WO1997015363A1

WO1997015363A1 - System and method for controlling a simulator assembly

Info

Publication number: WO1997015363A1
Application number: PCT/AU1996/000643
Authority: WO
Inventors: Colin Edward Cartwright
Original assignee: SIMTECH AUSTRALIA Pty Ltd
Current assignee: SIMTECH AUSTRALIA Pty Ltd
Priority date: 1995-10-20
Filing date: 1996-10-14
Publication date: 1997-05-01
Anticipated expiration: 1999-04-14
Also published as: AUPN613295A0

Abstract

A system (1) for controlling one or more actuators for providing movement of a simulator assembly. The system (1) includes a processor (6) for processing movement request signals generated from a movement signalling unit (5) to thereby provide one or more actuator position request signals. There is also an actuator controller (3) in communication with the processor (6) to thereby receive one or more position request signals and control directional movement of the actuators in accordance with the position request signals. The system (1) also has an actuator position detector (4) associated with a respective one of the actuators when a requested position is reached in accordance of the position request signals, wherein in use when the actuator position detector (4) detects that the requested position has been reached, the actuator controller (3) disallows movement of said one or more actuators until another movement request signal is generated.

Description

SYSTEM AND METHOD FOR CONTROLLING

A SIMULATOR ASSEMBLY

FIELD OF INVENTION THIS INVENTION relates to a system and method for controlling one or more actuators of a simulator assembly and in particular, but not necessarily limited to, controlling actuators associated with a simulator assembly which can be used in conjunction with a personal computer or any other processor.

In another aspect, this invention relates to a user controllable movement signalling means for controlling one or more actuators of a simulator assembly.

BACKGROUND ART

Simulators are commonly used for entertainment or training purposes. One basic form of simulator is generally used in the home in which a personal computer displays images upon a Visual Display Unit

(VDU). The simulator is controlled by a computer program in which images are displayed to the VDU by communication with a joystick, keypads or other user controllable movement signalling means to provide an illusion of, for instance, piloting an aircraft (flight simulation) or driving a vehicle(i.e. motor racing simulation).

In general, one problem with simulators of this type used in the home is that the reality of simulation is limited as they do not usually have a means of providing movement in conjunction with images displayed on the VDU.

Due to cost limitations, simulator assemblies used in amusement arcades generally provide movement about a single axis. Simulator assemblies can provide movement about two of three axis, the three axis being a longitudinal, a transverse and a vertical axis. The rotations about these three axes provide simulated roll, pitch and yaw respectively. Such simulator assemblies are relatively expensive, large, heavy and are neither suited for home use or arcades.

Further to the above, simulator assemblies have been developed and used which provide simulated roll, pitch and yaw. Examples of which are disclosed in patent specifications GB 154860 and US 4584869.

However, such simulators are relatively expensive, have unnecessary complex support and actuation mechanisms, and require relatively large amounts of space which is not always available in the home and is an undesirable overhead in amusement arcades. For these reasons simulators which provide simulated roll, pitch and yaw are generally only found at amusement parks, fair grounds or in training institutions such as an aircraft pilot training centre.

In the inventor's patent specification identified by WO 94/24651 there is disclosed a simulator assembly which alleviates some of the problems associated with prior art simulator assemblies. However, the systems and methods for controlling actuators may require complex processing as is the case with conventional prior art simulator assemblies. In this regard prior art systems and methods use dedicated software specifically designed to control directional movement of actuators wherein the software also controls graphical simulation representations on a VDU. As a result, prior art systems and methods are usually software and platform specific and require expensive, high speed processors with large amounts of memory in order to adequately control the actuators during simulation. Accordingly, systems and methods for controlling simulator assembly actuators in accordance with graphical simulation representations are expensive or impractical for the majority of platforms (such as personal computers or dedicated hardware simulator processors for home use). Further, the need for expensive processors and large memorys limits the reality of simulation.

It is an object of this invention to overcome or alleviate at least one of the problems associated with controlling one or more actuators of a simulator assembly.

SUMMARY OF THE INVENTION

According to one aspect of the invention there is provided a system for controlling one or more actuators for providing movement of a simulator assembly, said system including:

processing means for processing movement request signals generated from a movement signalling means to thereby provide one or more actuator position request signals;

actuator control means in communication with said processing means to thereby receive said one or more position request signals and control directional movement of said one or more actuators in accordance with said one or more position request signals; and

actuator position detection means for detecting when said one or more actuators have reached a requested position in accordance of said one or more position request signals,

wherein said system is characterised such that in use when said position detection means detects that the requested position has been reached, said actuator control means disallows movement of said one or more actuators until another one of said movement request signals is generated.

The processing means may be pure combination logic, microprocessor based, programmable memory based, firmware or otherwise.

Preferably, said actuator control means may include a plurality of position control switching means activatable by said actuator position detection means.

Suitably, said actuator control means may include sets of spaced conductive pads arranged to be selectively electrically coupled to a respective conductive pickup means of said actuator position detection means.

In another form said actuator control means may include sets of spaced light emitting diodes arranged to be selectively coupled to a respective sensor wherein said actuator position detection means is adapted to selectively affect the coupling of the diodes.

Suitably, said control means may include:

first control means associated with a first one of said actuators for controlling directional movement thereof; and

second control means associated with a second one of said actuators for controlling directional movement thereof.

The control means may include a third control means associated with a third one of said actuators for controlling directional movement thereof.

Preferably, said actuator position detection means may include: first position detection means associated with said first position control means; and

second position detection means associated with said second position control means.

The actuator position detection means may include a third position control means associated with said third position detection means.

Preferably, said first and said second position detection means maybe operatively coupled to a respective actuator of a simulator assembly.

Preferably, said third position detection means is operatively coupled to a respective actuator of a simulator assembly

Preferably, said system may include said movement signalling means in communication with said processing means.

Suitably, said movement signalling means may be controllable by a person using said simulator assembly.

Preferably, said movement signalling means may comprise a plurality of switch means for generating digitised said request signals, wherein at least some of said switch means are arranged to be actuated sequentially. Alternatively, said movement signalling means may comprise one or more variable resistors for generating one or more analogue signals; and one or more analogue to digital conversions coupled to said resistor(s) for providing digital request signal(s) corresponding to said analogue signal(s).

The switch means may be mechanical, optical or otherwise. Suitably, said movement signalling means may be adapted such that when operated said request signals are always different to that of when said movement signalling means is at a biassed rest position.

Preferably, said movement signalling means may include processor signalling means for providing one or more processor signals to a processor adapted to control graphical simulation representations displayed on a visual display unit in response to said processor signals. The processor signalling means may be adapted to generate analogue or digital signals.

According to another aspect of the invention there is provided a method for controlling one or more actuators for providing movement of a simulator assembly in conjunction with representations on a visual display unit, said representations being determined by interactive graphical software adapted to respond to signals generated from a user controllable movement signalling means, said method including the steps of:

processing movement request signals generated from a movement signalling means to thereby provide one or more actuator position request signals; and

controlling directional movement of said one or more actuators in accordance with said one or more position request signals,

wherein the step of controlling is effected independently of said software.

According to another aspect of the invention there is provided a method for controlling one or more actuators of a simulator assembly, said method including the steps of:

processing digital movement request signals to provide one or more actuator position request signals;

controlling directional movement of said one or more actuators in accordance with said one or more actuator position request signals; and detecting when said one or more actuators have reached a requested position in accordance of said one or more position request signals,

wherein when the step of detecting determines that said one or more actuators have reached said requested position movement thereof is disallowed until a different one of said movement request signals is processed.

Suitably, the method may be further characterised by the prior step of generating said digital movement request signals in response to activation of a user controlled signalling means, said user controlled signalling means also providing signals to interactive graphical software.

Preferably the method may be effected upon a system as described herein above.

According to another aspect of the invention, there is provided a user controllable movement signalling means for controlling one or more actuators of a simulator assembly, the movement signalling means being adapted to provide two signals one of which is for interacting with graphical software for providing visual representation on a visual display unit and the other of the signals being a digital signal for controlling directional movement of said one or more actuators.

According to another aspect of the invention there is provided a system for controlling one or more actuators for providing movement of a simulator assembly in conjunction with representations on a visual display unit, said representations being determined by interactive graphical software adapted to respond to signals generated from a user controllable movement signalling means, said system including:

processing means for processing movement request signals generated from a movement signalling means to thereby provide one or more actuator position request signals; and

actuator control means in communication with said processing means to thereby receive said one or more position request signals and control directional movement of said one or more actuators in accordance with said one or more position request signals,

wherein said system is adapted to control direction movement of said one or more actuators independently of said software.

Suitably, there may be actuator position detection means associated with said one or more actuators for detecting when said one or more actuators have reached a requested position in accordance of said one or more position request signals.

BRIEF DESCRIPTION OF THE DRAWINGS

In order that the invention may be readily understood and put into practical effect reference will now be made to a preferred embodiment illustrated in the accompanying drawings in which:-

FIG 1 is a block diagram of a system for controlling actuators of a simulator assembly,

FIG 2 illustrates a perspective view of an accelerator unit which can be used in the system of FIG 1,

FIG 3 illustrates a perspective view of a brake unit which can be used in the system of FIG 1,

FIG 4 illustrates a perspective view of a steering unit which can be used in the system of FIG 1,

FIG 5 illustrates a rear view of the steering unit of FIG 4,

FIG 6 illustrates a perspective view of a joy stick unit which can be used in the system of FIG 1,

FIG 7 is a perspective view of a throttle unit which can be used in the system of FIG 1,

FIG 8 is a plan view of a rudder control unit when in a rest position which can be used in the system of FIG 1,

FIG 9 is a further plan view of the rudder control unit when moved away from the rest position,

FIG 10 is a illustrated a schematic diagram of switch contacts of FIGS 2 to 9,

FIG 11 is a schematic diagram of a first processing module which can be used in the system of FIG 1,

FIG 12 is a schematic diagram of a first actuator control module and actuator position detection unit which can be used in the system of FIG 1,

FIG 13 is a perspective view of a simulator assembly which can be controlled by the invention as illustrated in FIGS 1 to 12, FIG 14 is a side view of the simulator assembly of FIG 13, FIG 15 is a rear view of a simulator assembly of FIG 13, and FIG 16 is a flow diagram illustrating the method of how the invention controls the simulator assembly of FIG 13.

APPENDIX I illustrates the code programmed into EPROM

UNITS of a processing means forming part of FIG 1

DETAILED DESCRIPTION OF THE INVENTION

Referring to FIG 1 there is illustrated a block diagram of a system 1 for controlling actuators of a simulator assembly, system 1 includes processing means 2 in communication with an actuator control means 3 and actuator position detection means 4 operatively coupled to actuator control means 3.

The system 1 is coupled to a movement signalling means 5 such that processing means 2 receives movement request signals generated from signalling means 5 which is also in communication with a processor 6. Interactive graphical software controls processor 6 to control graphical simulation representations displayed on a visual display unit 7 ((VDU) in response to signals generated from signalling means 2. Examples of processor 6 are personal computers or any other suitable platforms, for example, dedicated hardware for running simulator games on a VDU which are commonly known under the trade marks Sega, Nintendo, Atari, etc. In another form the dedicated hardware may form part of a simulator and associated assembly used in an amusement arcade or other entertainment establishments.

Referring to FIGS 2 to 9 there is illustrated the movement signalling means 5 which may comprise an accelerator unit 8, brake unit 9 and a steering unit 10 when for example motor racing simulation is required. However if, for instance, flight simulation is required then movement signalling means 5 may comprise a joystick unit 11 , throttle unit 12 and rudder control 13.

Accelerator unit 8 illustrated in FIG 2 comprises a lever 14 activatable by a foot pedal (not shown) mountable to lever 14 at aperture 14a. Lever 14 is pivotally mounted about pivot pin 16 to support brackets 15 extending from a base member 15a and biased to the illustrated rest position by a coil spring 17. A cog 18 is also pivotally mounted about pivot pin 16 to brackets 15 and cog 18 is operatively coupled to a cog 19 associated with a shaft of a standard three terminal potentiometer 20 (variable resistor). Accordingly, cog 18 movies in unison with lever 14 about pin 16. A further cog 21 is operatively coupled to cog 19, and cog 21 is associated with a shaft of a rotary oak switch 22 comprising a plurality of switch contacts AO to A5 which provide six switches in conjunction with a common wiper arm 23 and an annular conductive common rail 23a. Thus when lever 14 pivots about pin 16 a varying resistance can be obtained from potentiometer 20 and switch contacts AO to A5 will be activated sequentially.in which rotary oak switch 22 is a make before brake switch. Brake unit 9 illustrated in FIG 3 is identical to accelerator unit 8 and accordingly all components are numbered identically to that of accelerator unit 8 except switch contacts of oak switch 22 are numbered A6 to A11.

Steering unit 10 illustrated in FIGS 4 and 5 comprises a steering wheel 24 mounted to a shaft 25 to which is also mounted to a cam 26. A three terminal potentiometer 28 is mounted to a bracket (not shown for clarity), to which is also mounted right actuator switches 29, 30 and left actuator switches 31, 32.

Switches 29, 30, 31 and 32 are in contact with cam 26 and are open circuit in the rest position of steering unit 10 as illustrated. However, full permitted rotation of shaft 25 by use of wheel 24 in one direction will cause one or both of switches 29 and 30 or alternatively 31 and 32 to become closed. In addition, rotation of shaft 25 causes a varying resistance of potentiometer 28. To allow shaft 29 and thereby cam 26 to return to the rest position there are springs 27 attached at one end to the bracket not shown and the other ends are attached to a lug 27a which is mounted to shaft 25. The outputs of right actuator switches 29, 30 are identified by A12R and A13R which are electrically connected to a first processing unit of processing means 2 which is associated with an actuator of a simulator assembly. Similarly, the outputs of the left actuator switches 31, 32 are also identified by A12L and A13L, and are connected to a second processing unit of processing means 2 which is associated with another actuator of the simulator assembly.

Joystick unit 11 illustrated in FIG 6 comprises a Joystick lever 33 pivotally mounted to frame 34 about a pivot pin 35. Frame 34 is pivotally mounted to bracket 36 by pivot pins 34a one of which is coupled to a shaft of a forward/back three terminal potentiometer 37 mounted to bracket 36 and the other of pins 34a is coupled to a cog assembly 38a associated with a forward/back rotary oak switch 38 mounted to bracket 36. Attached to frame 34 are opposing springs 39 which are mounted to bracket 36 and bias frame 34 to the rest position as illustrated.

Frame 34 has a slot 40 through which Joystick lever 33 extends and protrudes into a slot 41 in a pivotal member 42 which is pivotally mounted to bracket 36 about two pivot pins 42a one of which is coupled to a left/right three terminal potentiometer 43 mounted to bracket 36 and the other of pins 42a is coupled to a cog assembly 44a associated with a left/right oak switch 44 mounted bracket 36.

Attached to pivotal member 42 are opposed springs 45 which are mounted to bracket 36 and bias pivotal member 42 to the rest position as illustrated. Accordingly, Joystick lever 33 can be pivotally operated in both left/right and forward/back (down/up) directions whilst operating potentiometers 37, 43 and oak switches 38, 44 thereby varying the resistance values of potentiometers 37, 43 and selectively opening and closing switch contacts of oak switches 38,44. Rotary oak switch 38 has a common contact and six switch output contacts A0 to A5 which in the rest position as illustrated contacts A2 and A3 are closed and A0, A1, A4 and A5 are open. When Joystick lever 33 is fully forward switch contact AO is closed and contacts A1 to A5 open. When Joystick lever 33 is fully back switch contact A5 is closed and A0 to A4 open. The rotary oak switch 38 is a make before brake switch therefore as lever 33 is moved forward the next contact A1 is closed before A2 is opened. Similarly when lever 33 is moved backwards A4 is closed before A3 is opened.

Rotary oak switch 44 is also a make before brake switch has a common contact and six switch output contacts A6L, A7L, A8L, A6R, A7R and A8R. In the central position as illustrated switch contacts A6L to A8L and A6R or A8R are open. When Joystick lever 33 is fully left A6L is closed and all others are open and when Joystick lever is fully right A6R is closed and all others open.

Also mounted to bracket 36 are two rows of switches 39a, 39b, switches 39a have a flexible activation arm which is operatively coupled to frame 34 and there are four switch contacts SW3, SW4, SW5, SW6 associated with switches 39a all of which are open in the rest position. However, if joystick lever 33 is pivoted left then SW3 and SW5 will close and if pivoted right SW4 and SW6 will close. Switches 39b have a flexible activation arm which is operatively coupled to pivotal member 42 and there are two switch contacts SW1, SW2 associated with switches 39b. In the rest position SW1 is open and SW2 is closed. SW1 will remain open during forward movement from the rest position of joystick lever 33 (SW2 remaining closed). If joystick lever 33 is pulled in the reverse direction from the rest position SW1 will close and SW2 will open.

Throttle unit 12 illustrated in FIG 7 is similar to accelerator unit 8 except that lever 14 is hand operated and switch contacts of oak switch 22 are numbered A9 to A13. Accordingly, all of the components of throttle unit 12 are numbered the same as accelerator unit 8 in which in the rest position all switch output contacts A9 to A13 are open.

Rudder control unit 13 illustrated in FIGS 8 and 9 comprises a base 50 to which are pivotally mounted two parallel levers 51 , 52. Lever 51 is pivotally mounted about a pivot pin 53 which has an associated cog 54 operatively coupled to cogs 55, 56 on respective shafts 57, 58 of rudder potentiometer 59 and rudder rotary oak switch 60 which are mounted on base 50. Lever 52 is pivotally mounted about pivot pin 61 and pedals 62, 63 bridge levers 51, 52 wherein each of pedals 62, 63 are pivotally mounted to respective levers 51 , 52 about pivot pins 64.

Adjustable springs (not shown) mounted to frame 50 around pivot pin 61 bias levers 51, 52, in a rest position as illustrated.

Rotary oak switch 60 is a make before brake switch and has switch contacts A7L, A8L, A7R and A8R which are all open in the rest position. When left rudder pedal 63 is pushed forward to a maximum left position as illustrated by in FIG 9 switch contacts A7L are closed and contacts A8R, A7R and A8L are open. Alternatively, when right rudder pedal 62 is pushed forward switch contacts A7R are closed and contacts A8R, A7L, A8L open. Similarly, potentiometer 59 will vary in resistance during operation of rudder control unit 13.

Illustrated in FIG 10 is a schematic electrical diagram of contacts A0 to A13 of signalling means 5 when in a rest position. Also shown are electrical connections of signalling means 5 to plug in connectors HMR1, HML1, HMF1, HMR2, HML2 and HMF2.

As illustrated, HMR1 , HML1 and HMF1 are for use when, for example, motor racing simulation is required, whereas HMR2, HML2 and HMF2 are for use when flight or space travel simulation are required. To provide a distinguishing signal to processing means 2, A14 of each connector HMR2, HML2 and HMF2 are connected to + 5 volts.

In use, either the set of connectors, HMR1, HML1 and HMF1 will be plugged into respective connectors of processing means 2 or alternatively the set of connectors HMR2, HML2 and HMF2 may be plugged into the respective connectors of processing means 2. However, by suitable switching (i.e., by multiplexing) either set could be connected to a respective connector of processing means 2 without the need for physical unplugging and plugging.

Referring to FIG 11 there is illustrated a first processing module 70 of processing means 2, first processing module 70 is for controlling a right actuator RA of a simulator assembly. Module 70 comprises four EPROMS U1, U2, U3 and U4 having 15 address lines AO to A14 electrically connected to a socket S1 for connection to AO to A14 of plug HMR1 or alternative HMR2 as described in FIG 10. All address lines A0 to A14 and outputs of EPROMS U1 to U4 are coupled to ground by 10K ohm pull-down resistors and inputs E, G of each EPROM U1 to U4 are directly connected to ground. EPROMS U1 and U2 have combined outputs DQ1 and DQ13 which provide a thirteen bit data bus associated with supplying a binary controlling code for movement of right actuator RA of a simulator assembly in an upward direction only. Similarly, EPROMS U3 and U4 have combined outputs Q1 to Q13 which provide a thirteen bit data bus associated with supplying a binary code for controlling right actuator RA in a downward direction only.

Both data buses DQ1 to DQ13 and Q1 to Q13 are electrically connected to a 26 pin socket H1A via diodes D1 to D26.

There is also a second processing module 71 of processing means 2 for controlling a left actuator LA of the simulator assembly which is identical to module 70 and is therefore not illustrated, however, socket S1 of module 71 is connected to plug HML1 or alternatively HML2. Further, there is a third processing module 72 of processing means 2 for controlling a front actuator FA which again is identical to module 70 and therefore is not illustrated, however, socket S1 of module 72 is connected to plug HMF1 or alternatively HMF2.

Referring to FIG 12 there is illustrated a first actuator control module 80 comprising one part of actuator control means 3 for controlling directional movement of right actuator RA. Control module 80 comprises an upward signalling set of aligned spaced conductive pads 81 and a downward signalling set of aligned spaced conductive pads 82. Pads 81 , 82 are mounted on an electrically non-conductive substrate NC1. There are 13 of pads 81 each one being electrically connected in the order as shown to an individual one of data bits DQ1 to DQ13 of plug H1B which is plugged into socket H1A of module 70. Similarly, there are 13 pads 82 each one being electrically connected in the order shown to an individual one of data bits Q1 to Q13 of H1B. Also shown is first actuator position detection unit 83 of actuator position detection means 4 for detecting the position of right actuator RA. Unit 83 in this embodiment comprises a respective conductive brushes (conductive pickups) 84, 85 arranged to move up and down respective pads 81 , 82 during upward or downward movement of right actuator RA. Conductive brush 84 is electrically connected to a base electrode of a transistor T1 via a 10k ohm resistor R31 and diode D31 and a pull-down resistor R30 is connected at a common node of R31 and D31. Emitter electrode of Transistor T1 is directly connected to ground and the collector electrode of Transistor T1 is connected to one side of a coil of a relay RL1 the other side of which is connected to 24 volts via a 100 ohm resistor. Relay contacts of RL1 are electrically configured when energised to provide 24 volts D.C. to a right actuator motor 86 which is operatively coupled to drive right actuator RA.

Conductive brush 85 is electrically connected to a base electrode of Transistor T2 via a 10 k ohm resistor R33 and Diode D32 and a pull-down resistor R32 is connected to a common node of R33 and D32. Emitter electrode of transistor T2 is directly connected to ground and the collector electrode of transistor T2 is connected to one side of a coil of a relay RL2 the other side of which is connected to 24 volts via a 100 ohm resistor. Relay contacts of RL2 are electrically configured when energised to provide 24 volts D.C. to right actuator motor 86 in reverse polarity to relay contacts of relay RL1 when energised.

There is also a second actuator control module 88 comprising a part of actuator control means 3 for controlling directional movement of left actuator LA and a second actuation position detection unit 89 of position detection means 4. Module 88 is identical to module 80 and is not illustrated to avoid repetition, however, conductive pickup arms 84, 85 of unit 89 are arranged to move up and down respective pads 81, 82 during upward or downward movement of left actuator LA. In this regard, pads 81 and 82 are connected via plug H1B to socket H1A of module 71. Furthermore motor 86 of module 88 is a left actuator motor which is operatively coupled to drive left actuator LA.

There is also a third actuator control module 90 comprising part of actuator control means 3 for controlling directional movement of front actuator FA and a third actuation position detection unit 91 of position detection means 4 detecting the position of front actuator FA. Module 90 is identical to module 80 and is therefore not illustrated. However, conductive pickup arms 84, 85 of unit 91 are arranged to move up and down respective pads 81, 82 during upward or downward movement of front actuator FA. In this regard, pads 81 and 82 are connected via plug H1B to socket H1A of module 72. Furthermore motor 86 of unit 90 is a front actuator motor which is operatively coupled to drive front actuator FA.

In FIGS 13 to 15 there is illustrated an example of simulator assembly 100 which can be controlled by system 1. Assembly 100 includes left actuator (LA) 101 which is a linear drive operatively coupled to motor 86. There is also illustrated a carriage track 102, associated with left actuator 101, comprising two upright members 103 mounted to a base 104. Mounted to one of the upright members 103 is non-conductive substrate NC1 and associated conductive pads 81, 82 of control module 88. Mounted on track 102 by rollers 105 is a carriage 106 comprising a vertical member 106a and cross members 106b. Rollers 105 are rotatably mounted to respective cross members 106b to allow movement of carriage 106 along track 102. Carriage 106 is mounted to left actuator 101 by a bolt 107. Movement of actuator 101 causes upward or downward movement of carriage frame 106 along track 102 and mounted to frame 106 is a bracket 108 to which are mounted conductive brushes 84, 85 mounted in non electrically conductive mounts. Brushes 84,85 are operatively coupled to the actuator and positioned to selectively contact respective conductive pads 81, 82 of second actuator control module 88 during movement of carriage frame 106 along track 102.

Right actuator (RA) 109 of assembly 100 has an associated assembly comprising track 102, carriage frame 106, and mounted to frame 106 is a bracket 108 to which are mounted conductive brushes 84, 85 mounted in non electrically conductive mounts. Brushes 84,85 are operatively coupled to the actuator and positioned to selectively contact respective conductive pads 81, 82 which is similar to the assembly associated with left actuator 101. Extending from each carriage frame 106 associated with respective actuators 101,109 is an arm 110 to which is pivotally mounted to a respective pulley 111.

Two mufti stranded flexible cables 112 (commonly known as aircraft cable) are attached at one end to base frame 104 and each engage a respective pulley 111. The other ends of cables 112 are coupled to rear sides of a user support member 113 which includes simulator assembly seat 114 and sensory isolation cover 115. Springs 116 extend between user support member 113 and respective right and left support struts 117 associated with right and left tracks 102 and reduce rocking of support member 113. Springs 116 have a webbing to cover pulleys 111 and arm 110.

Spaced longitudinally from actuators 101, 109 is a front actuator (FA) 120 mounted to base frame 104. Front actuator 120 has an associated assembly of track 102, carriage frame 106, and mounted to frame 106 is a bracket 108 to which are mounted conductive brushes 84, 85 mounted in non electrically conductive mounts. Brushes 84,85 are operatively coupled to the actuator and positioned to selectively contact respective conductive pads 81 , 82 and are similar to the assembly associated with left actuator 101.

Extending from front actuator 120 is a rigid arm 121 which is pivotally attached by a ball joint assembly 122 to front part of user support member 113. Ball joint 122 assembly allows user support member 113 to pivot about an upright axis U, a longitudinal axis L and a transverse axis T. In this regard movement of only right actuator 109 or only left actuator 101 provides movement of user support member 113 about upright axis U and longitudinal axis L. Concurrent movement in the same direction of both left and right actuators 101, 109 provides movement of user support member 101 about transverse axis T.

When movement of left and right actuators 101, 109 occurs concurrently in opposite directions movement about upright axis U and increased movement about the longitudinal axis is also provided. This therefore allows the two actuators 101 and 109 to provide roll, pitch and yaw to user support member 113. Furthermore movement of front actuator 120 in combination with relative movement of one or both actuators 101 and 109 increases the range of roll, pitch, yaw and combinations thereof.

Referring to FIG 16 there is illustrated a flow diagram of the system of FIG 1 when in use. As shown at step 150 movement signalling means 5 generates two signals, one being an analogue signal generated from potentiometers as described above the other being a digital signal from the switches which generate signals A0 to A13. The analogue signal is sent at step 151 to processor 6 for interactive communication to control visual representations on VDU 7 by use of interactive graphical software. The signals A0 to A13 are supplied to processing means 2 at step 152 to thereby provide one or more actuator position request signals. At step 153 one or more of actuators 101, 109 and 120 are controlled in accordance with the position request signals and step 154 detects when the respective one or more actuators 101, 109 and 120 have reached the position indicative of the position request signals which thereby stops further movement of one or more of actuators 101 , 109 and 120. The steps are repeated each time position request signals are generated at step 150. However, if a new signal is generated before position detection means 4 detects that one or more actuators 101, 109 and 120 have reached the position indicative of the position request signals then the actuators 101 , 109, 120 will move in accordance with the newly generated position request signal(s).

The method and system as described above allows the controlling of one or more actuators 101 , 109 and 120 independent of interactive graphical software. Accordingly, the invention can be used on numerous platforms , complex and computationally expensive software is not required to control the actuators during simulation. In this regard, the invention may be used in conjunction with existing interactive graphical software used on computers and other platforms in which the software is not adapted to provide movement commands to actuators.

Appendix I illustrates the functionality of processing means 2 for actuators 101, 109 and 120. As illustrated by block 1 columns A0 to A14 correspond to inputs A0 to A14 of processing means 2. Furthermore each row Q and DQ are cross referenced with columns of output numbers 1 to 13 and refer to the outputs Q1 to Q13 and DQ1 to DQ13. For example, output column 13 when cross referenced with row DQ refers to output DQ13, and when output column 13 is cross referenced with row Q this refers to output Q13. Block 1 also shows hexidecimal inputs A0 to A14 which is equivalent to binary inputs A0 to A14, hexidecimal outputs 13 to 6 and 5 to 1 that are hexidecimal equivalents of respective binary outputs 13 to 6 and 5 to 1. For example, hexidecimal inputs Ao to A14 of 0020 is equivalent to binary inputs A0 to A14 being set to 00000000100000 and hexidecimal outputs 13 to 6 of 7F is equivalent to binary output 13 to 6 of 1111111. Although this will be apparent to a skilled addressee, both binary numbers and hexidecimal numbers are illustrated in Block 1, whereas all subsequent blocks only illustrate hexidecimal values.

Blocks 1 to 36 are for controlling a respective one of left and right actuators 101, 109, for motor racing or vehicle simulation. Referring to BLOCK 1, when all switch contacts A0 to A14 are open (logic 0 which corresponds to the first two rows of Block 1), Q7 and DQ7 which relates to the middle pads 81 , 82 associated with each actuator 101, 109 are at logic 0. Further, outputs DQ13 to DQ8 are logic 1, Q13 to Q8 are logic 0, DQ6 to DQ1 are logic 0 and Q6 to Q1 are logic 1. This corresponds to hexidecimal outputs 13 to 6 for Q having a value of 01 , hexidecimal outputs 5 to 1 for Q having a value of 00, hexidecimal outputs 13 to 6 for DQ having a value of FC and hexidecimal outputs 5 to 1 for DQ having a value of 00 . Accordingly, the logic values applied to pads 82, 83 of both left and right control modules will energise respective relays RL1 or RL2 when pickups 84, 85 are not contacting pads DQ7, Q7 and therefore electrical current will be supplied to one or both motors 86 of left or right actuators 101, 109 resulting in respective pickups 84, 85 moving towards a mid position indicative of the position of pads 81 , 82 connected to DQ7 and Q7.

When pickups 84, 85 reach pads DQ7 and Q7 of a respective left or right actuator 101, 109 energised relay RL1 or RL2 will de-energise and the associated actuator 101 ,109 will stop moving. However, if a different combination of open and closed switch contacts A0 to A13 occurs before position DQ7, Q7 of left and right actuators 101, 109 is reached then respective motor(s) 86 will be controlled accordingly by the logic values appearing on associated pads 81, 82. In this regard BLOCK 1 illustrates the logic condition of each of pads DQ1 to DQ13, Q1 to Q13 of modules 80, 88 when accelerator unit 8 is activated thereby switching contacts A0 to A5. Similarly blocks 2 to 12 illustrate the logic conditions of pads DQ1 to DQ13, Q1 to Q13 of modules 80, 88 when brake unit 9 is activated thereby switching contacts A6 to A11 in combination with A0 to A5 controlling accelerator unit 8. Further blocks 13 to 36 illustrate the logic condition of each of DQ1 to DQ13, Q1 to Q13 of modules 80, 88 when steering unit 10 is used to switch contacts A12, A13 in combination with A0 to A11 of accelerator unit 8 and brake unit 9.

Blocks 37 to 48 illustrate the logic condition in each of DQ1 to DQ13, Q1 to Q13 of module 90 which is associated with controlling motor 86 of front actuator 120 during motor racing simulation or vehicle simulation. In this regard, activation of accelerator unit 8 provides upward movement of front actuator 120 and activation of brake unit 9 provides downward movement of front actuator 120. Blocks 49 to 62 are applicable to flight simulation and space travel simulation mode and is distinguished from driving or logic 1 being constantly applied to A14. In particular, blocks 49 to 54 relate to controlling left and right actuators 101, 109 via respective pads 81, 82 and pickups 84, 85 whereas blocks 55 to 62 relate to controlling front actuator 120 via respective pads 81 , 82 and pickups 84, 85.

Although the invention has been described with reference to a preferred embodiment, it is to be understood that the invention is not limited to the specific embodiment described herein. For example, the potentiometers associated with movement signalling means 5 may be replaced with switches in which analogue signals are then supplied to processor 6. Also, the switches of movement signalling means 5 which control the logic values of AO to A14 may be substituted by potentiometers and then coupled through analogue to digital converters to thereby supply logic values A0 to A14. Finally, it should be also apparent to a skilled addressee that the invention is not limited to the specific embodiment as described herein. For example, the invention may be used to control the simulator assembly and associated actuators as described in inventor's earlier patent specification identified by WO 94/24651.

Claims

1. A system for controlling one or more actuators for providing movement of a simulator assembly, said system including:

actuator position detection means for detecting when one or more actuators have reached a requested position in accordance of said one or more position request signals,

2. A system as claimed in claim 1 , wherein said actuator control means includes a plurality of position control switching means activatable by said actuator position detection means.

3. A system as claimed in claim 1 , wherein said actuator control means include sets of spaced conductive pads arranged to be selectively electrically coupled to a respective conductive pickup means of said actuator position detection means.

4. A system as claimed in claim 1 , wherein said actuator control means includes sets of spaced light emitting diodes arranged to be selectively coupled to a respective sensor wherein said actuator position detection means is adapted to selectively affect the coupling of the diodes.

5. A system as claimed in claim 1 , wherein said control means includes:

6. A system as claimed in claim 1 , wherein the control means includes a third control means associated with a third one of said actuators for controlling directional movement thereof.

7. A system as claimed in claim 1 , wherein, said actuator position detection means includes:

first position detection means associated with said first position control means; and

8. A system as claimed in claim 7, wherein the actuator position detection means includes a third position detection means associated with said third position control means.

9. A system as claimed in claim 7, wherein said first and said second position detection means are operatively coupled to a respective actuator of the simulator assembly.

10. A system as claimed in claim 8, wherein said third position detection means is operatively coupled to a respective actuator of a simulator assembly.

11. A system as claimed in claim 1 , wherein said movement signalling means is in communication with said processing means.

12. A system as claimed in claim 1, wherein said movement signalling means is controllable by a person using said simulator assembly.

13. A system as claimed in claim 1, wherein said movement signalling means comprises a plurality of switch means for generating digitised said request signals, wherein at least two of said switch means are arranged to be actuated.

14. A system as claimed in claim 1 , wherein said movement signalling means comprises one or more variable resistors for generating one or more analogue signals; and one or more analogue to digital conversion means coupled to one or more said variable resistor(s) for providing digital request signal(s) corresponding to said one or more analogue signal(s).

15. A system as claimed in claim 1, wherein said movement signalling means includes processor signalling means for providing one or more processor signals to a processor adapted to control graphical simulation representations displayed on a visual display unit in response to said processor signals.

16. A method for controlling one or more actuators for providing movement of a simulator assembly in conjunction with representations on a visual display unit, said representations being determined by interactive graphical software adapted to respond to signals generated from a user controllable movement signalling means, said method including the steps of:

processing movement request signals generated from the movement signalling means to thereby provide one or more actuator position request signals; and

wherein the step of controlling directional movement is effected independently of said software.

17. A method for controlling one or more actuators of a simulator assembly, said method including the steps of:

controlling directional movement of said one or more actuators in accordance with said one or more actuator position request signals; and detecting when said one or more actuators have reached a requested position in accordance of said one or more position request signals, wherein when the step of detecting determines that said one or more actuators have reached said requested position movement thereof is disallowed until a different one of said movement request signals is processed.

18. A method as claimed in claim 17 further characterised by the prior step of generating said digital movement request signals in response to activation of a user controlled signalling means, said user controlled signalling means also providing signals to interactive graphical software.

19. A user controllable movement signalling means for controlling one or more actuators of a simulator assembly, the movement signalling means being adapted to provide two signals one of which is for interacting with graphical software for providing visual representation on a visual display unit and the other of the signals being a digital signal for controlling directional movement of said one or more actuators.

20. A system for controlling one or more actuators for providing movement of a simulator assembly in conjunction with representations on a visual display unit, said representations being determined by interactive graphical software adapted to respond to signals generated from a user controllable movement signalling means, said system including:

wherein said system is adapted to control directional movement of said one or more actuators independently of said software.

21. A system as claimed in claim 20, wherein there are actuator position detection means associated with said one or more actuators for detecting when said one or more actuators have reached a requested position in accordance of said one or more position request signals.