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.

Description:
This is a continuation application of U.S. Ser. No. 09/276,739, filed Mar. 26, 1999. 
    
    
     BACKGROUND OF THE INVENTION 
     The present invention is related to a control by a synchronization system between a picture and a motion base in a simulation ride system for moving the motion base in connection with the picture. 
     Also, the present invention is related to a VR (virtual reality) motion producing apparatus, and more specifically, a motion data producing system of a motion base in a simulation ride system for moving a motion base in connection with a CG (computer graphics) picture. 
     Furthermore, the present invention is related to a simulation rider transporting apparatus, and more specifically, to a simulation rider transporting apparatus containing a means for constraining an attitude and a position of a rider, e.g., a seat and an arm; a carriage for mounting this constraining means; a means for constraining that this carriage is transportable; and an actuator. 
     Conventionally, since a picture scenario is determined (non-interactive system), a synchronization between a picture and an operation of a motion base is merely established only at a starting time. Thereafter, a picture apparatus and a motion base control apparatus are independently controlled. 
     Also, conventionally, in a simulation ride system for operating a motion base in connection with a CG picture, for example, in a flight simulator, in order to form motion (movement) of the motion base, namely motion data, a person who are observing this CG picture directly operates this motion to instruct the movement (for example, a direct instruction while actually moving a motion base, this operation is instructed; an off-line instruction such that while moving a model of a motion base, this operation is instructed; and an NC instruction such that while actually entering as numeral values velocities and positional changes in the respective axes of a motion base, this operation is instructed). 
     These conventional instruction methods are directed to such instruction methods for mainly using the motion bases, which are substantially determined by human sensitivities. Therefore, expert techniques are necessarily required, and these conventional instruction methods should required huge amounts of cost and very large numbers of manufacturing stages. On the other hand, while CG (computer graphics) techniques are progressed, pictures are also expressed by computer graphics. As a consequence, the scenario fixed systems are substituted by such systems that scenarios are changed by events. In this scenario fixed system, operation patterns of dynamic objects to be controlled (air plane and vehicle etc.,) are previously defined, namely, the non-interactive system. In the latter system, namely the interactive system, the operation patterns of the dynamic objects to be controlled are changed in response to handle operations. That is, the operation patterns can be hardly predicted. In this latter-mentioned interactive system, since the operation patterns can be hardly predicted, there is such a problem. That is to say, in the conventional system such that the operation patterns have been defined as the initial condition, the operations of the motion base cannot be instructed. 
     Furthermore, the conventional simulation rider transporting apparatus is comprised of: 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; a base; and a forward/backward transportable actuator. Then, as this elevation means, such an elevation device is known (see JP-A-60-143379). This elevation device is located under the first base, the respective actuators are coupled to the first base at the maximum points thereof, and the first base is moved in the swing manner by expanding/compressing the cylinder type rod. 
     In this conventional simulation rider transporting apparatus, since the base is moved in the swing manner by expanding/compressing the cylinder type rod, both the lengths of the actuators and the length of the rod become long. Therefore, there is such a problem that the height of the simulation rider transporting apparatus is increased. Thus, such a high simulation rider transporting apparatus can be hardly installed in the existing facilities. 
     Also, another conventional simulation rider transporting apparatus is known. That is as the elevation means, the cranks are used, end, the drive means is used so as to hold the angle between each of the cranks and the second base as a preselected value and the change this value. However, since torque of the drive means is effected between the second base and the cranks, undesirable situations occur. 
     Moreover, as a means for constraining the first base and the attitude, the constraining mechanism is required in addition to the actuator. Thus, the apparatus becomes complex, which may cause an increase of the weight thereof. 
     Also, there are since cases that although the picture is synchronized with the operation of the motion base at the starting time in the prior art, this synchronization is shifted due to differences in the processing capabilities of the respective control apparatuses thereof. 
     If the picture is not synchronized with the operation of the motion base, then the motion data (operation) which is originally produced in connection with the picture would be executed when the originally set picture scene is displayed. 
     This situation may give unpleasant feelings to the persons who ride on the motion base. As a result, the concentration feelings to the picture play world directed by the simulation ride system would be lost. 
     A subject to be solved by the present invention is to provide a correction means effected in such a case that a synchronization between a picture and operation of a motion base is shifted. 
     The present invention is equipped with the below-mentioned means as a means for solving the above-explained subject without deteriorating concentration feelings of a rider on a motion base with respect to a picture. 
     (1) A correction means fitted to a picture is provided on the basis of a picture. 
     (2) A means for using/correcting a frame No. of a picture sync command every frame during which a picture can be outputted is provided. 
     (3) As the correcting method, the following means are provided: 
     A means for comparing a frame No. present in a picture sync command (frame presently displayed by picture apparatus) with a frame No. indicative of motion data executed by a motion base, for calculating a correction velocity from a difference component to change an operation velocity of the motion base, and thereby for synchronizing the motion data with the picture. 
     A correcting method effected when the frame No. is used is such a means that the motion data is changed into motion data of the relevant frame No. based upon the frame No. of the picture which is outputted from the picture apparatus and is presently imaged, and subsequently, the motion data arranged in a sequential manner are executed so as to synchronize the picture with the operation of the motion base. 
     Even when the synchronization established between the picture and the operation of the motion base is shifted, the motion base control apparatus having the means for solving the above-described problem can maintain the synchronization between the picture and the operation of the motion base without correcting the picture (when the picture is corrected, the frame will drop). 
     Also, another object of the present invention is to provide a VR motion producing apparatus capable of producing motion base operation data from CG data, capable of producing operation data of a motion base even in an interactive system that an operation pattern cannot be previously predicted, and also capable of being widely applied to various motion bases. 
     The present invention is to provide 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, wherein: the object to be controlled is a dynamic object; and the motion model converting means converts the motion model of the dynamic object to be controlled into the motion model of the motion base having the finite stroke. 
     The present invention is to provide a VR motion producing apparatus wherein: the 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. 
     The present invention is to provide a VR motion producing apparatus wherein: the motion model converting means is conversion means for converting in a real time. 
     The present invention is to provide a VR motion producing apparatus wherein: the VR motion producing apparatus is used in a simulation ride system corresponding to an interactive system. 
     The present invention is to provide a VR motion producing apparatus wherein: the VR motion producing apparatus is comprised of: means for extracting coordinate data used to draw the motion model of the 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. 
     The present invention is to provide a VR motion producing apparatus wherein: the 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. 
     Furthermore, the present invention is to provide a VR motion producing apparatus wherein: the 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. 
     The present invention is to provide a VR motion producing apparatus wherein: the 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 the 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. 
     Furthermore, the present invention is to provide a simulation rider transporting apparatus capable of suppressing a height of this simulation rider transporting apparatus to a low height. 
     The present invention is to provide 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 the containing means; a second base arranged under the first base; and elevation means for elevating said first base, wherein: the elevation means owns two cranks which are arranged opposite to each other between the first base and the second base; the two cranks own crank arms whose one edge is coupled to the second base, and a crank rod for coupling the other edge of the crank arm to the first base; and the simulation rider transporting apparatus is comprised of drive means for changing a relative angle between the two crank arms into a predetermined value, and for holding the changed relative angle. 
     The present invention is to provide a simulation rider transporting apparatus wherein: coupling means having a rotation free degree along three axial directions is arranged between the crank rod and the first base, and the drive means is a single motor. 
     The simulation rider transporting apparatus is further comprised of: means for driving the second base along forward/backward direction. 
     Concretely speaking, the 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 the 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. 
    
    
     BRIEF DESCRIPTION OF THE DRAWINGS 
     FIG. 1 is a system structural diagram according to an embodiment of the present invention. 
     FIG.  2 A and FIG. 2B are I/F command specification diagram between a picture and a motion control apparatus in the embodiment of FIG.  1 . 
     FIG. 3 is a diagram for showing an arrangement of the motion control apparatus and a data flow thereof. 
     FIG. 4 is a diagram for representing a format of motion data. 
     FIG. 5A, FIG.  5 B and FIG. 5C are explanatory diagrams for indicating a deviation of a picture from a motion control. 
     FIG. 6 is a flow chart of a speed correction function. 
     FIG. 7 is a flow chart of a frame correction mechanism. 
     FIG. 8 is a diagram for showing one structural example of a simulation ride system employed in a VR motion producing apparatus according to another embodiment of the present invention. 
     FIG. 9 is a diagram for showing an example of picture output coordinate data in the structural example of FIG.  8 . 
     FIG.  10 A and FIG. 10B are explanatory diagrams for explaining an example of an output format of a picture system in the structural example of FIG.  8 . 
     FIG. 11 is a diagram for showing an example of a motion executing mechanism on a motion base having a finite stroke in the structural example of FIG.  8 . 
     FIG. 12A, FIG. 12B, and FIG. 12C are explanatory diagram for explaining an example of reverse converting formulae in the motion executing mechanism. 
     FIG. 13 is an explanatory diagram for explaining an example of a model execution flow. 
     FIG. 14 is a side view for showing a simulation rider transporting apparatus according to a further embodiment of the present invention. 
     FIG. 15 is a plan view for representing an arrangement of an elevation means of the simulation rider transporting means indicated in FIG.  14 . 
     FIG. 16 is plan view for representing a construction of an elevation actuator of the simulation rider transporting apparatus shown in FIG.  14 . 
     FIG. 17 is a front view for indicating the elevation actuator shown in FIG.  16 . 
     FIG. 18 is a side view for indicating the construction of the elevation actuator shown in FIG.  16 . 
     FIG. 19 is an explanatory diagram for showing a coupling means between the elevation actuator and the mounting base. 
     FIG. 20 is an explanatory diagram for explaining in detail the coupling means between the elevation actuator and the mounting base. 
    
    
     DETAILED DESCRIPTION OF THE EMBODIMENTS 
     Referring now to FIG. 1, an embodiment of the present invention will be explained. FIG. 1 indicates a system arrangement for carrying out the present invention. 
     A picture apparatus uses a projector  12  from a picture control apparatus  11  to display a picture on a screen  13 . 
     A motion base  15  is controlled by a motion base control apparatus  14 . The motion base control apparatus  14  is connected to the picture control apparatus  11  by a LAN  16 , so that data can be transmitted/received between them. 
     When in response to a starting instruction, the picture apparatus outputs picture data stored inside the picture control apparatus  11  to the projector  12  every 1 frame, both a picture starting command  21  and a picture sync command  22  shown in FIG.  2 A and FIG. 2B are transmitted from the picture control apparatus  11  to the LAN  16 , and are received by the motion control apparatus  14 . 
     In FIG.  2 A and FIG. 2B, the respective abbreviated words are given as follows: 
     MSGTYPE: message sort 
     DELSEG: reception segment (message buffer) deleting attribute 
     RSPQNo: message responding queue No. 
     CTYPE: message type 
     CFUNC: message function sort code 
     RTNC: return code 
     DTL: data length 
     DAT: data 
     The motion control apparatus  14  is so arranged that this motion control apparatus  14  is separated into a man/machine controller processor (MCP)  31  functioning as an I/F with respect to the LAN shown in FIG. 3, and also a realtime control processor (RCP)  32  for controlling a motion control in a realtime manner, and these processing systems are coupled with each other by way of a DPRAM  34  equipped with an interrupt function. 
     First, when the picture starting command  21  transmitted from the picture control apparatus  11  of FIG. 1 to the LAM  16  is received by a LAN control system  33  of the MCP  31 , the LAN control system  33  writes a command into an area of the DPRAM  34  so as to transfer the picture starting command to the RCP  32 , and issues an interrupt in order that the RCP  32  can recognize this picture starting command (process (1)). 
     When the interrupt is established in the RCP  32  at a process ( 2 ), a handler  40  of the RCP  32  is operated (process ( 3 )), and data is passed via the man/machine controller processor (process ( 4 )) to an MCL control  35  for controlling the motion (process ( 5 )). 
     In the MCL control  35 , a check is made as to whether or not the motion base is set under initiation available state. If the motion base is set under initiation available state, an external clock process  36  is initiated (process A) by which a trigger is applied so as to regularly initiate a time control  37  (servo control). 
     The external clock process  36  initiates the time control  37  every time a time period of 1 frame (namely, time interval used to display 1 frame by picture apparatus  1 ) (process B). The time control acquires data from a motion data file  38 , which are arranged in the order of the frame number (process D). While using this data as an instruction value, the servo control is carried out (process E), so that operation of a motion base is realized. 
     During operation, motion data having a format of FIG. 4 for each of frames is derived every an external clock time period, an instruction value is outputted to a servo (process E), and a feedback G is monitored to operate so as to realize a control in connection with a picture. In this case, symbol “Unsigned Char” is 1-byte data without code, symbol “Unsigned Short” shows 2-byte data without code, and symbol “Long” represents double precision floating decimal point data. 
     However, this process operation would cause a difference with respect to the motion control apparatus for originally controlling the frame display period as a constant frame display period, since this frame display period of the picture apparatus. 
     When this condition is explained with reference to FIG. 5A, FIG. 5B, FIG. 5C, under picture control, a picture originally drops in a frame N+1 ( FIG.  5 B). In synchronism with this picture drop, the motion base must carry out operation of the drop condition  51 . However, when the synchronization is shifted, or deviated (in FIG. 5B, motion base is delayed), operation of the horizontal operation  52  is carried out. 
     When this delay happens to occur, the picture cannot be synchronized with the operation of the motion base, so that this condition would give unpleasant feelings to a person riding on the motion base, and also would deprive concentration feelings to the picture. 
     As a consequence, in accordance with the present invention, such a system can be realized that the operation of the motion base is corrected, and even when the frames of the picture apparatus are fluctuated, the operation of the motion base can be synchronized with the picture by the correction. 
     First, a frame No. present in a picture sync command (namely, frame presently displayed by picture apparatus) is compared with another frame No. indicative of motion data executed by the motion base, a correction velocity is calculated from a difference between them, and the operation velocity of the motion base is changed, so that the motion data can be synchronized with the picture. 
     FIG. 6 indicates a flow chart of this process operation. 
     The motion control apparatus  14  transfers the picture sync command up to the MCL control  35  shown in FIG.  3  similar to the picture starting command. In the MCL control  35 , a frame No. (Fe No., numeral  24  of FIG. 2) is derived from the picture sync command (step  61 ). At the same time, another frame No. (Fm No., numeral  41  of FIG. 4) is derived from the motion data under execution by the time control  37  (step  62 ). While comparing these two frames with each other (step  63 ), when the comparison result is the same, it can be judged that the synchronization is established, and then no correction control is carried out. When the comparison result at the step  63  becomes different, a correction velocity “DV” is calculated in accordance with formula(1) (step  64 ). 
     A calculation method of the correction velocity “ΔV”: 
     
       
           ΔV=Vn− ( ΔL /( T+ΔT ))  (1) 
       
     
     Vn: move velocity up to target position 
     T: reach time up to target position 
     ΔL: move distance from present position up to target position 
     ΔT: sync shift time calculated from difference in frame numbers 
     
       
         Δ T= ( FeNo.−FmNo. )* S   
       
     
     FeNo.: frame No. of picture sync command 
     FmNo.: execution frame No. of motion control apparatus 
     S: 1 frame time period 
     Then, a large/small relationship between the frame Nos is compared (step  65 ). When the frame No of the picture sync command is large, it is so judged that the picture is advanced. In order to increase the operation velocity of the motion base, the correction velocity calculated based on the formula(1) is added to the original operation velocity (step  66 ). 
     When the reverse relationship is established, it is so judged that the picture is delayed (step  65 ). In order to delay the operation velocity, the calculated correction velocity is subtracted (step  67 ). As a result of this process operation, the velocity can be corrected. 
     Next, a description will now be made of the frame correction with reference to FIG.  7 . FIG. 8 is a diagram for showing one structural example of a simulation ride system employed in a VR motion producing apparatus according to another embodiment of the present invention. FIG. 9 is a diagram for showing an example of picture output coordinate data in the structural example of FIG.  8 . FIG.  10 A and FIG. 10B are explanatory diagrams for explaining an example of an output format of a picture system in the structural example of FIG.  8 . FIG. 11 is a diagram for showing an example of a motion executing mechanism on a motion base having a finite stroke in the structural example of FIG.  8 . FIG. 12A, FIG. 12B, and FIG. 12C are explanatory diagram for explaining an example of reverse converting formulae in the motion executing mechanism. FIG. 13 is an explanatory diagram for explaining an example of a model execution flow. 
     As represented in FIG. 8, one example of an arrangement of a simulation ride system with employment of the VR motion producing apparatus according to this embodiment, is arranged by a picture control apparatus  11 , a projector  12 , a screen  13 , a motion base control apparatus  14 , a motion base  15 , and a LAN  16 , and also an input apparatus  17  equipped with an handle. 
     The picture control apparatus  11  stores data picture (picture made by CG) in a system where a scenario is changed by an event (namely, a system such that an operation pattern of a dynamic object to be controlled is changed by manipulating a handle provided on the input apparatus  17 , i.e., an interactive system such that an operation pattern can be hardly predicted). The projector  12  receives the data picture from the picture control apparatus  11  and then projects the picture onto the screen  13 . 
     The motion base control apparatus  14  controls the operation and the like of the motion base  15 . The motion base  15  causes a person to ride thereon. The CAN  16  connects the motion base control apparatus  14  to the picture control apparatus  11 , so that the data can be transmitted/received. The input apparatus  17  is manipulated by the person who rides on the motion base. As a result, the data picture is projected from the picture control apparatus  11  onto the screen  13  by using the projector  12 . In the case that the person who rides on the motion base  15  manipulates the input apparatus  17  in accordance with a content projected on the screen  13 , the person can own the interactive characteristic. 
     When the picture control apparatus  11  starts to project the picture, in order to draw a dynamic object to be controlled (namely, when the person who rides the motion base  15  rides on this object, this person becomes a content as an assumption) within a VR space, the picture control apparatus  11  controls attitude/position data on this VR space to draw the object to be controlled on the VR space. An example of coordinate data Σoi at this time is shown in FIG.  9 . The picture control apparatus  11  produces in a time sequential manner (time instant “i”  91 , time instant i+1,  92 ), coordinate data (attitude and position) of a VR coordinate system Σvr indicated in FIG.  9 . This data is derived in the time sequential manner, this derived data is converted into VR space coordinate data  31 , and then the VR space coordinate data is outputted from the picture control apparatus  11  to the LAN  16 . As indicated in FIG. 10A, the VR space coordinate data  31  is constituted by a picture time period and VR coordinate data. Then, as represented in FIG. 10B, the VR coordinate data is arranged by attitude data (Nvx, Nvy, Nvz, Avx, Avy, Avz) and positional data (Pvx, Pvy, Pvz). The VR space coordinate data  31  is outputted to the LAN  16 , and is received by the motion control apparatus  14 . 
     The motion control apparatus  14  owns the above-explained arrangement of FIG.  3 . 
     First, when the VR space coordinate data is received by a LAN control system  33  of the MCP  31 , the LAN control system  33  writes a command into an area of the DPRAM  34  so as to pass to the RCP  32  (1), and issues an interrupt which can be recognized by the RCP  32 . When the interrupt is made in the RCP  32 , the handler  40  of the RCP  3  is operated (2), the data is transferred to the MCL control  35  for controlling the motion. The MCL control  35  judges as to whether or not the motion base is set under initiatable state. If the motion base is brought into such an initiatable state, then an external clock process  36  is initiated which may apply such a trigger used to regularly initiate the time control  37  (servo control). (A) The external clock process  36  initiates the time control  37  every time period of 1 frame (namely, time interval during which the video control apparatus displays 1 frame), and executes the following control, so that the operation of the motion base in such a manner that motion data of a motion base having a mechanism model shown in FIG. 11 as one example the VR space coordinate data is produced, and this produced motion data is operated as an instruction value. 
     In the time control  37 , both the VR space coordinate data  21  and  22  at a time instant “i” and another time instant “i+1” are acquired. At this time, the data may be defined as follows: 
     Σvr: VR space coordinate system (word coordinate system), 
     Σoi: dynamic object (to be controlled) coordinate system (time instant “i”), 
     Pvi=(Pvxi, Pvyi, Pvzi): origin positional data vector (time instant “i”) of object (to be controlled) coordinate system, 
     Avi=(Avxi, Avyi, Avzi): advance direction vector (time instant “i”) of object (to be controlled) object coordinate, 
     Nvi=(Nvxi, Nvyi, Nvzi): normal direction vector (time instant “i”) of object (to be controlled) object coordinate. 
     It should be noted that the X axis of Σoi is made coincident with Nvi, and the Z axis of Σoi is made coincident with Avi. 
     When the above-described origin positional data vector Pvi of the dynamic object (to be controlled) object coordinate system is used, the velocity vector Vi can be calculated based on formula (2):                  V   →     i     =       |         P   →       i   +   1       -       P   →     i       |         (     i   +   1     )     -   i               (   2   )                                
     Also, a simultaneous transformation matrix “Ai” of the object (to be controlled) coordinate system Σoi at the time instant “i” is given by formula (3):                A   i     =     |             N   →       v                 i                 N   →       v                 i       ×       A   →       v                 i                 A   →       v                 i               P   →       v                 i               0       0       0       1         |             (   3   )                                
     Then, assuming now that a simultaneous transformation matrix from the object (to be controlled) coordinate system Σoi at the time instant “i” to the coordinate system Σoi+1 at the time instant “i+1”, the following formula (4) is established:                        A     i   +   1       =                  A   i     ×     B     i   +   1                       ∴     B     i   +   1         =                  A   i   -     ×     A     i   +   1                     =                |           N       v                 x                 i     +   1             O       v                 x                 i     +   1             A       v                 x                 i     +   1             P       v                 x                 i     +   1                 N       v                 y                 i     +   1             O       v                 y                 i     +   1             A       v                 y                 i     +   1             P       v                 y                 i     +   1                 N       v                 z                 i     +   1             O       v                 z                 i     +   1             A       v                 z                 i     +   1             P       v                 z                 i     +   1               0       0       0       1         |                        (   4   )                                
     It should also be noted that symbol Ai −  is an inverse matrix of Ai, and symbol Ovi (Ovxi, Ovyi, Ovzi) indicates an oriental vector, is equal to Nvi×Avi (outer product vector). 
     Next, a conversion formula from (Nvi+1, Ovi+1, Avi+1) to attitude data of an object to be controlled is described as the following formula (5), the attitude data are expressed by roll (rot(Z, RRvi+1)), pitch (rot(Y, PPvi+1)), and yaw (rot(X, YYvi+1)):                    |             N   →         v                 i     +   1               O   →         v                 i     +   1               A   →         v                 i     +   1             O   →               0                0       0       1         |     =     |                    Crr         -   Srr         0       0           Srr       Crr       0       0           0       0       1       0           0       0       0       1         |           |                    Cpp       0       Spp       0           0       1       0       0             -   Spp         0       Cpp       0           0       0       0       1         |           |                                 1       0       0       0           0       Cyy         -   Syy         0           0       Syy       Cyy       0           0       0       0       1         |                 (   5   )                                
     note=Crr=Crr=cos(RRvi+1), Srr=sin(RRvi+1) 
     Cpp=cos(PPvi+1), Spp=sin(PPvi+1) 
     Cyy=cos(YYvi+1), Syy=sin(YYvi+1) 
     Now, when rot (Z, RRvi+1) −  is multiplexed by both hands from the left direction, the below-mentioned formula (6) is obtained:                |                    Crr       Srr       0       0             -   Srr         Crr       0       0           0       0       1       0           0       0       0       1         |           |           Nvxi   +   1           Ovxi   +   1           Avxi   +   1         0             Nvyi   +   1           Ovyi   +   1           Avyi   +   1         0             Nvzi   +   1           Ovzi   +   1           Avzi   +   1         0           0       0       0       1         |     =     |         Cpp         Spp   ×   Syy           Spp   ×   Cyy         0           0       Cyy         -   Syy         0             -   Spp           Cpp   ×   Syy           Cpp   ×   Cyy         0           0       0       0       1         |             (   6   )                                
     Based upon the above-explained formula, RRvi+1, PPvi+1, and YYvi+1 can be calculated:              -   Srr     *     (     Nvxi   +   1     )       +     Crr   *     (     Nvyi   +   1     )         =       0        
     ∴     Rrvi   +   1       =           tan     -   1            [       (     Nvyi   +   1     )     /     (     Nvxi   +   1     )       ]            
     -   Spp     =     Nvzi   +   1                 Cpp   =       Crr   *     (     Nvxi   +   1     )       +     Srr   *     (     Nvyi   +   1     )                             ∴     PPvi   +   1       =                  tan     -   1       [       -     (     Nvzi   +   1     )       /     (     (       Crr   *     (     Nvxi   +   1     )       +                                        Srr   *     (     Nvyi   +   1     )       )     ]                
     -   Syy     =         -   Srr     *     (     Avxi   +   1     )       +     Crr   *     (     Avyi   +   1     )                 Cyy   =         -   Srr     *     (     Ovxi   +   1     )       +     Crr   *     (     Ovyi   +   1     )                         ∴     Yyvi   +   1       =                tan   -     [     (         -   Srr     *     (     Avxi   +   1     )       +                                    Crr   *       (     Avyi   +   1     )     /     (       Srr   *     (     Ovxi   +   1     )       -     Crr   *     (     Ovyi   +   1     )         )         ]                                
     The position/attitude data which should be operated on the motion base can be calculated based on the position/attitude data of the dynamic object (to be controlled) as previously explained. This can be executed only in such a case that the operation stroke is equivalent to the dynamic object (to be controlled) within the VR space. In this case, in order to realize operation occurred on the motion base having the finite stroke as indicated in FIG. 5 without having any sense of incongruity, converted into motion data by using a motion model having the following converting method, so as to operate mechanism in FIG. 11 concerned with each axis instruction data after converted, converted into a value of ball screw described by analysis chart as in FIGS. 12A,  12 B,  12 C, and actual operation is realized by servo instruction of time control  37  as shown in FIG.  3 . As a basic idea of a motion model, a velocity feeling can be achieved only by using a visual feeling (picture), or a hearing feeling (sound), and a contact feeling (wind) on the motion base having the finite stroke mechanism. As a consequence, such a model capable of increasing concentration feelings of the rider on the motion base is designed by utilizing both the acceleration effect and the gravity effect. 
     Referring now to the analysis diagram shown in FIG. 12A, FIG. 12B, FIG. 12C, the inverse conversion formula will be explained. First, the conversion into the coordinate system of P 1  (P 1  being viewed from seat coordinate) is given as follows, as represented in FIG. 12A, considering now projections of X-Y plane and Y-Z plane (note that there is no adverse influence by Pitch): 
     X′=X+Ls *cos p 
     Z′=Z−Ls *sin p 
     r′=r (rotation centers of Roll and Pitch of a mechanism are “P 1 ” due to arrangement of M 2 , M 3 ) 
     p′=p (rotation centers of Roll and Pitch of a mechanism are “P 1 ” due to arrangement of M 2 , M 3 ) 
     Next, when L 2  and L 3  are analyzed, the inverse conversion formula can be obtained as indicated in FIG.  12 B. 
     Furthermore, when the projection of the X-Z plane is carried out, the inverse conversion formula can be obtained as shown in FIG.  12 C. As a result, L 1 , L 2 , L 3 , and L 4  can be calculated as follows: 
     
       
           L   2 = SQR [( Lb (1−cos  r )/sin α) 2 +( Z−Ls *sin  p+Lb *sin  r ) 2 ] 
       
     
     
       
           L   3 = SQR [( Lb (1−cos  r )/sin α) 2 +( Z−Ls *sin  p−Lb *sin  r ) 2 ] 
       
     
     
       
           L   1 = SQR [(( Lb (1−cos  r )/sin α)cos α− La (1−cos  p ) 2 +( Z−Ls  *sin  p+La  *sin  p ) 2 ] 
       
     
     
       
           L   4 = Lc−[X+Ls  *cos  p +( Lb (1−cos  r )/sin α)cos α] 
       
     
     Next, a description will now be made of conversion models into Surge operation. Heave operation, and Sway operation; a mechanism correction model (Sway correction, Surge correction); and a filtering correction model. 
     (1) Conversion Model into Surge Operation 
     The surge operation corresponds to forward/backward operation of a motion base. Since this motion may give acceleration feelings of a motion base rider along the forward/backward direction, an acceleration velocity of an object to be controlled is calculated from the below-mentioned formula (7). Then in order to realize a finite stroke, a scaling of formula (8) is carried out, so that both an operation stroke and a velocity can be calculated; 
     
       
           Axi=d   2 (|( Pxi+ 1)− Pxi |) /dt   2   (7) 
       
     
     
       
           ΔSxi=ΔSxi =( Lx/ 2)*( Axi/Axmax )  (8). 
       
     
     Note that when Axi&gt;Axmax, it is set: Axi=Axmax. 
     
       
           Vxi=d (|( Pxi+ 1)− Pxi |)/ dt   
       
     
     Axi: Surge axis acceleration velocity (time instant “i”) of object to be controlled on VR, 
     ΔSxi: Surge axis operation amount (time instant “i”), 
     Vxi: Surge axis transport velocity (time instant “i”), 
     Lx: Surge axis maximum operation stroke, 
     Axmax: Surge axis allowable maximum acceleration velocity, 
     Pxi: positional data (X component, time instant “i”) of object to be controlled. 
     (2) Conversion Model to Heave Operation 
     The Heave operation corresponds to upper/lower operations of a motion base. Since this motion may give acceleration feelings of a motion base rider along the upper/lower direction, an acceleration velocity of an object to be controlled is calculated from the below-mentioned formula (9). Then, in order to realize a finite stroke a scaling of formula (10) is carried out, so that both an operation stroke and a velocity can be calculated: 
     
       
           Ayi=d   2 (|( Pyi+ 1)− Pyi |)/ dt   2   (9) 
       
     
     
       
           ΔSyi =( Ly/ 2)*( Ayi/Aymax )  (10) 
       
     
     Note that when Ayi&gt;Aymax, it is set: Ayi=Aymax. 
     
       
           Vyi=d (|( Pyi+ 1)− Pyi |)/ dt   
       
     
     Ayi: Heave axis acceleration velocity (time instant “i”) of object to be controlled on VR, 
     ΔSyi: Heave axis operation amount (time instant “i”), 
     Vyi: Heave axis transport velocity (time instant “i”), 
     Ly: Heave axis maximum operation stroke, 
     Aymax: Heave axis allowable maximum acceleration velocity, 
     Pyi: positional data (Y component, time instant “i”) of object to be controlled. 
     (3) Conversion Model into Sway Operation 
     The Sway operation corresponds to right/left operation of a motion base. Since this motion may give acceleration feelings of a motion base rider along the right/left direction, an acceleration velocity of an object to be controlled is calculated from the below-mentioned formula (11). Then in order to realize a finite stroke, a scaling of formula (12) is carried out, so that both an operation stroke and a velocity can be calculated; 
     
       
           Azi=d   2 (|( Pzi+ 1)− Pzi |)/ dt   2   (11) 
       
     
     
       
           ΔSzi =( Lz/ 2)*( Azi/Azmax )  (12). 
       
     
     Note that when Azi&gt;Azmax, it is set: Azi=Azmax. 
     
       
           Vzi=d (|( Pzi+ 1)− Pzi |)/ dt   
       
     
     Azi: Sway axis acceleration velocity (time instant “i”) of object to be controlled on VR, 
     ΔSzi: Sway axis operation amount (time instant “i”), 
     Vzi: Sway axis transport velocity (time instant “i”) , 
     Lz: Sway axis maximum operation stroke, 
     Azmax : Sway axis allowable maximum acceleration velocity, 
     Pzi: positional data (Z component, time instant “i”) of object to be controlled. 
     (4) Mechanism Correction Mode 1 (Sway Correction) 
     There are some cases that the above-described conversion model could not be applied, depending upon mechanical mechanism. There is shown an example of a mechanical correction model used in this case. First, in such a case that the mechanism has no Sway axis operation mechanism, the Sway amount ΔYo is corrected to a rotation amount Ro of a Roll axis. 
     Assuming now that a position of a coordinate system is “P” and a length of the Roll axis defined from a rotation center up to P is “Lo”, 
     
       
         
           Yo=Lo*Ro. 
         
       
     
     As a consequence, a roll correction amount ΔRo is calculated from formula (13), and then is added to the rotation amount Ro of the Roll axis. 
       ΔRo=ΔYO/Lo   (13) 
     After all, the acceleration feelings along the right/left direction may be realized by increasing the rotation amount “Ro” of the Roll axis by ΔRo. It should be noted that when the length Lo is increased, the roll correction amount ΔRo can be decreased. 
     (5) Mechanism Correction Mode 2 (Surge Correction) 
     There are some cases that the above-described conversion model could not be applied, depending upon mechanical mechanism, which is shown an example of a mechanical correction model  2 . In such a case that the mechanism has no Surge axis operation mechanism, the Surge amount ΔXo is corrected to a rotation amount Po of a Pitch axis. 
     Assuming now that a position of a coordinate system is “P” and a length of the Pitch axis defined from a rotation center up to P is “Lo”, 
     
       
         
           Xo=Lo*Po. 
         
       
     
     As a consequence, a pitch correction amount ΔPo is calculated from formula (14), and then is added to the rotation amount Po of the Pitch axis. 
     
       
           ΔPo=ΔXo/Lo   (14) 
       
     
     After all, the acceleration feelings along the forward/backward direction may be realized by increasing the rotation amount “Po” of the Pitch axis by ΔPo. It should be noted that when the length Lo is increased, the pitch correction amount ΔPo can be decreased. 
     (6) Filtering Correction Model 
     There are some cases that operations are excessively effected when data from a picture is converted in accordance with the above-explained model. In such a case, a low-pass filter model capable of smoothing the operation is prepared. 
     An example of the low-pass filter model employed in the present model is described as follows: It should be noted that symbol “S” denotes a delay.              1   +     T                 L   *     S   /     (     1   +     α   *   T                 L   *   S       )                 (   15   )                       F        (   S   )       =                  {       (     1   +     T                 L   *   S       )     /     (     1   +     α                 L   *   T                 L   *   S       )       }     *                              {       (     1   +     T                 f   *   S       )     /     (     1   +     α                 f   *   T                 f   *   S       )       }                   (   16   )                                
     Note that symbol “∝L” is a lead system when the following condition is given: 
     
       
         ∝&lt;1.0 
       
     
     When this low-pass filter model is employed, a high frequency component can be cut, and thus, the portion where the operations are excessively performed can be out, so that the operations can be smoothed. 
     In FIG. 13, there is shown an example of a block diagram for executing the above-described model. This model is arranged by World Coordinates  131 , Image Coordinates  132 , Transformation into World coordinates  133 , Transformation into Motion-Base coordinate  134 , Transformation of acceleration  135 , Scaling Revision  136 , Filter Control  137 , Transformation Servo Data  138 , and Servo Control  139 . Then, the Image Coordinates  132  first become the Transformation into World coordinates  133 , and then, become the Transformation into Motion-Base coordinates  134  together with World Coordinates  131 , and the Transformation of acceleration  135  is carried out and then becomes the Scaling revision  136 , furthermore becomes the Filter Control  137 , becomes the Transformation Servo Data  138 , and becomes the Servo Control  139 . 
     Referring now to FIG. 14 to FIG. 20, a description will be made of another embodiment of the present invention. 
     A simulation rider transporting apparatus whose entire portion is indicated by reference numeral  1  is equipped with a rider base  144  corresponding to a first base for mounting a seat  142 . The seat  142  constrains a rider “H”, by way of a seat belt and the like. 
     The rider base  144  is supported via an elevation actuator  410  by a base  146  which constitutes a second base. 
     The base  146  is supported via a wheel and the like with respect to a rail (not shown), and the transport of this base  146  is controlled along a direction indicated by an arrow. 
     The base  146  supports the rider base  144  via an actuator  1410  corresponding to  3  sets of elevating means. 
     FIG. 15 represents attitudes of  3  sets of elevation actuators  1410  arranged on the base  146 . A first elevation actuator  1410   a  is arranged at a forward position of a front seat, whereas a second elevation actuator  1410   b  and a third elevation actuator  1410   c  are arranged on both sides of a rear portion of the base  146 . 
     As represented in FIG. 16 to FIG. 19, the elevation actuator  1410  is equipped with two cranks positioned opposite to each other, and is supported by a bracket  100  fixed on the base  146 . 
     The bracket  100  supports a motor  110 , and two crank arms  102  and  104  in a swingable manner. These two crank arms  102  and  104  are driven via a reduction apparatus  120 . 
     In other words, a power shaft of the motor  110  is coupled to the first crank arm  102 , and the housing side of the motor  110  is coupled to the second crank arm  104 . A relative angle “∝” defined by the first crank arm  102  and the second crank arm  104  can be controlled by controlling the motor. In this case, the entire portion of the two crank arms  102  and  104  containing the motor  110  is supported in a swingable manner around an axis “C 1 ” with respect to the bracket  100 . 
     One end portion of a crank rid  140  is rotatably coupled to each of tip portions of the two crank arms  102  and  104 , and the other end portion of this crank rod  140  is coupled to a trunnion-shaped elevation member  150 . 
     The elevation member  150  is coupled via a bracket  180  to the rider base  144 . 
     In FIG. 15, the first elevation actuator  1410   a  is supported around the first axis C 1  in a swingable manner. As a consequence, the crank arms  102 ,  104 , the crank rod  140 , and the elevation bracket  180  are moved within a first plane P 1  which is located perpendicular to the first axis C 1 . 
     The second elevation actuator  1410   b  is arranged in such a manner that an axis “C 2 ” thereof intersects the swing shaft of the first elevation actuator  1410   a.    
     The third elevation actuator  1410   c  is arranged in such a manner that an axis “C 3 ” thereof intersects the swing shaft C 1  of the first elevation actuator  1410   a . These 3 elevation actuators are arranged on the plane in such a manner that three planes P 1 , P 2 , P 3  where the crank arm, the crank rod, and the elevation bracket are moved may intersect a single point “∝”. 
     FIG.  19  and FIG. 20 are explanatory diagrams for showing supporting structures of the elevation bracket  180 . 
     A node  130  provided at a tip portion of the crank arm  102  owns a shaft  132  pivotally supported by a bearing  134 . The shaft  132  pivotally supports a lower end portions of the crank rod  140 . 
     A bracket  142  is fixed on the upper edge portion of the crank rod  140 . The bracket  142  supports both end portions of the trunnion rod  150  by the shaft  144  which is rotatably supported by the bearing  140  around an axis C 11 . A housing  160  is rotatably supported via a bearing  162  around an axis C 12  at a center portion of the trunnion rod  150 . This housing  160  supports a shaft  170  via a bearing  172  around an axis C 13 , and an elevation bracket  180  is fixed with respect to the shaft  170 . 
     The elevation bracket  180  supports the rider base  144 . As a consequence, the elevation bracket  180  is supported with having a free degree along the three-dimensional direction with respect to the crank rod. 
     Since this apparatus is equipped with the above-described structures, the elevation amounts and also the elevation speeds of 3 sets of elevation actuators  1410   a ,  1410   b , and  1410   c  are varied. As a result, the rider base  144  can achieve the pitch motion, the roll motion, and upper/lower motion. In addition to this motion, the base  146  is moved along the forward/backward direction, so that  4  sorts of motion can be achieved. Since these four sorts of motion are combined with each other, the rider H can have simulation experiences. 
     When the rider base  144  is elevated along the upper/lower directions, one arm of the two crank arms  102  and  104  receives force derived from the rotation shaft of the motor  110 , and the other arm thereof receives force derived from the main body portion of the motor  110 . As a result, only one set of the motor may be sufficiently used. Then, since torque of the motor  110  does not give effects to any members other than these two crank arms  102  and  104 . 
     It should be noted that one set of the motor is used in the above-explained embodiment as the non-constraining means for changing the angle defined between the two cranks to hold the changed angle. Alternatively, an oil pressure apparatus may be used. Also, the elevation means are arranged along the right-hand, left-hand, and forward directions with respect to the rider base. Alternatively, these elevation means may be used at more than 3 positions. Furthermore, the forward/backward transporting means may not be employed. In this alternative case, the base may constitute the second base. 
     Since the simulation rider transporting apparatus according to this embodiment is equipped with the above-described structures and need not uses a cylinder type rod, the height of the simulation rider transporting apparatus can be largely suppressed, and further, the large operation stroke can be realized. Then, when the simulation rider transporting apparatus is installed in facilities, this simulation rider transporting apparatus can be readily installed at the existing place without newly digging a bit, and also without newly construct a building. 
     The above-described embodiment is related to the simulation rider transporting apparatus equipped with the seat  142 , the rider H, the base  146 , and the elevation actuator  146 , and the elevation actuator  1410 . Alternatively, while the base  146  is used as a forward/backward transport base, both the forward/backward transport actuator and the base may be provided under this forward/backward base. In this alternative case, although the height of the simulation rider transporting apparatus becomes high, the forward/backward transport base may be transported along the forward/backward direction by way of the forward/backward actuator, and the rider base  144  can be quickly transported along the forward/backward direction. While the elevation actuator is bent along the horizontal direction, is coupled to the base, and also the rod is rotatably coupled to the forward/backward base, the forward/backward transport base can be transported along the forward/backward direction. 
     While the embodiment according to the present invention have been described above, the motion base control apparatus as indicated in FIG.  1  through FIG. 7 corresponds to such a correction means capable of executing the very fine correcting operation for executing the temporal correction every frame in the correction by the temporal aspect, and such a correction means which becomes effective in the frame correction when the synchronization is largely shifted, or deviated. 
     Also, in accordance with the embodiment indicated from FIG. 8 to FIG. 13, since the motion base operation data can be produced from the CG data, even in such an interactive system that the operation pattern cannot be previously predicted, the motion base operation data can be produced, and the application range of the motion base can be widened. 
     Furthermore, in accordance with the embodiment shown in FIG. 14 to FIG. 20, it is possible to obtain the simulation rider transporting apparatus, the height of which can be suppressed to a low height.