VR motion base control apparatus and it's supporting structure

Abstract

In a VR motion producing apparatus and an apparatus, comprising: a reception unit for receiving a presently projected picture frame No. from a picture apparatus; a detection unit for detecting a frame No. of operation data of a motion base presently executed by a motion base; a difference unit for comparing the picture frame No. with the motion frame No. to calculate a difference between them; a calculation unit for calculating an operation velocity of a motion base so as to correct this difference value; and a synchronization unit for reducing the difference between the picture frame No. and the motion frame No. for operating the motion base from the calculated velocity, a simulation rider transporting apparatus is featured by that an object to be controlled is a dynamic object; a motion model conversion unit is an apparatus for converting a motion model of a dynamic object to be controlled into a motion model of a motion base having a finite stroke, and furthermore contains two crank arms whose one ends are coupled to an elevation unit, a motor equal to a drive unit for changing an angle “∝” between the two crank arms into a preselected value to hold this changed angle, and a speed reducing machine; and a crank rod is coupled to a rider containing base while having a rotation free degree along 3 axial directions.

1 . A motion base control apparatus comprising a picture apparatus for projecting a picture on a screen; and control means for sequentially executing motion base operation data constructed of picture data and for controlling motion of a motion base operated in connection with the picture, 
 the control means for controlling the motion of the motion base includes correction means for operation the motion base in synchronism with the picture data of the picture apparatus.    
     
     
         2 . A motion base control apparatus as claimed in  claim 1  wherein: 
 the correction means for operating the motion base includes: means for receiving a frame No. of a picture (picture frame No.) presently projected from the picture apparatus; means for detecting a frame No. of operation data of a presently executed motion base (motion base frame No.); means for comparing the picture frame No. with the motion frame No. to calculate a difference value thereof; means for calculating an operation velocity of the motion base based on the difference value so as to correct said difference value; and means for moving the motion base at the calculated velocity to reduce the difference value between the picture frame No. and the motion frame No., whereby a synchronization operation with the picture can be carried out.  
 
     
     
         3 . A motion base control apparatus as claimed in  claim 1  wherein: 
 the correction means for operating the motion base includes: means for receiving a frame No. of a picture (picture frame No.) presently projected from the picture apparatus; means for detecting a frame No. of operation data of a presently executed motion base (motion base frame No.); means for comparing the picture frame No. with the motion frame No. to calculate a difference value thereof; and means for changing the motion frame No. into the picture frame No. when the difference value is present in order to reduce the difference value, whereby the synchronization operation with the picture can be carried out.  
 
     
     
         4 . A VR motion producing apparatus comprising motion model converting means for converting a motion model of an object to be controlled which is moved within a virtual reality space constituted by computer graphics into another motion model of a motion base having a finite stroke, 
 said object to be controlled is a dynamic object; and said motion model converting means converts the motion model of said dynamic object to be controlled into the motion model of the motion base having the finite stroke.    
     
     
         5 . A VR motion producing apparatus as claimed in  claim 4  wherein: 
 said motion model converting means converts coordinate data of the motion model of the dynamic object to be controlled into coordinate data of the motion model of the motion base.  
 
     
     
         6 . A VR motion producing apparatus as claimed in  claim 4 , or  claim 5  wherein: 
 said motion model converting means is conversion means for converting in a real time.  
 
     
     
         7 . A VR motion producing apparatus as claimed in  claim 4  wherein: 
 said VR motion producing apparatus is used in a simulation ride system corresponding to an interactive system.  
 
     
     
         8 . A VR motion producing apparatus as claimed in  claim 4  wherein: 
 said VR motion producing apparatus is comprised of: 
 means for extracting coordinate data used to draw the motion model of said dynamic object to be controlled;  
 means for calculating a velocity change of the dynamic object to be controlled within the VR space from the extracted coordinate data; and  
 means for calculating an attitude change of the dynamic object to be controlled every time instant.  
 
 
     
     
         9 . A VR motion producing apparatus as claimed in  claim 4  wherein: 
 said VR motion producing apparatus is comprised of: 
 means for resolving the calculated velocity change into the respective axial components of an object coordinate system fixed to a dynamic model to be controlled so as to calculate a velocity change amount of each of the axes of the object coordinate system; and  
 means for scaling the calculated velocity change amount to convert the scaled velocity change amount into a motion amount within a finite stroke of a motion base which is actually operated.  
 
 
     
     
         10 . A VR motion producing apparatus as claimed in  claim 8 , or  claim 9  wherein: 
 said VR motion producing apparatus is comprised of: 
 means for converting the calculated attitude change of the dynamic object to be controlled into a rotation amount of each of the axes of the object coordinate system fixed to the dynamic object to be controlled; and  
 means for scaling the converted rotation amount to convert the scaled rotation amount into a motion amount within a finite stoke of a motion base which is actually operated.  
 
 
     
     
         11 . A VR motion producing apparatus as claimed in  claim 4  wherein: 
 said VR motion producing apparatus is comprised of: 
 means for cutting a frequency component of data at a designated frequency with respect to operation data of the motion base calculated by said operation model connecting means; and  
 means capable of producing motion data of a motion base, taking account of a mechanical mechanism of a motion base.  
 
 
     
     
         12 . A simulation rider transporting apparatus comprising: means for constraining an attitude of a rider and a position thereof such as a seat and an arm; a first base for riding thereon both the rider and said containing means; a second base arranged under said first base; and elevation means for elevating said first base, wherein: 
 said elevation means owns two cranks which are arranged opposite to each other between said first base and said second base; said two cranks own crank arms whose one edge is coupled to said second base, and a crank rod for coupling the other edge of the crank arm to said first base; and said simulation rider transporting apparatus is comprised of drive means for changing a relative angle between said two crank arms into a predetermined value, and for holding said changed relative angle.    
     
     
         13 . A simulation rider transporting apparatus as claimed in  claim 12  wherein: 
 coupling means having a rotation free degree along three axial directions is arranged between said crank rod and said first base.  
 
     
     
         14 . A simulation rider transporting apparatus as claimed in  claim 12  wherein: 
 said drive means is a single motor.  
 
     
     
         15 . A simulation rider transporting apparatus as claimed in any one of  claims 12  to  14  wherein: 
 said simulation rider transporting apparatus is comprised of: 
 means for driving said second base along forward/backward directions.  
 
 
     
     
         16 . A simulation rider transporting apparatus as claimed in  claim 12  wherein: 
 said elevation means owns a rotation free degree with respect to one axial direction which intersects at a right angle a plane where the cranks are moved; and three sets of said elevation means are arranged on front center-portion and both side of rear portions concerned with the second base, and the three elevation means are disposed so that moving surfaces of each crank intersects at one point.  
 
     
     
         17 . A simulation rider transporting apparatus as claimed in  claim 16  wherein: 
 said 3 sets of elevation means are arranged in a direction along which planes where the respective cranks are moved are intersected at one point.