Abstract
Disclosed is an immersive multimodal ride simulator comprising a virtual reality unit for delivering audio-visual simulation of a ride experience to a user, a motion unit for delivering motion simulation of the ride experience to the user wherein, the motion unit comprises a user cockpit, the exterior of which being at least partially rounded, the cockpit comprising an extension member extending therefrom, and a cradle comprising a plurality of omnidirectional load-bearing units. The cradle receives the cockpit such that, the conveyor units permit the 3D rotational movement of the cockpit. The simulator further comprises an actuation assembly for imparting rotational motion to the extension member resulting in the cockpit being subjected to three-dimensional rotation and imparting vertical motion to provide vertical movement. A controller assembly enables the user to interact simultaneously with the audio-visual simulation and motion simulation actuators without having to directly interface to the motion simulation software.
Claims
1. A virtual reality motion simulation system, comprising: a cockpit configured as a partial dome supported by a cradle, the cradle comprised of a plurality of omnidirectional load bearing units to allow the cockpit to omnidirectionally pivot in the cradle via one or more drive components; an audio-visual display to provide a visual stimulus to a user positioned in the cockpit, the display in operable communication with a control system in operable communication with the one or more drive components to provide the user a interactive simulation.
2. The system of claim 1, wherein the partial dome is a downward facing hemisphere.
3. The system of claim 1, wherein the omnidirectional load bearing units are non-force generating drive units.
4. The system of claim 3, wherein the omnidirectional load bearing units are ball transfer bearings.
5. The system of claim 3, wherein the omnidirectional load bearing units are omni-type wheels.
6. The system of claim 3, wherein the omnidirectional load bearing units are Macanum wheels.
7. The system of claim 3, wherein the omnidirectional load bearing units are mounted to a shock absorbing and self-leveling elastomeric material.
8. A virtual reality motion simulation system, comprising: a cockpit configured as a partial dome supported by a cradle, the cradle comprised of a plurality of omnidirectional load bearing units to allow the cockpit to omnidirectionally pivot in the cradle via one or more drive components; and an audio-visual display to provide a visual stimulus to a user positioned in the cockpit, the display in operable communication with a control system comprised of one or more controller units including a replaceable controller assembly in operable communication with the one or more drive components to provide the user an interactive simulation.
9. The system of claim 8, wherein the replaceable controller is in operable communication with the one or more drive components.
10. The system of claim 8, wherein the replaceable controller assembly is comprised of one or more joysticks.
11. The system of claim 8, wherein the replaceable controller assembly is comprised of a steering wheel.
12. The system of claim 8, wherein the replaceable controller assembly is comprised of dual potentiometers to communicate with drive components and the simulation software.
13. The system of claim 8, wherein the control system communicates with an operating system of the interactive simulation to affect the drive components and the simulation software.
14. The system of claim 8, wherein the one or more drive components are configured as a multi-axis drive mechanism to impart rotational motion to the cockpit in response to the user's input to the control system.
15. The system of claim 8, wherein the audio-visual display is a virtual reality goggle.
16. An assembly for delivering an audio-visual virtual reality experience to a user, the assembly comprising: a cradle to receive a cockpit, the cradle including a plurality of omnidirectional load bearing units to permit the rotational and linear movement of the cockpit in response to a user stimulus to a replaceable control unit positioned in the cockpit, the rotational movement provided by one or more drive components; and an audio-visual display to respond simultaneously to the user stimulus.
17. The assembly of claim 16, wherein the one or more drive components is comprised of at least one of the following: a pitch actuator, a roll actuator, a yaw actuator, and a heave actuator.
18. The assembly of claim 17, wherein the cradle is stationary with respect to the cockpit.
19. The assembly of claim 16, wherein the cockpit is removably engaged with the cradle.
20. The assembly of claim 19, wherein the cockpit is dimensioned to permit a user to sit therein and engage with the replaceable control unit.
Description
BRIEF DESCRIPTION OF THE DRAWINGS
[0019] A complete understanding of the present embodiments and the advantages and features thereof will be more readily understood by reference to the following detailed description when considered in conjunction with the accompanying drawings wherein:
[0020] FIG. 1 illustrates a perspective view of the immersive multimodal ride simulator, according to some embodiments;
[0021] FIG. 2A illustrates a front elevation view of a user's head mounted with a VR unit, according to some embodiments;
[0022] FIG. 2B illustrates a side elevation view of a user's head mounted with a VR unit, according to some embodiments;
[0023] FIG. 2C illustrates a rear perspective view of a user's head mounted with a VR unit, according to some embodiments;
[0024] FIG. 3A illustrates a perspective view of a motion unit, according to some embodiments;
[0025] FIG. 3B illustrates a front perspective view of a hexagonal motion unit, according to some embodiments;
[0026] FIG. 4 illustrates an exploded view of the ride simulator, according to some embodiments;
[0027] FIG. 5 illustrates a sectional view of the actuator, according to some embodiments;
[0028] FIG. 6A illustrates a side elevation view of the user in the cockpit, according to some embodiments;
[0029] FIG. 6B illustrates a front elevation view of the user in the cockpit, according to some embodiments;
[0030] FIG. 7A illustrates a perspective view of a controller assembly, according to some embodiments;
[0031] FIG. 7B illustrates a perspective view of a controller assembly, according to some embodiments;
[0032] FIG. 7C illustrates a perspective view of a controller assembly, according to some embodiments;
[0033] FIG. 8 illustrates a flowchart depicting the signal control method employed by traditional simulators for generating motion simulation;
[0034] FIG. 9 illustrates a flowchart depicting the signal control method for generating motion simulation, according to some embodiments; and
[0035] FIG. 10 illustrates a flowchart depicting the second signal control method for generating motion simulation, according to some embodiments.
DETAILED DESCRIPTION
FiguresReference Numerals
[0036] 10Immersive Multimodal Ride Simulator [0037] 12VR Headset [0038] 14Headphones [0039] 16User [0040] 18Cockpit [0041] 20Cabin [0042] 22Seat [0043] 24Door [0044] 26Cradle [0045] 28Hexagonal Frame [0046] 30Leg [0047] 32Omnidirectional Load Bearing Transfer Units [0048] 34Upright Member [0049] 36Wall [0050] 38Pitch Actuator [0051] 40Roll Actuator [0052] 42Yaw Actuator [0053] 44Extension Member [0054] 46Heave Actuator [0055] 48Piston [0056] 50Cylinder [0057] 52Retract Flow Port [0058] 54Extend Flow Port [0059] 56Ball & Socket Joint
[0060] Embodiments of the present disclosure are explained in detail below with reference to the various figures. In the following description, numerous specific details are set forth to provide an understanding of the embodiments and examples. However, those of ordinary skill in the art will recognize a number of equivalent variations of the various features provided in the description. Furthermore, the embodiments and examples may be used together in various combinations.
[0061] Embodiments of the present disclosure are directed to an immersive ride simulator 10 (FIG. 1) capable of simulating various types of vehicular ride experiences that pertain to all kinds of two and four-wheeled motorized vehicles, rail vehicles, flight vehicles, water-borne vehicles, bicycles, etc., for training purposes. The simulator is broadly categorized into three components: a Virtual Reality (VR) unit for delivering interactive audio-visual simulation of a ride experience to a user, a motion unit for delivering interactive motion simulation of the ride experience to the user and a controller assembly for enabling the user to interact with (and control) both the audio-visual and motion simulations directly and individually, while both the simulations complement each other.
[0062] Notably, the user experiences motion simulation as the motion unit, which, as enabled by the controller unit and the actuation assembly, is subjected to pitch (i.e., rotation about a lateral axis), roll (i.e., rotation about a longitudinal axis), yaw (i.e., rotation about a vertical axis) and heave (i.e., vertical displacement). As will be apparent from the following body of text, the simulator is configured such that, the controller unit is disposed in direct operative communication with the actuation assembly by eliminating simulation software interface/communication therebetween. This renders the simulator simple in construction and inexpensive.
[0063] As can be appreciated from FIGS. 2A through 2C, the VR unit comprises a VR headset 12 and a pair of audio headphones 14 (or earphones) connected to the VR headset 12. While the VR headset 12 delivers a visual simulation of the ride experience to the user 16, the headphones 14 deliver auditory simulation of the same. In one embodiment, instead of the headphones 14, one or more external speakers may be employed for delivering the auditory simulation to the user 16. The VR headset 12 may employ a smartphone therein for running the simulation software resulting in the conveyance of the audio-visual simulation to the user 12 via the display thereof. In another embodiment, the VR headset 12 itself may inherently include a processor and display means for running the simulation software and rendering the corresponding audio-visual simulation respectively.
[0064] Referring to FIG. 1, the motion unit comprises a cockpit 18 and a cradle 26 (FIG. 3A) for rotatably receiving the cockpit 18 therewithin. The cockpit 18 comprises a rounded structurepreferably a hemispherical structurewith the top and bottom surfaces thereof being flat and rounded respectively. Preferably, the diameter of the hemispherical structure is between six and seven feet. Centrally-disposed within the cockpit 18 is a rectangular cabin 20, within which, a cockpit seat 22 is located for seating the user. As can be appreciated from the referred drawing, a door 24 defined on the circumference of the cockpit 18 that leads to the cabin 20. The seat 22 is interchangeably disposed within the cabin 20 so as to be replaced with, say, a dummy motorbike in the event of the vehicle being simulated is a motorbike. In another example, the seat 22 may be completely done away with and replaced with just a walking treadmill style platform in the event of the simulation pertains to, say, a gaming environment with an extraterrestrial terrain.
[0065] Referring to FIG. 1, the cockpit 18 further comprises an extension member 44 rigidly extending therefrom. The extension member 44 comprises a vertical section extending centrally from the bottom of the cockpit 18 and a horizontal section extending rigidly from the free extremity of the vertical section. In one embodiment, extension member 44 is disposed atop the cockpit 18 by means of a plurality of support rods extending between the extension member 44 and the cockpit. The utility of the extension member 44 will become apparent from the following body of text.
[0066] Referring to FIG. 3A, the cradle 26 comprises a framed member including an annular, horizontal, regular hexagonal frame 28, which is supported by a plurality of legs 30. The inner side of the hexagonal frame is fitted with a plurality of omnidirectional ball transfer units 32 such that, the ball transfer units 32 are equidistant with respect to one another. In one embodiment, a circular frame may be employed in lieu of the hexagonal frame 28. Notably, any annular regular polygonal frame may be employed as long as the functionality thereof is not compromised. Preferably, anywhere between 20 and 30 ball transfer bearings are used as the omnidirectional load bearing transfer units. In one embodiment, as can be appreciated from FIG. 3B, the hexagonal frame comprises a plurality of integral, slightly-curved, upright support members 34 (preferably four) that equidistant with respect to each other. The inner side of each upright member is fitted with a plurality of ball transfer bearings 32. In one embodiment, Mecanum wheels ban be employed in lieu of omnidirectional load-bearing transfer units 32. Another embodiment, the ball transfer bearings are supported on elastomeric material, springs or actuators that allow the balls to remain in contact with the load surface for proper distribution of force. Small defects or tolerances in the load surface can lead to discrepancies in the uniformity of the load bearing surface. Elastomeric, springs or actuators helps to ensure no one ball transfer unit carries a disproportionate load.
[0067] Referring to FIGS. 3A and 3B, the cockpit 18 is received within the cradle 26 such that, the bearing surface of the omni-directional load-bearing of the ball transfer units 32 abut the hemispherical exterior of the cockpit 18. In one embodiment, each ball transfer unit 32 comprises spring-loaded units allowing the ball to automatically adjust to the variations and imperfections in the hemispherical contour of the cockpit 18. The motion unit, as can be appreciated from FIG. 1, further comprises a circular (or hexagonal) wall 36 surrounding the cradle 26. In the embodiment where the extension member 44 is disposed atop the cockpit 18, the wall 36 is also disposed atop the cockpit 18 such that, the wall 36 surrounds the extension member 44. The functional engagement between the wall 36 and the extension member 44 will become apparent from the following body of text.
[0068] Referring to FIG. 4, the actuator assembly comprises, for example, a plurality of light-duty pneumatic rotational actuators, wherein each rotational actuator is configured to impart one of pitch, roll and yaw to the cockpit 18. Notably, the ball transfer units 32 (FIGS. 3A and 3B) allow the cockpit 18 to be freely three-dimensionally rotated within the cradle 26 as the cockpit 18 is subjected to three-directional rotation (i.e., pitch, roll and yaw) by the actuator assembly. An actuator comprises a piston-cylinder arrangement, which when activated causes the piston 48 (FIG. 5) at a default mid position to either extend from or retract into the cylinder 50 (FIG. 5). Notably, the length of an actuator extends between a piston extremity and a cylinder extremity. As can be appreciated from FIG. 5, each cylinder 50 comprises a pair retract and extend flow ports 52 and 54 disposed at the opposing extremities thereon. The ports 52 and 54 help in enabling the piston 48 to slidably move and stay stationary within the cylinder 50.
[0069] Referring to FIG. 4, the plurality of rotation actuators comprises a pitch actuator 38, a roll actuator 40 and a yaw actuator 42 that subject the cockpit 18 to pitch, roll and yaw respectively. The extremities of the rotational actuators are secured by means of a ball & socket joint 56 that permit the relative movement with respect to the extension member 44. More particularly, the cylinder extremities of the rotational actuators are secured to the inner surface of the circular wall 36 (FIG. 1) by means of the aforementioned ball & socket joint 56. The piston extremities of the pitch and roll actuators 38 and 40 are secured at the bottom of the vertical section, while the piston extremity of the yaw actuator 42 is secured to the free extremity of the horizontal section.
[0070] Referring to FIG. 4, as the pitch actuator 38 is activated by means of a stepper motor, the extension and retraction of the piston, by virtue of it being connected to the extension member 44, causes the cockpit 18 to tilt back and forth or vice versa (as seen in FIG. 6A) thus simulating a pitch. Similarly, as the roll actuator 40 is activated, the extension and retraction of the piston, by virtue of it being connected to the extension member 44, causes the cockpit 18 to tilt sidewards (as seen in FIG. 6B) thus simulating a roll. As the yaw actuator 42 is activated, the extension and retraction of the piston causes the cockpit 18 to rotate about the central vertical axis thereof thus simulating a yaw. In the embodiment where the extension member 44 is disposed atop the cockpit 18, the rotational actuators are connected to the extension member 44 in the similar fashion thus rendering the functionality thereof identical to that of what is taught in the aforementioned embodiment.
[0071] Referring to FIG. 4, the actuator assembly further comprises a plurality of vertically disposed pneumatic heave actuators 46. The cylinder and piston extremities of each heave actuator 46 abut the ground and the bottom extremity of a leg 30 (FIG. 3A) respectively. As the heave actuators 46 are simultaneously activated, the extension and retraction of the piston, by virtue of it being connected to the leg 30, causes the cradle 26 and thereby the cockpit 18 (and thus the entire simulator 10) to be elevated and lowered respectively thus simulating a heave. In one embodiment, the actuator assembly employs one or more heave actuators 46 to be disposed underneath the cockpit seat 22 (or underneath the aforementioned exemplary dummy motorbike, or the like). This enables just the seat 22 to be subjected to heave instead of the entire simulator 10. A potentiometer works in operative communication with each actuator so as to determine the position of the piston 48 with respect to the corresponding cylinder 50. The position of the piston 48 translates into the degree of pitch, roll, yaw and heave the cockpit 18 is subjected to.
[0072] The controller assembly comprises an interchangeable modular setup of controls as shown in FIGS. 7A through 7C that enable the user to interact with and control the audio-visual and motion simulation. An example of a controller assembly for an automobile ride simulation could comprise a steering wheel (FIG. 7A), a gear rod and a plurality of foot pedals. Another example of a controller assembly for a motorbike (or bicycle) ride simulation could be a handlebar with an accelerator, front brake and clutch controls and foot pedals for rear brake and gears. Yet another example of a controller assembly for an aircraft ride simulation could be controls employed in a conventional aircraft. Other examples of a controller assembly could be simple joystick and a controller pad as seen in FIGS. 7B and 7C. The simulator is configured such that, each controller assembly is, for example, easily replaceable by a simple latching arrangement.
[0073] The aspect of Interacting with and controlling the audio-visual simulation by means of controller (assembly) is fairly commonplace in the art. For example, steering the steering wheel of the controller assembly left results in the virtual automobile in the visual simulation being swerved left. However, as can be appreciated from FIG. 8, in the motion simulators known in the art, the controller signals emanating from the controller assembly 810 (by virtue of the user operating the controller assembly) are run through a computer's operating system that runs the simulation software 820 (which renders the interactive audio-visual simulation 830), which then interprets signals and relays corresponding motion commands to the motion simulator 850 (i.e., the actuator assembly). The motion simulator 850 then proceeds to execute the commands from the simulation software 820 resulting in motion simulation.
[0074] Referring to FIG. 9, the simulator of the present invention is configured such that, the signals emanating from the controller assembly 810 bypass the simulation software 820 and are directly relayed to the actuation assembly 840 resulting in the cockpit being subjected to the pitch, roll, yaw and heave. In order words, the controller assembly 810 is disposed in direct communication with the actuation assembly 840 whereby, the actuators are controlled directly by the output signals from the controller assembly 810. More particularly, the controller assembly 810 employs, for example, dual potentiometers 910 that mechanically and/or electrically split the signals therefrom into media and motion signals. While the media signal is relayed to the simulation software while the motion signal is relayed to the actuator assembly 840. Notably, the motion signal is converted into a digital signal before being fed into a microcontroller, which in turn relays the output thereof to the actuator assembly 840.
[0075] In an alternative embodiment, the signals from the controller assembly 810 that are first passed on to the computer's operating system (whereon the simulation software is installed) are intercepted via a common subprogram or API running within the operating system 1010 (FIG. 10). Thereafter, the media signal continues to the simulation software 820, while the motion signals from the API directed to the actuator assembly. This embodiment still bypasses the need for a simulation software interface between the controller assembly and the actuation assembly.
[0076] Embodiments and examples are described above, and those skilled in the art will be able to make various modifications to the described embodiments and examples without departing from the scope of the embodiments and examples. For instance, the simulator can be used for entertainment purposes such as for example, playing racing-based VR video games.
[0077] Although the processes illustrated and described herein include series of steps, it will be appreciated that the different embodiments of the present disclosure are not limited by the illustrated ordering of steps, as some steps may occur in different orders, some concurrently with other steps apart from that shown and described herein. In addition, not all illustrated steps may be required to implement a methodology in accordance with the present disclosure. Moreover, it will be appreciated that the processes may be implemented in association with the apparatus and systems illustrated and described herein as well as in association with other systems not illustrated.
