HK1146761B - Motion platform video game racing and flight simulator - Google Patents

Description

Motion platform video game racing car and flight simulator

This application claims priority to provisional application 61/008,951 filed on 24/12/2007, the entire contents of which are hereby incorporated by reference.

Technical Field

The present invention relates to the geometry of a motion platform constructed as a racing simulator, and to the equipment embodying this geometry, and to the various coupling methods involved with motion platforms having the geometric relationships set forth in this disclosure.

Background

In such devices, the relationship between centroid and pivot is used to provide energy efficient and realistic simulated motion conversion (translation) to the driver of a video game racing simulator located on a moving platform. One element of the present invention results in an improved arrangement in which the center of mass of the payload is maintained close to the pivot of the motion platform. This arrangement with the center of mass of the payload located near the device's pivot axis results in less energy consumption requirements for the payload's motion on its pivot axis. In addition to racing simulator motion platforms, there are a variety of other motion platforms that involve simulators such as, but not limited to, aircraft flight simulators, roller coaster and recreational ride simulators, sailing boats, high speed yacht and ship driving simulators, animal ride simulators, ski, surfing and aquaplaning simulators, motorcycle and bicycle simulators, tank and military equipment simulators, spacecraft flight, docking and landing simulators, and construction equipment simulators, all of which may benefit from incorporation of the concepts discussed herein or a logical extension of the concepts set forth in this specification.

Simulated racing devices utilizing motion platforms have become a popular recreational activity. This has created a need and desire among people to obtain hardware and software with execution capabilities that can bring and enhance personal enjoyment, as well as reward group dynamic interaction scenarios. Many companies selling a wide range of software and hardware products have entered the racing and other activity simulator markets. These companies sell expensive, high quality, and high performance simulator components. Such components and devices include a steering wheel, a fixed cockpit display that shows the driver's racing environment from virtually nothing, and a helmet with audio inputs that are connected to the output of a simulated activity or game being played by the simulator participant. Also attractive are pedal appliances that include an accelerator pedal, a brake pedal and a clutch pedal, and a steering wheel, or a steering column fitted with a shift pedal. Some simulators use the same available seats as those used in actual racing cars. For simulator enthusiasts, instrument clusters are readily available not only for analog instruments but also for digital instruments and indicator lights, and speaker systems. Racing simulation equipment attempts to create a super-realistic racing experience.

There are many clubs, fleets, events and internet-based racing unions around the world. These leagues have thousands of participants participating in all types of simulated racing and other dependent or sports-enhancing activities. The participants compete against other players around the world and interact with other drivers in real time. Some software programs and associated response equipment are so sophisticated that the driver/participant can make adjustments from within the simulated racing seat, such as suspension adjustments (suspensions adjustments), engine performance selections, gear ratio changes, simulated tire changes (simulating mid-stop in a racing scene), etc.

In the simulator market, where typically more than a million people participate online, there is a need for a highly developed and sophisticated racing simulator motion platform that incorporates hardware control and game settings with control switches and actuators into a single device. Racing simulators are expensive devices due primarily to the cost of the actuation system used in the motion platform. Such an actuation system may be a hydraulic system that uses reservoirs, pumps, hydraulic cylinders, valves, and lines that operate at higher line pressures. Hydraulic systems are expensive to build and require routine maintenance. They are also prone to hydraulic fluid leakage, noise, and heat generation. In most cases, such systems are industrial devices and are not typically used in the domestic consumer market.

Motion platforms are designed to provide multiple degrees of freedom of motion. In certain simulators, the number of degrees of freedom is related to the cost and complexity of the device. The more degrees of freedom, the more complex and expensive the simulator. With the invention presented herein, the cost of a motion platform used in a racing simulator is limited by providing two real degrees of freedom and simulating at least three more degrees of freedom. The added virtual and perceived degrees of freedom (heave, surge and roll) are components of the two true degrees of freedom (pitch and roll). Pitch and roll motions and positioning result in gravitational forces on the occupant that are felt by the occupant as acceleration, deceleration, and centrifugal forces. Heave, surge and sway are physical repositioning motions that are felt directly by the occupant as physical repositioning and do not require further explanation.

Evaluations on the market range of the simulator can be collected from the following articles. The hydraulically actuated simulator is discussed in the NASCAR models keep actual of Machine Design, 2006, 9.2.9, which is incorporated herein by reference in its entirety. In this paper, the deficiencies of low-cost, sequential arch-type motion techniques relying on a motor-driven gear system are addressed. These motor driven motion platforms may be considered less desirable than hydraulic pump and actuator motor systems due to the unnatural abrupt change in motion reversal in such systems. General simulator information is presented in another article by the author "Simulated ranging Provides Real Edge" of Bernstein, V. on New York Times, 3/4/2007. The entire contents of this article are also incorporated herein by reference.

To reduce the complexity and length of the detailed description, and to fully establish the state of the art in certain technical fields, the applicant hereby expressly incorporates by reference the following listed materials.

Numerous patents have been issued relating to embodiments of motion platforms, such as U.S. patents 3967387, 5919045, 5901612, 6027342, and 6210164. These patents are hereby incorporated by reference.

According to 37 CFR 1.57, the applicant believes that the above incorporated materials are "nonessential" as they are cited for the purpose of indicating the background of the invention or illustrating the state of the art. However, if the examiner believes that any of the above incorporated materials constitutes "absolutely essential materials" (essentialmaterial) within the meaning of 37 CFR 1.57(c) (1) - (3), the applicant will amend the specification to expressly detail the absolutely essential materials incorporated by reference, insofar as applicable regulations permit.

Disclosure of Invention

The invention provides a pure two-degree-of-freedom motion platform with a plurality of simulation degrees of freedom. One aspect of the present invention is to improve the energy savings and motion transfer possibilities by placing the center of mass of the payload at the pivot center of the motion platform. In one mode of the invention (iteration), the center of mass of the payload is located near the fixed center of pivot. By placing these centers close to each other, the actuation force required to move the payload on the yaw center is minimized. By minimizing the force required to couple the payload, the motion platform can use relatively less horsepower to generate the prime mover than would be used in a motion platform where the center of mass of the payload is not near the center of pivot. This relationship enables the use of an efficient, compact prime mover. In one embodiment, these prime movers may be small horsepower motors. These motors may provide a realistic simulator experience.

Using the invention described herein to construct a motion platform, such as a racing simulator, provides a highly realistic entertainment experience to a driver seated in a seat on a coupled sled. The slide is pivotally mounted on the base and is moved through several degrees of freedom by a motor driving a gear reduction unit. The present invention is directed to enhancing high-end video games that communicate with a motion platform where motion is useful in rendering reality through motion input to the gaming machine. By means of the invention, it is possible for the skid portion of the motion platform to be actuated with significantly lower forces than would otherwise be required for actuation of other motion platforms. By arranging the mass of the moving part, including the mass of the player-the combination of these two masses representing the payload, with the center of the payload located close to the fixed position pivot of the moving platform, a very sensitive and power efficient moving platform is provided. In addition, the present invention provides a two-axis motion platform that has both pure roll and pure pitch, and also includes heave, yaw, and pitch degrees of freedom as a beneficial result of the geometry of the two-axis apparatus presented herein.

A complex motion platform is a six-axis machine with independent pitch, yaw, roll, heave, yaw, surge motions. Such six-channel machines are too complex and too expensive for the home consumer market or for low cost utility inexpensive game centers. A large six-axis motion simulator is not necessary for the performance required to achieve the planned market goal of simulating a racing car experience, to which the present invention is directed. Thus, a two-axis motion platform is presented herein with appreciable degrees of freedom of elevation, yaw, and surge, as would be expected in a six-channel motion platform. The geometric relationships and benefits presented are useful in providing a means of entering the racing and flight simulator consumer markets and selling in the selected commercial market. One variation of a suitably equipped simulator as proposed herein, which may be used in commercial research or as an advanced training simulator, is beneficial to the user population by virtue of its low cost and low power requirements. The geometry proposed herein enables the replacement of more complex machines with lower cost structures, while also providing realistic simulations of the motions that can be found in real situations.

The motion platform is made up of two main components, including, but not limited to, a base and a skid component. The skid is mounted above the base on a universal joint supported on a strut. The universal joint is designed and arranged to be located close to the center of mass of the sled when an operator is seated in the seat on the sled. The mass of the skid and the mass of the operator accommodated on the skid, in combination, represent the payload. The center of mass of the payload is dependent on the mass of the operator, but in one embodiment of the invention, the center of mass of the payload is located at or near the pivot center of the motion platform. The present invention provides an energy efficient and cost effective motion platform actuation system that uses "commercially available" motors, gearboxes, (or an integrated motor and gearbox assembly such as is preferred in one variation of the invention) and provides two real degrees of freedom, but also has the ability to provide three other degrees of freedom (i.e., heave, yaw and surge) to the extent available.

It is an object of the present invention to provide a motion platform in which the center of mass of a payload supported on the motion platform is close to the pivot center of the motion platform.

It is a further object of the present invention to provide a motion platform wherein the center of mass of the payload supported on the motion platform is within a 1 inch radius of the pivot center of the motion platform.

It is an object of the present invention to provide a motion platform wherein the center of mass of a payload supported on the motion platform is less than 1 inch in radius from the pivot center of the motion platform.

It is an object of the present invention to provide a motion platform wherein the center of mass of a payload supported on the motion platform is a distance greater than 1 inch in radius from the pivot center of the motion platform.

It is another object of the present invention to have the pivot center of a motion platform skid above the deck of the skid portion of the motion platform.

It is yet another object of the present invention to provide a motion platform that requires less energy to couple the sled of the motion platform than other motion platforms.

It is a further object of the present invention to provide a racing simulator or flight simulator that uses a small horsepower motor and actuation components to provide two real degrees of freedom and three simulated degrees of freedom, thereby providing realistic motion that simulates vehicle motion.

It is an object of the present invention to simulate a live experience with a motion platform that provides simulated motion that approximates the motion experienced in an actual vehicle.

It is another object of the present invention to provide a motion platform that provides the performance characteristics of more expensive motion platforms.

Further, one advantage of the present invention is that the sled of the motion platform is supported by a pivot point located vertically above the horizontal plane of the sled.

It is a further object of the present invention to provide a motion platform that is capable of pitching and rolling.

It is a further object of the present invention to provide a five axis motion platform that includes true pitch, true roll, and simulated heave, yaw and surge.

It is an object of the present invention to provide a motion platform that includes a base and a post mounted on and extending from the base. The universal joint is connected to the top end of the support column. The motion platform includes the skid, and the skid has the deck face of taking the stand, and the stand is installed in the skid and extends above the deck face of skid. The universal joint at the top end of the strut is connected with the inner mounting part at the inner side of the top end of the upright post.

The above and other objects, and all attendant advantages, in accordance with the present invention, of minimizing the force required to pivot a payload on a pivot support, can be accomplished by a method comprising: the center of mass of the payload is located near the pivot center of the gimbal on the upwardly extending post, such as but not limited to having the center of mass of the payload exactly on the pivot center of the gimbal or within a radius of three inches from the pivot center.

Further, in accordance with the present invention, the above and other objects of supporting a sled on a base of a motion platform may be accomplished by a method comprising: an upwardly extending post extending from the base to the skid is provided and a universal joint is provided at the upper end of the post. The strut is connected to the inside of the upright carried on the skid by connecting a universal joint at the upper end of the strut to the upright.

The aspects and applications of the inventions set forth herein are illustrated in the drawings and detailed description of the inventions below. Unless otherwise indicated, the words and phrases in the specification and claims are given their plain, ordinary, and accustomed meaning to those of ordinary skill in the applicable art. The present inventors are fully aware that they may be their own lexicographers if desired. The inventors expressly choose so as to use only the clear and ordinary meaning of terms in the description and claims, as they do with their own lexicographers, unless they expressly state otherwise, and then further expressly and exhaustively interpret the "special" definition of terms and explain how it differs from the clear and ordinary meaning. It is the intention and desire of the inventors to apply the plain, clear and general meaning of terms to the interpretation of the specification and claims if no "special" definition of the application is explicitly stated.

The present inventors have also recognized the standard specification for english grammar. Thus, if a noun, term, or phrase is intended to be further delineated, specified, or limited in some manner, such noun, term, or phrase will expressly include additional adjectives, descriptive terms, or other modifiers in accordance with the standard specification for english grammar. Rather than use such adjectives, descriptors, or modifiers, as previously stated, it is intended to give such nouns, terms, or phrases a clear and ordinary english meaning as is known to those of skill in the applicable arts.

Furthermore, the inventors are fully aware of 35U.S.C. § 112,the standard and application of the particular clause of (a). Thus, use of the words "function," "device," or "step" in the detailed description or the accompanying drawings description or claims is not intended to indicate to some extent that, using 35u.s.c. § 112,the specific clauses of the present disclosure define the desirability of the present invention. In contrast, if an attempt is made to utilize 35u.s.c. § 112,the claims will specifically and explicitly recite the strict phrase "means for. Thus, even when a claim recites "a means for performing.. functions," or "a step for performing.. functions," if the claim also recites any structure, material, or operation that supports the means or step, or performs the recited functions, then the inventors' explicit intent is not to utilize 35u.s.c. § 112,clause of. Furthermore, even with 35u.s.c. § 112,the terms define the claimed invention and are intended to indicate that the invention is not limited to the specific structures, materials, or acts described in the preferred embodiments, but, in addition, includes any and all structures, materials, or acts for performing the required functions in accordance with the description of the preferred embodiments or variations of the invention or known equivalents, materials, or acts for performing the required functions in any known or later developed structure, material, or acts.

Drawings

The invention may be better understood by reference to the following description of preferred embodiments taken in conjunction with the accompanying drawings, in which like reference numerals identify like elements or similar operations throughout, and in which:

FIG. 1 illustrates a motion platform configured as a racing driving simulator;

FIG. 2 is a diagram of a base of a motion platform;

FIG. 3 is a view of the deck of the skid of the partially completed motion platform;

FIG. 4 is a view showing a portion of the deck of the skid disposed on the base of the motion platform;

FIG. 5 is a schematic view showing a pyramid shaped post supported on a post above a pair of sled motion actuator motors with gear reduction and linkages;

FIG. 6 is a conceptual diagram illustrating a mass geometry distribution;

FIG. 7 is a simplified schematic illustration of a person on a skid of the motion platform in a negative recline position;

FIG. 8 is a simplified schematic illustration of a person on a skid of the motion platform in a forward tilted position;

FIG. 9 is a simplified schematic of a person on a skid of the motion platform in a tilted to side position;

for purposes of simplicity, the elements of the figures are illustrated and are not necessarily depicted in any particular order or implementation.

Detailed Description

In the following description, and for purposes of explanation, numerous specific details are set forth in order to provide a thorough understanding of the various aspects of the invention. However, it will be understood by those skilled in the relevant art that the present invention may be practiced without these specific details. In other instances, well-known structures and devices are shown or discussed more generally in order to avoid obscuring the invention. In many cases, the description of the operations is sufficient to enable others to implement various forms of the present invention, particularly when the operations are implemented in software. It should be noted that the disclosed invention is applicable to many different and alternative structures, devices, and techniques. The full scope of the invention is not limited to the examples described below.

The following description is directed to a racing simulation motion platform. Those skilled in the art will appreciate that the description of a racing simulation is readily adaptable to other simulation scenarios (scenarios), such as those described above, but is not limited thereto.

In the present invention, as shown in fig. 1 and subsequent figures, a motion platform 10 is provided.

Motion platform 10 may be used to provide relative motion between base 12 and sled 14. Skid 14 is mounted so that it is suitable for angular displacement relative to base 12. That is, skid 14 is typically pivotally supported on base 12 by a gimbal-mounted connection. The universal joint may be, but is not limited to, a "cross-type" universal joint having two yokes (yoke) or "cross heads". Similar devices may include ball and socket type connections, or other types of swivel joints, etc., which provide and allow pitch and roll motions.

Fig. 1-4 illustrate a portion of a mobile platform 10, namely a base 12, and one form of a deck 20 of a skid 14 (fig. 3). In these figures, the base 12 is a support structure having a bottom tray 16, which is a generally rectangular base. The base of the motion platform may have longitudinally oriented side pieces, typically configured as straight midsections, with ends extending outwardly from the base pan 16. The longitudinally oriented side pieces provide elements that act as forward outriggers (e.g., 24a and 24b), as well as rearward outriggers (e.g., 44a and 44b) (see fig. 2). These extensions of the longitudinally oriented side pieces are provided to provide enhanced stability to the device. The forward outriggers 24a and 24b extend forward and outward in one embodiment of the invention, while the rearward outriggers 44a, 44b extend rearward and outward in one embodiment of the invention. The longitudinally oriented side pieces are connected to the remainder of the base structure using retention fasteners, such as, but not limited to, bolts 26. The base 12 is supported on a floor surface, ground or other support surface.

Around the periphery of the base's chassis 16, the base may be provided with an upstanding edge 30. The edge need not be a continuous edge but may have a gap.

The support 34 is supported and fixed to the base plate 16 of the base. The post 34 may be mounted on the longitudinal centerline of the base 12 as shown, but may be mounted off-centerline in some cases. The struts 34 are supported by gussets, three of which are shown in this embodiment as 36a-36c in figure 2, which are connected to the chassis of the base.

The upper end 42 of the strut 34 supports a first yoke (first yoke)40 of the roller bearing gimbal. A first yoke 40 is fixedly attached to the top or upper end of the mast 34 such that a line bearing through the first yoke intersects the longitudinal centerline of the base 12. The first yoke 40 is fixedly connected to the mast 34 such that the yoke 40 does not move relative to the mast. In another form of the invention, a yoke similar to yoke 40 may be rotatably carried on the mast 34.

Fig. 3 is a view of a deck 20 portion of a skid, which does not show all of the components of the skid mounted on the deck. In this figure, the peripheral frame 52 includes a first base plate 54 that is secured to the peripheral frame 52. A first base plate 54 is mounted in the region of one end of the deck and has a length which is shorter than the entire length defined by the peripheral frame 52. The first base plate 54 has a large through-hole formed therein. The hole is not visible in this figure. A column 56, the hollow body of which has an open bottom and a closable top, is located and firmly fastened over the through-hole in the deck, so that the interior of the column is accessible through the through-hole in the base plate. The second bottom plate is secured to the front area of the end of the deck not occupied by the first bottom plate.

The five degrees of freedom provided by the machine of the present invention, two of which are true rotational axes or degrees of freedom, and one is roll-rotation about the longitudinal axis of the skid; and the second is pitch-rotation about the cross-axis of the skid. In addition to roll and pitch, three other degrees of freedom, i.e., heave, yaw and surge, are simulated in the apparatus presented herein.

As described above, the hollow body column 56 is supported above the through hole formed in the first base plate 54. Above the holes in the first bottom plate, the uprights may be fastened to the bottom plate or other support structure by welding or in another way, such as but not limited to by bolting, screwing, gluing, etc. The upright 56, which may be, but is not limited to, an octagonal structure with an open bottom, is generally cone-shaped. One embodiment is a cone with an octagonal barrel in the upper region of the column, as shown in the various figures provided herein. In another embodiment, the column can be rounded or polygonal. The post has a plurality of sides, in the one shown, eight sides, each in a trapezoidal or other shape, however, the number of sides or the shape of the post may be one of many structures, such as a three-sided structure or a structure with more than three sides, or a structure with curved sidewalls configured with a single curved sidewall, or curved sidewalls with more than a single curved sidewall, but is not limited thereto. The octahedral stud shapes are relatively inexpensive to manufacture compared to a single curved sidewall cone shape and are therefore shown in the figures. In embodiments of the present device, a true cone with an open bottom and truncated and covering the upper end may also be used. Further, the base of the post or cone need not be symmetrical or of constant radius, but may have a rectangular or other designer specified shape, thus enabling the sled to move a greater distance in one direction than in the other before the opening edges of the post and post or cone interfere with each other. Another embodiment of the invention is to use a vertical rectangular rather than conical shape for the posts.

In one version of the invention (iteration), the post 56 has a closed top. However, an open top stud is an alternative embodiment, however, in some circumstances a closed top stud has the advantage that unrestricted access to the inside of the stud from the top of the stud is prevented.

Fig. 4 shows the deck 20 of the partially completed skid mounted in place on a post 34 supported on the chassis of the base 16. The connection between the top of the mast 34 and the mast 56 is made by a universal joint with a yoke (identified above as the first yoke 40) mounted on top of the mast and transverse to the longitudinal centerline of the base 12. The second yoke and cross-head of the gimbal are not visible in any of the figures, but the structure and operation of these portions of a conventional gimbal are known to those skilled in the art. An alternative embodiment is shown in fig. 5 as element 98. This alternative embodiment is mounted within the upright 56 at the upper portion of the upright. Returning to the embodiment of fig. 4, the second yoke of the gimbal is mounted such that a line through its bearing seats is transverse to the mounting location of the first yoke 40 of the gimbal. The mounting directions of the first and second yokes may each be rotated 90 degrees, or in alternative embodiments any number of degrees, while the intended operation of the joint in this embodiment is not affected. This gimbal mounting and positioning arrangement allows the deck 20 of the skid to pivot forward, rearward, sideways and at all points therebetween on the columns 34, but in one embodiment does not rotate. In one embodiment, with the universal joint fixedly mounted on top of the strut 34 and fixedly mounted within the top of the column 56, there is no deflection between the deck of the skid and the base 12 of the motion platform.

Returning to FIG. 1, various mounting features of the motion platform can be seen. Starting with the base 12, a first motor 60a and a second motor 60b are mounted to the chassis 16 of the base. These motors are low power motors which may be dc brush motors, dc brushless motors, ac motors, stepper motors, etc. The motors 60a and 60b, in one variation of the invention, may have gear reducers 62a and 62b that receive rotational inputs from the outputs of the motors 60a and 60 b.

Applicants believe that a combination of a motor and gear reduction mechanism, such as the Nord 1/4Horsepower Gearhead AC motor, is a preferred choice for use in such motion platforms because such a motor reducer is small, lightweight, rugged, and less expensive than alternative motors and reducers. Each gear reducer output shaft is coupled to a link arm, such as those shown as link arms 64a and 64b in fig. 5. In one embodiment, a second set of linkages, namely links 66a and 66b (see fig. 1 and others), having first ends connected to the first set of link arms 64a and 64b, are assembled at the connection points using ball joint rod ends, and the second ends of each of the links 66a and 66b are also connected to skid 14, more specifically, to brackets mounted on the bottom surface of first base plate 54, via the ball joint rod ends.

In one embodiment of the invention, the brackets may be hingedly mounted.

In one, but not every, variation of the present invention, the motion platform conforms to the United states residential voltage System, and thus, the motion platform may be plugged into a household power distribution system. Conventional three-prong plug and wiring elements may be connected to the motion platform to provide power to the device. The wiring is connected to junction boxes on the equipment to distribute power to various controllers, monitors, computers, and other systems as appropriate.

The skid 14 in fig. 1 is a support platform for seats such as Racing or Racing seats 70, the seat 70 being available from Corbeau Industries and many other Racing seat suppliers including Racing seat harness equipment, pedal assemblies 72, a Model of pedal assembly such as Model Speed7, available from Ball Racing development, llc, which may include an accelerator pedal, a brake pedal, a clutch pedal, and a footrest.

Another manufacturer of steering wheel and pedal devices is Happ Controls, inc.

The support structure, including the monitor support frame 68 with the upwardly extending tower and angled legs, supports the monitor 76, the console, the instrument panel, and the steering wheel, as well as other components such as, but not limited to, a gear lever (gear shift pedal or conventional gear shift lever), a vent, a meter on a camera or console facing the driver, or a game control operator interface on the deck periphery 52 of the sled. The monitor 76 may also include or itself be a video input module, in this case a liquid crystal display, and appropriate drivers for generating images on the monitor.

A driver input device, here a force feedback steering wheel 88, is also supported on the monitor support frame 68. A type of steering Wheel offered by the company rostech (logitech), such as model g25 sweeping Wheel, is one choice of suitable steering wheels. A set of monitors and control devices (such as those found on racing cars or airplanes) such as, but not limited to, gear shifters, tachometers, oil pressure gauges, water temperature gauges, speedometers, transmission status indicators, and any other instrumentation, warning lights, recording devices such as GPS systems or target acquisition screens, or other equipment as found in racing cars, trucks, airplanes, etc. The adjustable frame 82 has one or more locking bolts 84 that provide fore and aft adjustability for the steering wheel 88 and other components to accommodate drivers with different arm and body sizes.

The safety switch, which is set to stop the movement of the moving platform, may be a control performed on the dashboard with other monitors and controls.

Fig. 5 is a simplified schematic diagram of an actuation device for a motion platform. In this simulation or model, motors 60a and 60b, and link arms 64a and 64b are clearly shown. One end of each link arm is mounted to each output shaft of the gear reducer. These link arms 64a and 64b are placed in a neutral position such that the deck or first bottom panel 54 is horizontal and the cone 56 is generally vertical, extending horizontally toward the centerline of the base on which the strut 34 is mounted. Ball joint rod end connectors 78a and 78b are connected to the second ends of the two link arms 64a and 64 b. These rod ends 78a and 78b are also connected to the lower ends of the links 66a and 66 b. These links 66a and 66b are therefore connected between the second end of the link arm and the mounting location on the bottom of the first base plate 54. A gimbaled rod end may be used as an alternative to a ball-joint rod end.

The link arms have their free ends, which are not connected to the output shaft of the gear reducers, pointing inwardly towards each other at a small angle (window angle) below the horizontal. If both link arms are directed straight upwards, they are considered to be each at zero rotational angular displacement for the purposes of this description. If the link arms are directed straight down, they each have a 180 degree rotational displacement. In one embodiment of the invention, the linkage arm is limited to angular displacement of rotation in an arc of less than 180 degrees. For example, the angular rotation may extend from about 20 degrees to about 155 degrees for the right side link arm 64 a. The angular rotational displacement may be from about 335 degrees to about 205 degrees for the left link arm 64 b.

Limiting the angular rotational displacement of the link arm to less than 180 degrees is one embodiment of the present invention. This limitation may be broadened in other embodiments. For example, the inventors contemplate that it may be desirable to allow 360 degree rotation of the link arm connected to the gear reducer drive. By allowing such complete rotational freedom of each arm independently of the other, the geared reduction drive is protected from damage due to the drive's mutual interference with rotation. That is, because each drive is designed to be capable of 360 degrees of rotation, regardless of the position of the other gear reduction drives, there is no possibility of interference between the gear reduction drives and the associated motors, which would be detrimental if there were such effects on the drives or motors.

In operation, various payload displacement motions are possible with the simple structure shown in fig. 5. For example, if motor 60a drives gear reducer 62a so that link arm 64a moves from somewhere below the horizontal as shown to a position where link arm 64a is at 25 degrees and above the horizontal while motor 60b drives gear box reducer 62b so that link arm 64b moves from somewhere below the horizontal as shown to a position where link arm 64b is at 205 degrees and below the horizontal, then the floor 54, represented as a whole skid, pivots to the left of the operator on universal joint 98 at the top of post 34. In this case, the plate 54 is inclined to the left along the long axis of the skid.

When both link arms 64a and 64b are rotated up to the same end point (e.g., 25 degrees for the right link arm 64a and 335 degrees for the left link arm 64 b), the plate 54 will tilt across the long axis of the skid on the gimbal 98, causing the front of the skid to rise. This motion is true pitch. Similarly, when both link arms 64a and 64b are simultaneously rotated downwardly the same amount, plate 54 tilts on gimbal 98 in the plane of the short axis of the skid but now the front face of the skid sinks and the rear face of the skid rises. This is also true pitch. However, if the two link arms 64a and 64b are rotated simultaneously but at different speeds and angles of rotation, the plate 54 will tilt on the universal joint 98 in a direction or displacement that is partially transverse and partially along the long axis of the skid, depending on the relative movement, speed and angular displacement of the link arms relative to each other. This allows a point on the plate 54 (representing a point on the skid) to move in an arc from horizontal along two axes (i.e., during roll as well as during pitch). With the speed and direction of link arm movement, lifting, yaw and surge movements can be simulated. The lifting is usually an up-and-down movement. The yaw is a side-to-side motion. Surging is a back and forth motion. In the present invention, heave, yaw and surge may each be simulated.

In fig. 6, a torus is shown superimposed on the cone of the device shown in fig. 5. This torus represents the distribution of the mass of the payload around the pivot center represented by the center of the universal joint mounted at the top of the column and to the upper inboard portion of the column. The area described by the torus represents the mass distribution of the payload relative to the center of oscillation of the top of the column. The figure shows that the mass of the payload is equally distributed around the centre of swing of the device. Thus, for any displacement of the payload, the mass that needs to be moved is balanced by an equal mass on the opposite side of the center of gravity. In operation, it is desirable to minimize the distance from the center of mass of the device to the center of swing. Since this distance is minimized, the diameter of the torus in both the horizontal direction and the vertical direction becomes smaller. On the outer surface of the torus, the mass to be balanced is located at its furthest distance from the center of gravity, but it is balanced by an equal mass 180 degrees away from the first mass. In this case, the force required to move the payload on the pivot center is minimized, since the equal distribution of masses means that the opposing masses add to the horsepower provided by the geared motor to move the payload. It should also be noted that as the center of mass moves towards the inside of the torus, the torus will become smaller, which means that the force required to move the payload will decrease.

A processor is coupled to the motion platform. In one embodiment of the invention, the processor is a dedicated microprocessor controller associated with the motion platform. In another variation, the processor may be a desktop, laptop or other packaged form of processor that is connected to the motion platform and connected thereto through a hard-wired or wireless communication option. The processor includes a controller that controls the output or response of the motor and gear reduction to move the deck on the gimbal in response to input from software running a simulated game. Some of the software currently available in the consumer market is extended and interfaced with software dedicated to the control of the motion platform presented herein. An electronically integrated visual display projected or otherwise rendered on at least one high resolution monitor, and a sound rendering system (such as, but not limited to, speakers mounted near the motion platform, seat-mounted head phones or helmet-mounted speakers, etc.) are used in conjunction with the motion of the sled to increase the simulated realism of the motion platform. The sound delivered to the operator is implemented using THX surround sound or other similar high performance sound delivery schemes.

Multiple sensors, such as but not limited to a shaft encoder disk or a linear encoder, may be coupled to the motion platform. There may be a shaft angle encoder disk associated with the motor, the output shaft of the gear reducer, and/or a linear encoder linked to the linkage arm or associated with the sled to sense its position and provide other input information to the controller connected to the motion platform and its controller.

The safety switch may be coupled to the base of the motion platform. The safety switch responds if the base of the motion platform is not properly engaged with the support base under the motion platform.

Fig. 7, 8 and 9 are schematic views of the motion platform 10 with an operator 100, in this case a person sitting in the seat 70 driving a racing simulator. The three figures show three representative positions of the payload (i.e., the sled with the operator seated thereon) on and relative to the base 12. In each of these figures, the centroid, labeled "CM", is shown in a different location in each of the three figures. The CM is calculated by finding the center of mass of the payload (i.e., the sled and operator seated in the seat 70). This calculated CM may be above, level with, or below the pivot point, but in the present invention it is intended that the CM be as close to the pivot point as possible as the payload moves through the different degrees of freedom provided by the associated linkage and linkage arrangement between the link arm connection and the bottom of the skid.

In a preferred embodiment, as shown in fig. 7-9, the sledge and the rider or rider's lean (tipping) forward, backward or sideways or in a combination of these directions, will cause the rider or rider to experience the sensations of acceleration, deceleration and centrifugal force. As the sled tilts forward, backward, or to both sides, or any combination of sled and rider displacement from horizontal, the tilting of the sled will result in a sensation of acceleration, deceleration, or centrifugal force due to the gravitational forces acting on the rider or rider.

In fig. 7, sled 14 is in a fully reclined position with the front of the sled raised almost maximally. Each link arm, one as shown at 64b, will be below horizontal. In the course of rapidly reaching such a posture, the driver will feel an acceleration. It should be noted that in most cases, the driver focuses on the game and displays all operations on the monitor, the eye portion of the driver stares at the monitor 76, and the distance between the eyes of the driver and the monitor is substantially constant. In this figure, the center of mass CM is located behind the pivot center CP of the skid on the gimbal. The centre of mass CM and the centre of oscillation CP are both relatively close and this is desirable when the energy required to move the payload to the next attitude (as shown in figure 7) is relatively small, since it is no longer necessary to overcome the long force vector when moving from one attitude to the other.

In fig. 8, the payload 14 is in a fully dived position with almost minimal lift of the front face of the skid. Each link arm, such as the one shown as 64b, will be above horizontal. In the course of rapidly reaching such a posture, the operator feels deceleration. In this figure, the centroid CM is located in front of the centroid CP of the payload. The CM and CP centers are close to each other. As mentioned above, this is also advantageous since the energy required to move the payload to the next attitude is relatively small since no longer force vectors need to be overcome.

In fig. 9, the payload 14, including the occupant or driver, is in a full roll attitude with almost maximum right roll. One of the link arms, link arm 64a, moves at or below the horizontal plane (as viewed from the front as shown), and the other link arm 64b moves at or above the horizontal plane depending on the position of link arm 64 a. In quickly reaching such a posture, the operator will feel the centrifugal force or gravity felt in a sharp turn.

As described above, the feeling of centrifugal force is due to the gravitational force acting on the occupant. By the feeling of gravity acting on the sled when it is tipped, the rider or driver will experience the tipping of the sled, but she/he will feel the gravity as a centrifugal force as if the car is experiencing a turn. This is also the case with a downward lean at the front of the skid (fig. 8) simulating deceleration, or a downward backward lean at the rear of the skid as shown in fig. 7 simulating acceleration.

Returning to fig. 9, in this figure the centroid CM is located to the right of the centroid CP of the payload. Here too, the energy required to move the payload to the next attitude is relatively small, since there is no need to overcome a long force vector.

Although the present invention has been described herein in terms of preferred embodiments and generally associated methods, the inventors contemplate that alterations and modifications to the preferred embodiments and methods will be readily apparent to those skilled in the art upon reading the present specification and studying the drawings. For example, a pair of integral linear ball screw gear drives (one piece linear ball screw gear drive) having a six inch stroke may be used in place of the gearbox, link arms, and links. This is a higher cost alternative to the preferred embodiment given above.

Accordingly, neither the foregoing description nor the abstract of the preferred exemplary embodiments should limit or restrict the invention. Rather, the invention is defined in various aspects by the appended claims. Each variation of the invention is limited only by the limitations set forth in the claims and the equivalents thereof, and not by other terms not presented in the claims.

Claims (24)

1. A method of improving performance by reducing the motion power requirements of a motion-generating device housing an occupant, the device having a base, a stanchion, and a skid upon which the occupant is housed, the method comprising the steps of:

placing a center of swing of motion on a single strut at a location above a sled of the motion-generating device that displaces a payload;

locating a center of mass of three-dimensional directions X, Y, and Z, the center of mass calculated from the mass of the sled and the mass of a demonstration occupant housed on the sled; and

mounting the sled on the center of swing of the motion such that the center of mass of the sled of the found three-dimensional direction X, Y, and Z, is close to the center of swing of the motion of the sled of the payload of the motion generating device such that the payload is equally balanced at the pivot point in all three-dimensional directions X, Y, and Z.

2. The method of claim 1, further comprising the steps of:

placing a single pivotable joint on said post to position a single pivot of said motion;

a skid is mounted to the pivotable joint such that the center of mass of three dimensions X, Y, and Z, is proximate to the pivotal joint center of motion.

3. The method of claim 1, wherein mounting the sled on the pivot of the motion such that the three-dimensional direction X, Y of the positioning, and the center of mass of Z, are proximate to the pivot of the motion-generating device, further comprises the steps of:

the combined mass of the sled and the occupant constitutes a payload, minimizing the force required to impart motion to the sled and the occupant by minimizing the approach distance between the three-dimensional direction X, Y of the payload, and the center of mass of the Z, and the pivot center of the motion, without the need for other springs, supports, or complex devices.

4. The method of claim 1, further comprising the steps of:

providing a motive power device to impart motion to the skid, the motive power device being connected with the skid by a linkage.

5. The method of claim 1, further comprising the steps of:

a post is provided on the skid that provides a mounting location for the post to mount to the interior of the post, thereby enabling the center of mass of three-dimensional directions X, Y, and Z, to be located close to the pivot center of the motion.

6. The method of claim 5 wherein the column is located above a single post and the pivot point of the motion is located within the column such that the sled of the payload can move in pitch, roll and lateral (sideways) directions normally and unimpeded.

7. The method of claim 1, further comprising the steps of:

minimizing the force required to impart motion to the sled and an occupant of the sled, the combination of the sled and the occupant of the sled comprising a payload; and

the step of positioning the three-dimensional direction X, Y, and the center of mass of Z, of the payload near a single point of the center of swing of the motion is enabled by mounting the sled on the center of swing of the motion to bring the positioned center of mass of the payload close to the center of swing of the motion-generating device so that the payload is equally balanced in all three-dimensional directions X, Y, and Z.

8. A motion platform having two real degrees of freedom, the motion platform comprising:

a base;

a single rigid stationary post having an upper end, said post being fixedly mounted to and extending from said base;

a universal joint pivotally connected to an upper end of the strut;

a skid having a deck surface including a centrally located aperture;

a stud having an upper portion, the stud mounted to the deck face of the skid, the stud covering at least a portion of the aperture in the deck face and extending above the deck face of the skid to encompass the three-dimensional direction X, Y of the payload and the position of the center of mass of the Z; and

the universal joint pivotally connected to the upper end of the column is further connected to the upper portion of the column to be concentric with the three-dimensional direction X, Y of the payload, and the center of mass of Z.

9. The motion platform of claim 8, wherein the gimbal includes a gimbal cross member having a center, the center of the gimbal cross member defining a pivot center.

10. The motion platform of claim 9, wherein the payload has a center of mass in three dimensions X, Y, and Z, the center of mass of the payload being vertically aligned with the pivot center.

11. The motion platform of claim 10, wherein the payload has a three-dimensional direction X, Y, and a center of mass of Z, that is proximate to the center of swing of the payload, at all angular displacements of the payload relative to a base of the motion platform.

12. The motion platform according to claim 11, wherein the three-dimensional directions X, Y of the payload, and the center of mass of the Z, are located within the walls of a virtual cone, the apex of the virtual cone coinciding with the pivot center, the long axis of the virtual cone being in line with the long axis of the post.

13. The motion platform according to claim 12, wherein the virtual cone has a 60 degree angle between the long axis of the virtual cone and the walls of the virtual cone, such that a sled of a payload can move in pitch, roll and lateral (sideways) directions normally and unimpeded.

14. The motion platform according to claim 11, wherein the column has a base and a top, and the height of the column from its base to its top is between 5 inches and 15 inches.

15. The motion platform according to claim 14, wherein the gimbal is mounted in an upper portion of the column such that the center of swing defined by a center of a crosshead of the gimbal is within 2 inches of a top of the column.

16. The motion platform of claim 10, wherein the sled element of the payload contacts only the gimbal when the motion platform is unpowered and stationary.

17. A motion platform, comprising:

a single upwardly extending strut having an upper end;

a universal joint connected with the upwardly extending strut;

the upright post is arranged on the universal joint connected with the strut; and

a skid having a deck surface, the stud mounted to the skid, and the stud extending above the deck surface of the skid to encompass the three dimensional direction X, Y of the payload, and the centroid position of the Z.

18. The motion platform of claim 17, further comprising:

a base; and

the single strut is connected to the base.

19. The invention in accordance with claim 18 wherein the uprights are constructed of a multi-faceted structure having an open bottom, the uprights being carried on the uprights with open ends of the uprights surrounding the uprights to surround the three-dimensional direction X, Y of the payload and the position of the center of mass of the Z.

20. The motion platform according to claim 19, wherein the uprights are hollow polyhedrons.

21. The invention in accordance with claim 20 wherein the hollow polyhedron has eight sides, a closed top, and an open bottom.

22. A method of supporting a payload on a base of a motion platform, comprising the steps of:

providing a single strut extending upwardly from the base;

arranging a universal joint on the strut; and

connecting the post to the inside of a column carried on the payload, the connecting comprising connecting the gimbal to the column to encompass the payload's three-dimensional direction X, Y, and the position of the center of mass of the Z.

23. A method of supporting a skid portion of a motion platform, comprising the steps of:

connecting a hollow polyhedron to a deck of a skid portion of the motion platform, with the polyhedron extending above the deck;

connecting a strut to the polyhedron at a point vertically above the deck to encompass the three-dimensional direction X, Y of the payload, and the position of the centroid of the Z; and

mounting the stanchion to a support structure located below a deck of the skid.

24. A method of enhancing performance of a motion-generating device for receiving an occupant, the device having a base, a stanchion and a skid upon which the occupant is received, the method comprising the steps of:

positioning a pivot center of motion on the post above a base of the motion-generating device;

locating the position of the center of mass of the three-dimensional directions X, Y, and Z, the center of mass of the three-dimensional directions X, Y, and Z being calculated from the mass of the sled and the mass of a demonstration occupant housed on the sled; and

mounting the sled at a pivot point of motion on the stanchion such that the combined center of mass of the sled and the exemplary occupant is within a 1 inch radius of the pivot point of the motion generating device.