JP2008185798A - Simulator and simulation method - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a simulator and a simulation method capable of imparting a closer to realistic feeling of acceleration than hithertofor to a subject, by mechanistically matching the oscillation center of an end effector with the acceleration working point (close to subject's head to waist region) felt by the subject, when the subject operates an actual vehicle or an actual aircraft and by making the oscillation center adjustable at an arbitrary position close to the subject's head to waist region, and capable of carrying out a simulation test for a longer time by taking mechanistical measures with respect to simulator sickness. <P>SOLUTION: The simulator 1, the oscillation mechanism 2 of which is connected to the end effector 3 via a universal joint 4 and which makes the subject M impart bodily sensation of the oscillation, by controlling the oscillation mechanism 2, is provided and the universal joint 4 on the end effector 3 side is arranged at the level of the head 12a of a seat 12 for subject. <P>COPYRIGHT: (C)2008,JPO&INPIT

Description

  The present invention relates to a simulator such as a driving simulator or a flight simulator, and a simulation method.

Conventional simulators (driving simulators, flight simulators, etc.) shown in Patent Documents 1 to 4 include, for example, a subject cockpit 6 (maneuvering) on a 6-axis motion base (Stewart platform) that is a swinging mechanism 2 as shown in FIG. Seats, etc.) and a mechanism for simulating the driving operation environment of the vehicle, aircraft, etc. (accelerating the subject according to the driving operation). A schematic method for simulating acceleration in this prior art is as follows.
(Schematic method for simulating acceleration in the prior art)
(A) The generated acceleration to be simulated by the subject's steering is calculated.
(B) The translation amount and the inclination amount of the end effector 3 of the 6-axis motion base unit for realizing the simulated acceleration are calculated.
(C) The six linear motion actuators 5 constituting the six-axis motion base are expanded and contracted according to the translation amount and inclination amount of the end effector 3 calculated in (b).
(D) The inclination component of the gravitational acceleration generated by the acceleration and the inclination caused by the translation generated in (c) acts on the subject.
The problems in performing acceleration simulation by the above-described conventional method are as follows.
(Problems in the prior art)
(E) Since the swing center B of the end effector 3 based on the 6-axis motion is on the end effector 3, the acceleration action point A for the operator (subject) is assumed to be during actual vehicle or aircraft operation. Because it is different,
・ I feel a sense of incongruity with the simulated acceleration for the amount of operation.
・ If the subject feels the above discomfort excessively, the subject will cause simulator sickness.
・ Simulation test time is limited by the simulator sickness.
Such problems arise.
(F) In order to avoid (e), a method in which the acceleration action point (in the vicinity of the waist from the head) that the subject feels when driving an actual vehicle or aircraft is used as the control end effector 3 oscillation center B If picked,
-Compared to the case where the oscillation center B is on the end effector 3, the expansion / contraction amount of the 6-axis motion base actuator is increased, so that the operation range of the end effector 3 is narrowed (the range of acceleration that can be simulated is narrowed).

8A and 8B show a conventional motion-based shaking method in the case where a gradient component of gravity acceleration is applied to a subject by a motion-based tilt as a typical pattern for simulating vehicle or aircraft acceleration in a simulator. Shown in
FIG. 8A shows a case where the end effector 3 is inclined with the base B of the end effector 3 as the center of the swing in the conventional motion base. In this case, the positions of the tilt center (sway center B) on the base of the end effector 3 and the acceleration action point A to the subject (parts where the subject feels acceleration mainly, set near the head in the figure) are different.
For this reason, when the end effector 3 only swings, the subject's acceleration action point A also moves in the vehicle rearward direction according to the inclination of the end effector 3.
As a result, in addition to the inclination component of gravity acceleration due to the inclination that was originally required, the subject feels the angular acceleration component of head fluctuation that causes the acceleration action point to be tilted rearward of the vehicle, which is different from that during actual vehicle driving. You will feel (discomfort).
FIG. 8B shows a case where the base of the end effector 3 is shaken so that the acceleration action point for the subject is not moved in the conventional motion base. In this case, the subject is tilted without moving the acceleration acting point on the subject. This is a rocking method in which the acceleration action point A for the subject is the rocking center B in the end effector base control.
In the above shaking method, in addition to the operation of tilting the base of the end effector 3, the operation of the end effector 3 in the vehicle upward direction and the forward direction so as not to move the acceleration action point A to the subject is also performed. I need it.
In order to perform such an operation, in addition to the amount of expansion / contraction of the actuator 5 necessary for tilting the base of the end effector 3, the amount of expansion / contraction of the actuator 5 for moving the end effector 3 upward and forward is required.
Therefore, when a certain acceleration is simulated by the inclination of the end effector 3, a translational movement is required in addition to the inclination, so that the inherent motion-based oscillation range can be used to the maximum extent possible. You can see that there is no state.
7, 4 and 4a are universal joints, 8 is a cockpit support base, 9 is a cabin, 11 is a base frame, and 13 is a video screen.

Japanese Unexamined Patent Publication No. 2000-293094 (FIG. 1) JP-A-8-248872 (FIG. 1) JP 2001-66981 A (FIG. 1) JP 2001-215867 A (FIG. 1)

  The present invention mechanically matches the center of oscillation of the end effector to an acceleration action point (in the vicinity of the waist from the subject's head) that the subject feels when driving an actual vehicle or aircraft. By enabling adjustment to any position near the waist from the waist, it gives subjects a feeling of acceleration that is closer to reality than conventional simulators, and it takes longer simulations by taking mechanical measures against simulator sickness The purpose is to enable testing.

The present invention employs the following means (1) to (12) in order to solve the above problems.
(1) In a simulator in which an end effector is connected to a rocking mechanism via a universal joint, and the rocking mechanism is controlled to cause the subject to feel the rocking motion, the universal joint on the end effector side is arranged at the head level of the subject seat. A simulator characterized by that.
In other words, the head level of the subject seat is placed so as to be the universal joint position on the end effector side.
(2) A plurality of actuators are connected via a universal joint between the base frame and the end effector, and each subject is controlled to have a shaking mechanism for shaking the subject cockpit in the cabin on the end effector. A simulator in which a sway is experienced, wherein a cabin frame is erected on an end effector, and a universal joint with an actuator is disposed at a cabin frame position at a head level of a subject seat.
(3) Connect a plurality of actuators via a universal joint between the base frame and the end effector, and control the actuator to fix the subject's cockpit on the lower surface of the end effector in a simulator that makes the subject feel upset And a test subject seat in the test subject cockpit.
(4) The simulator according to any one of (1) to (3), wherein the cabin, the subject cockpit, or the subject seating seat is movable up and down.
(5) The simulator according to any one of (1) to (4), wherein the universal joint on the end effector side and the rod tip of the actuator can be slide-adjusted.

(6) The simulator according to any one of (1) to (5), wherein a turning mechanism is built in the end effector or a cockpit support base placed on the end effector.
(7) The simulator according to any one of (1) to (6), wherein the subject seat or the fixed floor of the subject seat is pivotable.
(8) The simulator according to any one of (1) to (7), wherein the oscillation mechanism is a six-axis motion base including six linear motion actuators.
(9) The simulator according to any one of (1) to (8), characterized in that the simulator simulates acceleration during driving operation of a vehicle or an aircraft.
(10) A test subject cockpit is fixed to the lower surface of the end effector in a simulator in which a plurality of actuators are connected via a universal joint between the base frame and the end effector, and each actuator is controlled to feel the subject's motion. A simulator comprising a subject board in the subject cockpit, and the subject board can be moved up and down.
(11) A simulation method, wherein the simulation is performed by changing the height position of the seating seat for the subject to an arbitrary position by the simulator according to (4) or (5).
(12) A simulation method characterized by performing simulation after setting the height position of the subject seat according to the height of the subject by the simulator according to (4) or (5).

(1) In the first means, the universal joint on the end effector side is arranged at the head level of the subject seat, so that the swing center that has conventionally been on the plane of the end effector is placed on the subject seat. The subject moves to the head of the subject who sits, and the vicinity of the subject's head is the center of oscillation. When the subject is a driver, the subject almost agrees with the acceleration action point felt during driving. ) And acceleration feeling and the risk of causing simulator sickness can be reduced, and a simulation test can be performed for a longer time than before.
The subject who does not perform the driving operation also feels a sense of acceleration close to reality in the same manner as described above, and the risk of causing vehicle sickness can be reduced.
The oscillation center is a center position on a plane connecting the universal joint centers on the end effector side. In addition, the acceleration action point that the subject feels when driving is usually near the subject's head (ear semicircular canal), but there are individual differences, and the subject may feel at the waist position from the subject's head.
(2) Since the second means arranges the universal joint on the end effector side at the head level of the subject seat, via the cabin frame, as described above, the second means of the subject sitting on the subject seat The vicinity of the head is the center of swaying, and it coincides with the acceleration action point that the subject feels when driving, and the subject can experience a sense of acceleration close to reality, reducing the risk of simulator sickness, Compared to the above, a long-time simulation test can be performed. Moreover, since the universal joint is provided in the cabin frame, the degree of freedom in designing the arrangement height position of the universal joint is increased.
(3) The third means is that the subject cockpit is fixed to the lower surface of the end effector, and the subject seat is provided in the subject cockpit. Therefore, the end effector and the head side of the subject seat are: The subject's head near the subject sitting near the subject's seat is the center of oscillation, and the subject can experience a sense of acceleration close to reality and can reduce the risk of simulator sickness. Compared to the above, a long-time simulation test can be performed.
(4) The fourth means has the above-described effects (1) to (3), and the cabin, the subject cockpit or the subject seat can be raised and lowered. Can be seated at an arbitrary height position, and the sensory acceleration action point of the subject, which has individual differences, can be accurately adjusted to the oscillation center. In addition, by setting different height positions, it is possible to perform a comparative test on the subject's driving visibility goodness, operability, fatigue level, and the like.
In addition, the subject who does not perform the driving operation can also go up and down to experience riding at different height positions as described above, and can test and study the degree of vehicle sickness at various height positions.

(5) The fifth means achieves the effects (1) to (4) above, and the end effector side universal joint and the rod end of the actuator can be slide adjusted. Similarly to the above, the subject can be seated or stood at an arbitrary height position in the simulator, and the acceleration action point of the subject with individual differences can be accurately adjusted to the center of oscillation. In addition, by setting to different height positions, it is possible to perform a comparative test on the subject's driving visibility goodness, operability, fatigue level, etc., and in combination with the above (4), a wider range The height can be adjusted.
In addition, the subject who does not perform the driving operation can also go up and down to experience riding at different height positions as described above, and can test and study the degree of vehicle sickness at various height positions.
(6) The sixth means has the above-described effects (1) to (5), and has a turning mechanism built into the end effector or the cockpit support base placed on the end effector. The turn control of the end effector or the cockpit support base according to the steering of the subject can be easily performed, and the simulated experience of the subject can be more realistically performed.
(7) The seventh means has the effects (1) to (6) above, and the seat for the subject or the fixed floor of the seat can be turned. The swing control of the seat for the subject or the seating seat fixed floor in accordance with the steering of the subject can be easily performed, the simulated experience of the subject can be performed more realistically, and in combination with the above (6) The subject can experience more complicated turning direction acceleration and reaction force load.
(8) The eighth means has the effects (1) to (7) described above, and the swinging mechanism is a six-axis motion base including six linear motion actuators. By subjecting the six linear motion actuators to extend and contract depending on the mode (acceleration / deceleration, turning mode, up / down slope mode, etc.), the subject can be made to experience the target three-dimensional swing and acceleration.
(9) The ninth means has the effects (1) to (8) described above, and the simulator allows the driver to simulate the acceleration at the time of driving operation of a vehicle or an aircraft. A passenger's operability and fatigue test can be easily performed.

(10) The tenth means is that the subject cockpit is fixed to the lower surface of the end effector, the subject board is provided in the subject cockpit, and the subject board can be moved up and down. The subject's head standing on the table is closer to the head than before, and the subject can experience a sense of acceleration that is close to reality and can reduce the risk of simulator sickness. A simulation test can be performed.
Also, by moving up and down, the subject can be placed at an arbitrary height position in the simulator, and the subject's acceleration action point with individual differences can be accurately adjusted to the center of oscillation. In addition, by setting different height positions, it is possible to perform a comparative test on the subject's driving visibility goodness, operability, fatigue level, and the like.
In addition, the subject who does not perform the driving operation can also go up and down to experience riding at different height positions as described above, and can test and study the degree of vehicle sickness at various height positions.
(11) The eleventh means achieves the effect of the above (4) or (5), and performs the simulation by changing the height position of the seating seat for the subject to an arbitrary position, thereby accelerating the subject. It is possible to perform a comparative test on the driving operability or the fatigue level of the subject depending on the difference in the relative position between the point and the center of oscillation of the simulator.
(12) The twelfth means performs the simulation after setting the height position of the subject seating seat according to the height of the subject, together with the effect of the above (4) or (5), For example, if the subject is taller than the standard setting criteria of the simulator, the position of the acceleration action point (usually near the subject's head) is moved to the motion base (end effector) by lowering the cockpit position according to the height. Etc.), or the simulation can be performed in close proximity to each other, so that a simulation test corresponding to the individual difference of the subject can be performed.

In short, according to the means (1) to (12), the center of the end effector and the position of the acceleration action point (usually near the waist from the head) that the subject feels when driving an actual vehicle or aircraft. Can be mechanically combined, and the following effects can be obtained.
(A) It is possible to reduce a sense of incongruity with the acceleration simulated for the operation amount.
(B) Since (a) can be achieved, the incidence of simulator sickness can be reduced.
(C) The simulation test time limited by the simulator sickness of (2) above can be extended.
(D) For the countermeasures (a) to (c) described above, in a conventional shaker such as a six-axis motion base, the acceleration action point (the head to the waist) that the subject feels when driving an actual vehicle or aircraft By adopting a method that uses the center of the end effector as the center of control for the end effector, the expansion and contraction amount of the 6-axis motion-based actuator increases, and the end effector swing range can be used as it is as the swing range for simulating acceleration. According to the present invention, the initial fluctuation range of the end effector can be used as it is as an operation range for simulating acceleration.
Note that the present invention can be applied to a game simulator for performing a vehicle boarding experience, in addition to the above vehicle driving experience simulator and simulation method.

  FIGS. 1 to 6 relate to the first to fourth embodiments according to the present invention, FIG. 1 is a side view showing the inside of the cabin of the simulator as seen through, FIG. 2 is an acceleration simulation diagram based on the inclination of the motion base, and FIG. FIG. 4 is a side view showing the interior of the simulator according to the second embodiment in perspective, FIG. 5 is a side view showing the interior of the simulator according to the third embodiment in perspective, and FIG. FIG. 10 is a side view illustrating the inside of a simulator according to a fourth embodiment.

The main problem-solving guidelines, features, effects, apparatus configuration, and basic operations of the simulator according to the present invention are as follows.
1. Problem solving guideline (1) The swing center B of the end effector 3 is mechanically matched with the acceleration action point A (in the vicinity of the waist from the head) that the subject M feels when driving an actual vehicle or aircraft.
(2) The acceleration action point A to the subject M can be mechanically adjusted at an arbitrary position near the waist from the subject M's head.
A mechanism reflecting the above guideline is realized by the present invention, and a realistic acceleration feeling is given to the subject as compared with a conventional simulator, and the risk of causing simulator sickness is reduced. This effect enables a longer simulation test.
2. Features (1) The actuator connection part (upper universal joint 4) on the end effector 3 side of the 6-axis motion base 2a is arranged at the head level of the subject M, and to the swing center B of the end effector 3 and the subject M The acceleration action point A is mechanically matched.
(2) The structure in which the vertical position of the subject boarding part (subject cockpit 6: vehicle model in the figure) can be arbitrarily adjusted allows the end effector 3 to always shake the acceleration action point A on the subject M. While making it correspond with the center B, the vertical direction position of the acceleration action point A to the subject M can be arbitrarily adjusted.

3. Effect Since the center B of the end effector 3 and the acceleration action point A (in the vicinity of the waist from the head) that the subject M feels when driving an actual vehicle or aircraft can be mechanically matched,
a. It is possible to reduce the sense of discomfort with acceleration that is simulated for the amount of operation.
b. Since a can be achieved, the incidence of simulator sickness can be reduced.
c. The simulation test time limited by the simulator sickness of b can be extended.
d. For the measures a to c described above, conventionally, the acceleration action point A (in the vicinity of the waist from the head) that the subject feels when driving an actual vehicle or aircraft is defined as the oscillation center B of the control end effector 3. As a result of adopting this method, the actuator expansion / contraction amount of the 6-axis motion base 2a becomes large, and the swing range of the end effector 3 cannot be used as the swing range for simulating acceleration as it is (the range of acceleration that can be simulated). In the present invention, the initial fluctuation range of the end effector 3 can be used as it is as an operation range for simulating acceleration.

4. Apparatus configuration of a simulator according to the present invention (hereinafter referred to as “Beetle type motion base”) (1) A point in which the swing center B of the end effector 3 is mechanically arranged near the head of the subject M (conventional) According to the technology, a cockpit for boarding the subject was installed on the end effector base, and the rocking center on the mechanism was on the end effector).
In the Beetle type motion base according to the present invention, the base of the end effector 3 is integrated with the cabin frame 10, and six linear motion actuators (hereinafter also referred to as actuators) 5a to 5c are included in the subject's head. It is connected to the cabin frame 10 via the universal joint 4 at a nearby level.
As a result, it is possible to mechanically match the position of the acceleration center B (near the head) that the subject M feels when driving the actual vehicle or aircraft.
(2) The cockpit level adjusting device 7 is installed on the base of the Beetle type motion base end effector 3 so that the cockpit level (the acceleration action point level for the subject) can be adjusted. There is no mechanism to adjust the acceleration action point to the position, and the method of adjusting the position is used in the motion base control. The simulation range was restricted (reduced)).
(3) In the Beetle type motion base, the oscillation center B of the end effector 3 is at the acceleration action point A (near the head) of the subject M from the beginning, and the cockpit level adjusting device 7 makes the cockpit level variable. Thus, the acceleration action point of the subject M can be adjusted from the vicinity of the head to the vicinity of the waist.
As a result, the acceleration action point A to the subject M can be finely adjusted mechanically, and the difference from the acceleration action point A in an actual vehicle or aircraft that the subject M feels in the simulator can be reduced.
Further, it is possible to adjust the acceleration action point A to the subject M without being restricted by the motion-based acceleration simulation range (sway range).

5. Basic Operation The basic operation of the Beatle type motion base to which the present invention is applied is shown below.
<Operation during simulation test>
(1) The acceleration action point A for the subject M is set at an arbitrary position from the head of the subject M to the waist.
(2) The cockpit level adjusting device 7 is moved up and down in accordance with the setting in (1) to adjust the cockpit level, and the acceleration action point A to the subject M set in (1) and the oscillation center B of the end effector 3 are set. Match.
(3) The generated acceleration to be simulated by subject M steering is calculated.
(4) The translation amount and the tilt amount of the end effector 3 of the 6-axis motion base unit for realizing the simulated acceleration are calculated.
(5) According to the translation amount and inclination amount of the end effector 3 calculated in (4), the six linear motion actuators constituting the Beetle type motion base expand and contract, and the acceleration action point A ( The end effector 3 swings with reference to the swing center B of the cabin frame 10 that coincides with the vicinity of the head.
(6) The acceleration component caused by the translational motion generated in (5) and the inclination component of the gravitational acceleration caused by the inclination act on the acceleration action point A of the subject M.
6. Beetle-type motion base shaking method When the end effector 3 is tilted with the shaking center B of the cabin frame 10 of the end effector 3 as the center of shaking in the Beatle type motion base, the tilt center on the cabin frame 10 (swaying) The position of the center B) and the acceleration action point A to the subject M (a portion where the subject feels acceleration preferentially and is set near the head in the figure) coincide.
For this reason, only the inclination of the end effector 3 can be shaken without moving the acceleration action point A of the subject M, and the required acceleration can be achieved without causing the subject M to feel acceleration other than the gravitational acceleration component due to the inclination. Can simulate.

(Example 1)
The simulator 1 shown in FIGS. 1 to 3 according to the first embodiment and the second and third embodiments to be described later is intended for vehicles, and includes driving operations (handles, accelerators, brake operations) of the subject M, and simulation tests. Depending on the mode (acceleration simulation, bad road, uphill, downhill, etc.), the shaking mechanism 2 is controlled and driven, and the subject cockpit 6 (subject M) on the end effector 3 is shaken.
1-3 includes six linear motion type actuators (5a-5c) between a base frame 11 and an end effector 3 via an upper universal joint 4 and a lower universal joint 4a. Are connected, and each actuator (5a to 5c) is controlled to provide a swing mechanism 2 that swings the subject cockpit 6 in the cabin 9, so that the subject M can experience acceleration according to the driving operation and simulation test mode of the subject M. It is a device to let you. The universal joints (4, 4a) are universal joints that can rotate in three axial directions.
Further, the cabin frame 10 is erected on the end effector 3, and the universal joint 4 with the actuators 5 a to 5 c is disposed at the cabin frame 10 position at the head 12 a level of the subject seat 12.
The cabin frame 10 erected from the end effector 3 is a strength member formed to cover the subject cockpit 6 and surrounds the entire subject cockpit 6 together with a number of other reinforcing frames (not shown). A cabin 9 having a free space is formed, and a gap between the frames is closed by a sheet (not shown).

The subject cockpit 6 can be moved up and down by a cockpit level adjusting device 7, and a turning mechanism is built in the cockpit support base 8 fixedly mounted on the end effector 3. Can turn horizontally.
Means for adjusting the elevation of the cockpit level adjusting device 7 is provided outside the cabin 9 and inside the subject cockpit 6. In addition, a mark indicating the level of the universal joint 4 level outside the cabin 9 is provided on the video screen 13 and the like, so that the elevation adjustment by the subject M operation in the subject cockpit 6 is facilitated.
Further, as shown in FIG. 3, the actuators (5a to 5c) for connecting the base frame 11 and the frame of the end effector 3 via the universal joints (4, 4a) are provided between the substantially triangular apex portions. ing.
The subject M gets into the subject cockpit 6 from the entrance (not shown) of the cabin 9 and sits on the subject seating sheet 12 while performing the driving operation while viewing the video screen 13 from the projector 15. Perform a simulation. The simulation is performed after the height position of the subject seat 12 is adjusted up and down according to the height of the subject M, and the head 12 a of the subject seat 12 is set to coincide with the oscillation center B of the end effector 3.
For example, when the subject M is taller than the standard setting standard of the simulator 1, the acceleration action point A position (usually near the head of the subject M) of the subject M is lowered by lowering the cockpit position according to the height. A simulation test corresponding to the individual difference of the subject M can be performed if the simulation is performed in accordance with the swing center B of the end effector 3 or close to both.

Also, the simulation is performed by changing the height position of the subject seating sheet 12 a plurality of times, for example, by moving the subject seating sheet 12 up and down, the three height levels of the subject M's head, chest and waist By changing each to the simulation, the driving operability of the subject cockpit 6 due to the difference in the relative position between the acceleration action point A of the subject M and the oscillation center B of the end effector 3, A test for verifying the degree of fatigue and the like can be performed, and the acceleration action point A having individual differences depending on the subject M, and the height position level of the subject seating seat 12 with a low degree of fatigue can be confirmed and verified.
The swing center B of the end effector 3 is the center position on the plane surrounded by the six universal joints 4 provided in the cabin frame 10 (the intersection of the horizontal line X and the vertical line Y with the cabin 9 horizontally supported). Position) (see FIGS. 1 to 3).
In the present embodiment, the height position level of the head 12a (subject M's head) of the subject seat 12 is set so as to coincide with the oscillation center B. Since the position of the point A is in the vicinity of the ear of the subject M, the acceleration action point A of the subject M coincides with the oscillation center B on the apparatus side. In addition, the actuators (5a to 5c) in this embodiment are electric, but hydraulic, hydraulic, and pneumatic driven actuators may be used.
In this embodiment, by providing the cabin frame 10, the position of the universal joint 4 on the end effector 3 side is moved above the end effector 3, and the universal joint 4 is arranged at the head 12 a level of the subject seat 12. However, conversely, the level of the head 12a of the subject seat 12 may be arranged at the position of the universal joint 4 on the end effector 3 side. That is, when the universal joint 4 is provided on the side surface portion of the end effector 3, the subject seating sheet 12 (head 12a) side may be moved and arranged so as to be close to the universal joint 4, and in that case as well, the same as above. Examples of this will be described in Examples 2 and 3 below.

(Example 2)
The simulator 1 shown in FIG. 4 connects six actuators (5a to 5c) between the base frame 11 and the end effector 3 via upper and lower universal joints (4, 4a), and each actuator (5a to 5a). 5c) is a device that includes a shaking mechanism that shakes the subject to cause the subject M to experience acceleration according to the driving operation and the setting mode.
Further, when the universal joint 4 is provided on the side surface portion of the end effector 3, the simulator 1 fixes and supports the subject cockpit 6 on the lower surface of the end effector 3, and places the subject seat 12 on the subject cockpit 6. It has. By arranging in this way, the head 12 a of the subject seat 12 is installed at a close position immediately below the oscillation center B of the end effector 3.
When the subject cockpit 6 is fixedly supported on the lower surface of the end effector 3 as described above, the end effector 3 becomes the ceiling position of the subject cockpit 6, and the swing center B of the end effector 3 and the head 12 a of the subject seat 12. Since the head of the subject M who sits on the subject seat 12 is close to the side of the swing center B of the end effector 3, the subject M can experience a sense of acceleration close to reality. This makes it possible to perform a simulation test for a longer time than before without causing simulator sickness. Other configurations are the same as those of the first embodiment.

(Example 3)
The simulator 1 shown in FIG. 5 connects the six actuators (5a to 5c) via the universal joints (4, 4a) between the base frame 11 and the end effector 3 as in the above embodiment. This is a device that includes a shaking mechanism that controls each actuator (5a to 5c) to shake the subject, and causes the subject M to experience acceleration according to the driving operation.
When the universal joint 4 is provided on the side surface of the end effector 3, the simulator 1 has an opening 3a at the center of the end effector 3 and a subject cockpit on the lower surface (lower side) of the end effector 3 surrounding the opening 3a. 6 is fixed, and the subject seating sheet 12 is arranged in the subject cockpit 6 so that the head level thereof is the position of the swing center B of the end effector 3.
Moreover, the raising / lowering mechanism 14 which raises / lowers the test subject seat 12 is provided, and the test subject M can be raised / lowered from the opening 3a to the subject's cockpit 6 ceiling direction. A rack and pinion mechanism is provided between the universal joint 4 on the end effector 3 side and the tip of each rod 5d of the actuator (5a to 5c). The rod 5d is connected to the universal joint 4 by the rack and pinion mechanism. Slide adjustment is possible. Further, the slide adjustment of each universal joint 4 is normally operated in synchronization, but individual adjustment is also possible.
Therefore, in the present embodiment, the entire subject cockpit 6 can be raised and lowered by the slide adjustment, and the subject M sitting on the subject seating sheet 12 can be raised and lowered. The acceleration action point A can always coincide with the swing center B of the end effector 3, and the vertical position of the acceleration action point A to the subject M can be arbitrarily adjusted.
In the second and third embodiments, the subject cockpit 6 is described as an example. However, the subject cockpit 6 may be used as the cabin 9 in the first embodiment.
Further, the slide adjusting mechanism in the present embodiment may be provided in the first and second embodiments. Other configurations are the same as those of the first embodiment.

  In the first embodiment, the connecting position of the actuators (5a to 5c) and the cabin 9 is set to the upper position of the end effector 3, and in the second embodiment, the subject cockpit 6 is suspended and fixed to the lower surface of the end effector 3. 3 is provided with an opening 3a at the center of the end effector 3 in the second embodiment so that the subject seat 12 (subject M) can be moved upward. 3 and the head 12a side of the subject seat 12 are close to each other, and the head of the subject M sitting on the subject seat 12 coincides with or is in the vicinity of the swing center B of the end effector 3, M can experience a sense of acceleration close to reality, can reduce the risk of simulator sickness, and can perform simulation tests for a longer time than before.

In addition, in the said Examples 1-3, the rocking | fluctuation mechanism 2 is not limited to the 6-axis motion base 2a described above, and in short, may swing the cabin 9 and the subject cockpit 6 in a two-dimensional or three-dimensional direction. For example, in addition to the linear motion actuators (5a to 5c), an articulation mechanism using an articulated robot arm, a slide mechanism, a wire suspension mechanism, or the like may be used. Further, the shaking mechanism 2 may be installed above the cabin 9 in the first embodiment and the subject cockpit 6 in the second and third embodiments, and the cabin 9 and the subject cockpit 6 may be suspended and supported from above.
Further, the subject seating sheet 12 and the fixed floor of the subject seating sheet 12 in Examples 1 to 3 may be horizontally swiveled.
Further, the video screen 13 may be provided outside the cabin 9 in the first embodiment and outside the subject cockpit 6 in the second and third embodiments. Further, the video screen 13 by the projector 15 may be a television.
In addition, the said Examples 1-3 are applicable also to the simulator and game device which board | substrate with the test subject M standing, In that case, the test subject's seating sheet 12 in the said Example is the test subject M. It becomes a subject protection sheet for protection, and the head level of the subject protection sheet may be arranged as described in the above examples.

Example 4
The simulator 1 shown in FIG. 6 makes the standing subject M feel a shake, and the upper and lower universal joints (4, 4a) are provided between the base frame 11 and the cabin frame 10 standing on the end effector 3. The actuator 5 is connected via This is a simulator 1 that causes the subject M to experience various fluctuations by controlling the amount of expansion and contraction of each actuator 5 and the speed of expansion and contraction with a personal computer.
In the simulator 1, a box-shaped subject cockpit 6 is fixed to the lower surface of the end effector 3, and a subject board 16 is provided in the subject cockpit 6. In addition, the subject boarding platform 16 includes an elevating device 14 such as a scissor lifter and a turning function. The subject boarding table 16 can be moved up and down and turned, and the height position level of the subject M can be set to an arbitrary height by raising and lowering. At the same time, the subject M can be turned.
FIG. 6 shows a case where the subject M is positioned at the uppermost height level, and a simulated experience is performed in the subject cockpit 6 which is usually at a lower position than shown. The swing center B of the simulator 1 is at the center position on the plane connecting the centers of the universal joints 4 on the upper side, and by performing a simulation experience at a position where the subject M is lowered into the subject cockpit 6, As compared with the above, it is possible to bring the oscillation center B closer to the acceleration action point (from the head to the waist) of the subject M, and it is possible to reduce the risk of causing simulator sickness.
In FIG. 6, 13 is a spherical video screen, and 15 is a projector. Further, although not shown, a covering plate for ensuring the safety of the subject M is provided between the subject board 16 and the subject cockpit 6.

In short, in the conventional simulator, the subject is on the swinging mechanism, and the distance between the swing center of the simulator and the subject is relatively far, whereas in the above embodiments,
a. The universal joint position level on the upper side of the actuator of the swing mechanism is closer to the subject position level, or
b. By bringing the subject position level closer to the upper universal joint position level,
Compared to the conventional method, the seating position and boarding position of the subject are made closer to the subject's side of the simulator to improve the comfort during the shaking test and play experience. Further, a and b may be used in combination. In each of the above embodiments, a swing mechanism such as an actuator may be provided on the ceiling of the facility, and the cabin and the subject cockpit may be suspended and supported from above. In that case, the above-described universal joint on the upper side becomes a universal joint on the lower side (cabin or subject cockpit side).
In each of the above-described embodiments, the case where the subject is a driver has been described. However, a sensation test of a subject who does not perform the driving operation (passenger seat, rear seat passenger, etc.) is also possible. It is possible to experience different shaking experiences, and to experience raising and lowering at different heights, and to test and study vehicle sickness and comfort under various experience conditions.
Moreover, the thing of said each Example can be applied also to the simulator for a game, and there exists an effect which can reduce a player's body feeling fatigue level.
In addition, the present invention is not limited to the above-described embodiments, and can be appropriately changed in design as necessary, and each component in each of the above-described embodiments can be easily assumed by those skilled in the art, The substantially same thing is included.

It is a side view seeing through the inside of the simulator concerning Example 1 of the present invention. It is the acceleration simulation figure by the inclination of the motion base which concerns on Example 1 of this invention. It is a top view which shows the linear motion actuator arrangement | positioning which concerns on Example 1 of this invention. It is a side view seeing through the inside of the simulator concerning Example 2 of the present invention. It is a side view which sees through and shows the inside of the simulator which concerns on Example 3 of this invention. It is a side view which sees through and shows the inside of the simulator which concerns on Example 4 of this invention. It is a simulator block diagram which employ | adopted the conventional 6-axis motion base. (A) is a simulation diagram of acceleration due to tilt of a conventional motion base, and (b) is a simulation diagram of acceleration due to tilt of another conventional motion base.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Simulator 2 Swing mechanism 2a 6 axis motion base 3 End effector 4 Universal joint 5 Actuator 5d Rod 6 Subject cockpit 7 Cockpit level adjustment device 8 Cockpit support base 9 Cabin 10 Cabin frame 11 Base frame 12 Subject seat A Subject of acceleration B Center of oscillation M Subject

Claims (12)

  An end effector is connected to the shaking mechanism via a universal joint, and the universal joint on the end effector side is arranged at the head level of the seating seat for the subject in a simulator that controls the shaking mechanism and makes the subject feel the shaking. Simulator.   A plurality of actuators are connected between the base frame and the end effector via universal joints, and each actuator is controlled to have a shaking mechanism for shaking the subject cockpit in the cabin on the end effector. A simulator for bodily sensation, characterized in that a cabin frame is erected on an end effector, and a universal joint with an actuator is disposed at a cabin frame position at a head level of a subject seat.   In a simulator in which a plurality of actuators are connected via a universal joint between a base frame and an end effector, and each subject is controlled to feel the subject's shaking, a subject cockpit is fixed to the lower surface of the end effector, and the subject A simulator comprising a subject seat in the cockpit.   The simulator according to any one of claims 1 to 3, wherein the cabin, the subject cockpit, or the subject seat is movable up and down.   The simulator according to any one of claims 1 to 4, wherein the end effector-side universal joint and the rod tip of the actuator can be slide-adjusted.   The simulator according to any one of claims 1 to 5, wherein a turning mechanism is built in the end effector or a cockpit support base placed on the end effector.   The simulator according to any one of claims 1 to 6, wherein the subject seat or the fixed floor of the subject seat is pivotable.   The simulator according to any one of claims 1 to 7, wherein the oscillation mechanism is a six-axis motion base including six linear actuators.   The simulator according to any one of claims 1 to 8, characterized in that the simulator simulates acceleration during driving operation of a vehicle or an aircraft.   In a simulator in which a plurality of actuators are connected via a universal joint between a base frame and an end effector, and each subject is controlled to feel the subject's shaking, a subject cockpit is fixed to the lower surface of the end effector, and the subject A simulator comprising a subject board in the cockpit, and the subject board can be moved up and down.   A simulation method, wherein the simulation is performed by changing the height position of the subject seat to an arbitrary position by the simulator according to claim 4.   A simulation method, comprising: performing simulation after setting the height position of the subject seat according to the height of the subject using the simulator according to claim 4 or 5.

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