with the application of acceleration by way of the linear actuators 301 in place between the lower motion base 202 and the upper motion base 203. When working in cooperation with a Virtual Reality (VR) headset presenting images correlating with the accelerations in the six DOF, the driving simulator of the present invention provides improved user experience, with reduced cybersickness, contributing to longer usage times for the users.

By use of the omnidirectional wheels and linear actuators interposed between an upper motion base and lower motion base, the driving simulator of the present invention provides a more compact device than the current art, while also providing six DOF to the user. The advantages of the omnidirectional wheels, absent the use of linear actuators in mechanical communication with the upper motion base and lower motion base, are of significant advantage to the user of the driving simulator of the present invention. Therefore, the present invention further contemplates use of only a lower motion base, with the user received on the upper surface of said lower motion base, and the omnidirectional wheels located on the lower surface of the lower motion base, said omnidirectional wheels capable of contact with a substantially planar surface.

It is contemplated that the driving simulator of the present invention may be capable of passage through a standard doorway with the width of the device being less than 90 centimeters; making the device advantageously portable and amenable to transport. Further, as described herein, the device is capable of remote operation, providing the option for an individual not acting as a user, to control the device for movement.

A typical Virtual Reality system provides a VR headset which presents images to the user correlating with the position of the VR headset, such that the user may experience a correlation between the images presented and the user’s normal experience absent the headset. When correlation between images displayed and position of the VR headset is substantially achieved, the VR user experience improves with increased perception of the user as being part of the virtual world representation projected.

As known in the art, the VR system comprises a user computing system connected with a VR headset generating the VR environment for display to the VR headset user. Optionally an environment server is in digital communication with the user computing system, with the environment server coordinating data pertaining to the activities of a multiplicity of users within the VR environment, assisting in the computer processing of the VR environment in combination with the user computing system, or providing other functions as generally known in the art. Further, the user computing system, environment server and VR headset may be in digital communication by way of a network, for example local area network, private network or an Internet. It is contemplated that the environment server may be a computer, including but not limited to a personal computer, in direct electronic communication with the VR headset, or alternatively a distant computer or computers, such as a server, in electronic communication with the VR headset, through a network such as an Internet.

While driving simulators known in the art have utilized user platforms providing greater than three DOF in combination with a projection system, the present invention provides for the novel integration of a VR headset in digital communication with a user computing system and optionally further in digital communication with an environment server which correlates the position of the VR headset with both the images presented to the VR user on through the VR headset as well as the velocity and acceleration of the lower motion base and the upper motion base, as further described herein. This integration provides for increased control of accelerations and velocities experienced by the user of the driving simulator, by way of the omnidirectional wheels with respect to the lower motion base and optionally the linear actuators with respect to the upper motion base, which may then be more fully coordinated with the images presented to the user of the VR Headset. Further, the use of a VR headset, which may be in wireless digital communication with the user computing system, advantageously reduces the size of the resulting driving simulator improving portability, ease of transport, and ease of assembly and implementation of the driving simulator in an area for operation.

As described in the art, see for example U.S. Pat. App. 20200258278, U.S. Pat. App. 20180373412 and U.S. Pat. No. 10,535,199, the space in which a VR is operated in may be characterized and monitored by the user computing system connected to the VR headset, or by the environment server. A barrier may be defined with respect to the location of the VR headset or other components operating in cooperation with the VR headset, so as to prevent collisions of the user or objects operating in cooperation with the VR headset with physical objects present in the space in which the VR system is operated (a “Guardian”).

The art describes VR systems which rely upon external hardware elements to allow the VR headset user computing system to identify proximity of the VR headset to an area defined by the user or administrator of the VR system. By way of example, U.S. Pat. App. 20170249019 provides for a VR headset detection of its proximity to a multiplicity of optical transmitters established through the space in which the VR headset will be operated in. U.S. Pat. No. 10,241,566 provides for Guardian which can be used to prevent collisions with physical objects for the user of a head mounted display that typically obstructs view of the physical environment. Physical restrictions on the movement of the user of the VR headset may also be implemented, by way of non-limiting example, by use of straps or belts which provide restrictions on movement of the VR headset user within the user space; or by physical barriers erected surrounding the space in which the VR headset is to be operated in.

The prior art has provided for Guardian systems wherein only the user of the VR system is able to see the location of this guardian by way of the head mounted display presented to the user which provide asymmetrical data to those within the virtual environment and those outside of the virtual environment; and the display of warnings or boundary encroachment to the user of the virtual environment can disrupt the immersion of the user in the virtual environment. In one embodiment the driving simulator of the present invention includes an optical projector in digital communication with the motion base computer system, such that a representation of the Guardian operating with the VR headset is displayed on the underlying surface upon which the driving simulator operates and provides a visible barrier to those not participating in the virtual environment. This provides the advantage of being visibly apparent to users not wearing the VR headset and increases safety of persons with and without these displays.

The prior art provides for a number of virtual and augmented reality experiences which implement a Guardian, but are generally limited to Guardians created by visual spectrum optical imaging camera systems. By way of separating the motion base computing system from the VR user computing system, and by providing emitters distributed on the motion base; it is contemplated that the environment surrounding the motion base may be illuminated and evaluated by LIDAR, RADAR, SONAR or other electromagnetic imaging system as known in the art, see by way of non-limiting examples U.S. Pat. No. 9,725,116 and U.S. Pat. No. 10,824,862, or Simultaneous Localization and Mapping (SLAM) as known in the art. Further, the prior art describes Guardian systems which are capable of being established within the VR environment by means of user intervention with a controller or using hand gestures detected by optical sensors present on the VR headset. It is contemplated that a Guardian for the driving simulator of the present invention may be implemented by the placement of a previously identified object within the range of an optical sensor(s) on the motion base and in digital communication with the motion base computing system; the object then moved within the space and range of the optical sensor(s) of the motion base so as to describe a desired Guardian for the driving simulator. This provides the advantage of greater intuitiveness and ease of use for skilled and unskilled users during the setup process for the driving system of the present invention.

FIG. 5 presents an exemplary diagram of a system that may be used to implement certain embodiments of the present invention. Microcontroller 501 operates in digital communication with omnidirectional wheels 502, linear actuators 503, VR headset 504 and input devices 505. Microcontroller 501 coordinates the presentation of a virtual environment to the user of the device by way of computer 506, with the delivery of accelerations in up to six DOF to the user by way of omnidirectional wheels 502 and optionally linear actuators 503. Input devices 505 enable the user to provide input, received by microcontroller 501 which can then request alteration of the virtual environment presented to the user and accelerations imparted by omnidirectional wheels 502 and optionally linear actuators 503; all as coordinated by computer 506.

It is contemplated that computer 506 may be a single personal computer, or operating by way of a network connection with a distant computer or computers, such as a server. Further, the computer 506 may act as the environment server for the VR headset concurrently with it acting to provide coordination or instructions for microcontroller 501.

In a preferred embodiment, microcontroller 501 is in electronic communication with spatial scanner system 507, which either alone or in coordination with the computer 506, provides Guardian functions for the device. It is contemplated that microcontroller 501 would provide overrides and immediately cease or reduce impositions of accelerations through the linear actuators 503 or omnidirectional wheels 502, based upon the outputs from spatial scanner system 507 alone, or alternatively with the outputs of spatial scanner system 507 being received and interpreted by computer 506. It is contemplated that computer 506 could use either an internal positioning system, the output of spatial scanner 507, or both in combination; to identify surrounding hazards for the device and provide override instructions to the microcontroller, all as known in the art. It is contemplated that the override from the microcontroller 501 to omnidirectional wheels 502 or linear actuators 503 may be an absolute cut off, or a diminishing of the maximum accelerations capable of being implemented by the omnidirectional wheels or linear actuators; or some combination of the alternatives.

The simulator of the present invention contemplates optional power conversion modules 508 which may convert power for use with the device from a battery 509, wired connection to an electrical system (not shown) receive power from a wired electrical system for storage in battery 509, or some combination thereof. Optional remote 510 can provide instructions to the simulator of the present invention, either enabling movement or transport of the device when not in operation with a user, or providing override capability for an individual supervising the devices operations with a user. It is contemplated that remote 510 may also receive and display elements of the virtual environment being presented to the user by VR headset 504, as generally known in the art; providing further clarity and information for the supervisor. The form of the remote would be selected based upon the desired outcome, for example transport of the device or monitoring of the device while in operation by a user; and one skilled in the art would be capable of identifying the preferred remote for the desired application.

Projector 511 is implemented to provide a visual cue for individuals supervising the operation of the unit by a user, of the location of the Guardian established by the system; or may form part of the Guardian system where light projected by projector 511 may be received by spatial scanner 507 and used to identify the location of the device in relation to the projected light. Speaker 512 may be used to enhance the virtual experience of the user by providing audio cues in concert with the virtual environment presented through VR headset 504; or as an audio alert for individuals or objects approaching the device while in operation by coordination with the output of spatial scanner 507. It is contemplated that speaker 512 would be under the control and coordination with computer 506 by way of microcontroller 501.

FIG. 6 presents the driving simulator of the present invention, 201, showing its interaction with a planar surface 601; with the omnidirectional wheels forming contact with surface 601 and thereby being capable of imparting accelerations on the user located in optional user seat 602. It is understood that the magnitude of acceleration capable of being imparted on a user, and therefore providing operational constraints on the nature of the driving simulation that may be experienced, is related to the friction between the omnidirectional wheels 205 and surface 601. Selection of the appropriate surface, material composition of the omnidirectional wheels, number of omnidirectional wheels, size of the omnidirectional wheels, and weight of the device overall; all will factor into the amount of friction experienced between the omnidirectional wheels and the underlying surface. Selection of the appropriate parameters for each is within the knowledge and capabilities of ones skilled in the art, for the desired application or simulator experience. As will be appreciated, use of the linear actuators, which impart accelerations of the upper motion base in relation to the lower motion base, are less affected by the friction experienced between the omnidirectional wheels and the underlying surface; but nonetheless one skilled in the art would consider the impact of those accelerations in selection of the omnidirectional wheels.

FIG. 7 shows a schematic of an implementation of a multiplicity of the driving simulators of the present invention, all operating within a single operational space; each constrained by guardians 701, which may provide a visual projection upon the surface for ease of supervision, wherein each of the driving simulators of the present invention are capable of providing an improved driving simulation experience to the users.

While particular embodiments of the present invention have been described in the foregoing, it is to be understood that other embodiments are possible within the scope of the invention and are intended to be included herein. It will be clear to any person skilled in the art that modifications of and adjustments to this invention, not shown, are possible without departing from the spirit of the invention as demonstrated through the exemplary embodiments. The invention is therefore to be considered limited solely by the scope of the appended claims.

Claims

What is claimed is:

1. A self-propelled driving simulator comprising an upper motion base comprising an upper motion base lower surface and an upper motion base upper surface, the upper motion base upper surface comprising a space for receiving an user, the upper motion base lower surface in mechanical communication with a lower motion base upper surface by a multiplicity of linear actuators, the linear actuators capable of producing pitch, roll, heave or combination thereof to the upper motion base and thereby impart movement to a subject in the control seat therein, relative to the lower motion base; the lower motion base comprising a lower motion base lower surface and an upper motion base upper surface, the lower motion base lower surface comprising at least three omnidirectional wheel assemblies capable of contacting a substantially planar surface, the lower motion base upper surface comprising the multiplicity of linear actuators in mechanical communication with the upper motion base; the lower motion base providing surge, sway and yaw by way of the operation of the omnidirectional wheels on said substantially planar surface; a virtual reality headset capable of placement on the user comprising displays capable of projecting or presenting images to said human subject’s eyes, positional sensors capable of determining the position and rotation of the headset with respect to the self-propelled driving simulator, communication means capable of receiving information relating to the image or series of images to be projected, and communication means capable of transmitting data from the positional sensors; and a boundary system which comprises a light projector capable of projecting onto said substantially planar surface.

2. The self-propelled driving simulator of claim 1 wherein the boundary system further comprises a paired transmitter/receiver elements wherein at least one of said paired transmitter/receiver elements is located on said motion base, at least one of said paired transmitter/receiver elements is located on the underlying surface, and if at least one of said paired transmitter/receiver elements located on said motion base is capable of transmitting then the at least one of said paired transmitter/receiver elements is located on the underlying surface are capable of receiving, or if at least one of said paired transmitter/receiver elements located on said motion base is capable of receiving then the at least one of said paired transmitter/receiver elements located on the underlying surface are capable of transmitting.

3. The self-propelled driving simulator of claim 2 wherein the space for receiving an user comprises a control seat.

4. The self-propelled driving simulator of claim 2 wherein the space for receiving an user comprises a seat capable of independently imparting accelerations on the user.

5. The self-propelled driving simulator of claim 1 wherein the boundary system further comprises an emitter element capable of emitting electromagnetic radiation which is capable of being reflected from objects, and a receiver element capable of detecting electromagnetic radiation of the emitter element reflecting from objects.

6. The self-propelled driving simulator of claim 5 wherein the space for receiving an user comprises a control seat.

7. The self-propelled driving simulator of claim 5 wherein the space for receiving an user comprises a seat capable of independently imparting accelerations on the user.

8. A self-propelled driving simulator comprising a motion base comprising a motion base lower surface and a motion base upper surface, the motion base upper surface comprising space for receiving an user,

The motion base lower surface comprising at least three omnidirectional wheel assemblies capable of contacting a substantially planar surface; the motion base providing surge, sway and yaw by way of the operation of the omnidirectional wheels on said substantially planar surface; a virtual reality headset capable of placement on a human subject comprising, displays capable of projecting or presenting images to said human subject’s eyes, positional sensors capable of determining the position and rotation of the headset both with respect to the self propelled driving simulator, communication means capable of receiving information relating to the image or series of images to be projected, and communication means capable of transmitting data from the positional sensors; and a boundary system which comprises a light projector capable of projecting onto said substantially planar surface.

9. The self-propelled driving simulator of claim 8 wherein the boundary system further comprises a paired transmitter/receiver elements wherein at least one of said paired transmitter/receiver elements is located on said motion base, at least one of said paired transmitter/receiver elements is located on the underlying surface, and if at least one of said paired transmitter/receiver elements located on said motion base is capable of transmitting then the at least one of said paired transmitter/receiver elements is located on the underlying surface are capable of receiving, or if at least one of said paired transmitter/receiver elements located on said motion base is capable of receiving then the at least one of said paired transmitter/receiver elements located on the underlying surface are capable of transmitting.

10. The self-propelled driving simulator of claim 9 wherein the space for receiving an user comprises a control seat.

11.The self-propelled driving simulator of claim 9 wherein the space for receiving an user comprises a seat capable of independently imparting accelerations on the user.

12. The self-propelled driving simulator of claim 8 wherein the boundary system further comprises an emitter element capable of emitting electromagnetic radiation which is capable of being reflected from objects, and a receiver element capable of detecting electromagnetic radiation of the emitter element reflecting from objects

13. The self-propelled driving simulator of claim 12 wherein the space for receiving an user comprises a control seat.

14. The self-propelled driving simulator of claim 12 wherein the space for receiving an user comprises a seat capable of independently imparting accelerations on the user.

15. A self-propelled driving simulator comprising: an upper motion base comprising an upper motion base lower surface and an upper motion base upper surface, the upper motion base upper surface comprising a space for receiving an user, the upper motion base lower surface in mechanical communication with a lower motion base upper surface; the lower motion base comprising a lower motion base lower surface and an upper motion base upper surface, the lower motion base lower surface comprising at least three omnidirectional wheel assemblies capable of contacting a substantially planar surface; the lower motion base providing surge, sway and yaw by way of the operation of the omnidirectional wheels on said substantially planar surface; a virtual reality headset capable of placement on the user comprising displays capable of projecting or presenting images to said human subject’s eyes, positional sensors capable of determining the position and rotation of the headset with respect to the self-propelled driving simulator, communication means capable of receiving information relating to the image or series of images to be projected, and communication means capable of transmitting data from the positional sensors; and a boundary system which comprises a light projector capable of projecting onto said substantially planar surface.

16. The self-propelled driving simulator of claim 15 wherein the boundary system further comprises a paired transmitter/receiver elements wherein at least one of said paired transmitter/receiver elements is located on said motion base, at least one of said paired transmitter/receiver elements is located on the underlying surface, and if at least one of said paired transmitter/receiver elements located on said motion base is capable of transmitting then the at least one of said paired transmitter/receiver elements is located on the underlying surface are capable of receiving, or if at least one of said paired transmitter/receiver elements located on said motion base is capable of receiving then the at least one of said paired transmitter/receiver elements located on the underlying surface are capable of transmitting.

17. The self-propelled driving simulator of claim 16 wherein the space for receiving an user comprises a control seat.

18. The self-propelled driving simulator of claim 16 wherein the space for receiving an user comprises a seat capable of independently imparting accelerations on the user.

19. The self-propelled driving simulator of claim 15 wherein the boundary system further comprises an emitter element capable of emitting electromagnetic radiation which is capable of being reflected from objects, and a receiver element capable of detecting electromagnetic radiation of the emitter element reflecting from objects.

20. The self-propelled driving simulator of claim 19 wherein the space for receiving an user comprises a control seat.

21. The self-propelled driving simulator of claim 19 wherein the space for receiving an user comprises a seat capable of independently imparting accelerations on the user.