KR101810834B1

KR101810834B1 - The skydiving feel simulator system based virtual reality

Info

Publication number: KR101810834B1
Application number: KR1020150149660A
Authority: KR
Inventors: 권순열; 원경태
Original assignee: (주)아레스
Priority date: 2015-10-27
Filing date: 2015-10-27
Publication date: 2017-12-20
Also published as: KR20170048944A

Abstract

The present invention relates to a virtual reality-based skydiving bodily sensation simulator system, and more particularly, to a simulator system simulating a virtual reality using a computer to perform skydiving after boarding an aircraft, , A sensor interface, a virtual reality-based sky diving bodily sensation simulator system using dynamics modeling technology for free fall and parachute descent.

Description

The virtual reality-based skydiving experience simulator system

In the case of high-altitude airborne units, there is almost no environment for practicing free-fall stance, and in spite of many training on land, it often leads to many accidents when falling.

Therefore, there is a need to construct an airborne training and training environment that maximizes the effect of the least amount of time, regardless of time and place. From the basic free - fall posture practice to the indirect experience of the actual drop environment, It is necessary to provide a technique capable of training in a comprehensive manner from the emergency response capability in case of a breakdown, so that a technique capable of minimizing the risk of an accident at the time of actual falling has become necessary.

In addition, a professional skydiver or a Dongho personnel experienced a feeling of falling free from a high altitude and prepared to prepare for various occurrences during actual fall, and experienced risk factors beforehand. In this case, it is necessary to use a technique that can be practiced beforehand to be able to put into an actual sky diving, and a system which can save cost and prevent a safety accident is required.

On the other hand, recent rides have been developed as a 4D experience game machine through the fusion of virtual reality technology and experience transfer technology.

However, in the case of existing products, the function of the parachute control training is mainly limited, and the simulation function according to the principle of the free fall is insufficient. In the case of the virtual reality based drop simulation system, , The existing game rendering technique is applied as it is, and it is merely an effect of viewing a big screen, and there is a limit to give a sense of immersion.

In addition, there is a limitation in transferring the sense of speed when falling through due to simulation through only visual stimulation, and there are a few limitations in the step of jumping in the aircraft before the descent and the step of reaching the ground and grounding are omitted in many cases. It is not enough.

Korean Patent Publication No. 10-2015-0096580

SUMMARY OF THE INVENTION Accordingly, the present invention has been made in view of the above problems occurring in the prior art, and it is a first object of the present invention to provide a method and apparatus for modeling free fall dynamics, free fall and paratroop aerodynamic analysis and dynamic characteristics modeling, And a function failure simulator.

The second object of the present invention is to set up a training scenario (region, departure altitude, flight direction, time zone, malfunction status, wind direction, wind speed, etc.) suitable for the ability of the trainee, And to provide evaluation results.

According to an aspect of the present invention, there is provided a virtual reality-based skydiving bodily sensation simulator system,

A support frame (100);

A harness (200) worn by a drop descending trainer;

A motion control line 300 connected to one side of the support frame and connected to the harness on the other side for controlling the motion of the drop descending trainer;

A parachute control rod 400 having one side connected to the support frame and providing an operation signal to the control line sensor;

An HMD 500 which is worn by the drop descending trainer and provides a descent image according to a daytime, nighttime, and climatic environment and a falling state in real time;

A motion sensor unit 700 for performing posture extraction of a drop descending trainer;

A blowing device 800 installed on the lower side of the support frame to provide wind to the drop descending trainee;

A 3D image information database 910 including 3D object modeling information such as a parachute and an aircraft, character information, 3D terrain modeling information,

An image engine unit 920 for processing images such as weather environment, day / night environment, special effects, 3D terrain information,

Weather modeling, parachute flight modeling, high altitude function fault modeling, low altitude function fault modeling A dynamic processing unit 930 for processing the data,

An attitude data extracting unit 940 for acquiring the attitude extracted by the motion sensor unit and extracting and transmitting data for attitude recognition from the free fall dynamics engine unit,

A free-fall dynamics engine section 950 for processing free-fall aerodynamic data,

An HMD rendering unit 960 for rendering a descent image according to the daytime, nighttime, and climatic environments and providing it as an HMD,

A specific posture database 970 that stores information on the free fall posture,

The body model of the trainee is shaped in 3D, and the relative position information about the joints of the human body is obtained through the motion sensor unit mounted on the trainee's arms and legs, and the aerodynamic data of the body and the inertial characteristic data of the body are digitized. And the human body's inertia characteristic data according to the attitude change of the body are calculated from the specific posture database by interpolation and then simulation is performed based on the environment and wind data to calculate the position, posture, speed and drift distance of the trainee A parachute descent management server 900 comprising a trainee freeride fence world mountain 980;

And an instructor control terminal (1000) for processing data for training scenario production, trainee history management, and post review, and for controlling the trainee's parachute drop training simulation.

The virtual reality-based skydive bodily sensation simulator system according to the present invention has the above-described constitution and operation and performs free fall dynamic characteristic modeling, free fall and paratroop aerodynamic analysis, dynamic characteristic modeling, motion control, 3D image provisioning, parachute function failure simulation This is the same effect as actual training.

In addition, training scenarios are set in accordance with the ability of the trainee (region, departure altitude, flight direction, time zone, malfunction status, wind direction, wind speed, etc.) , And the result of individual group evaluation.

FIG. 1 is an overall configuration diagram of a virtual reality-based skydiving bodily sensation simulator system according to an embodiment of the present invention, and FIG. 2 is an example of a support frame.
FIG. 3 is a view showing an example of a lift / motion means formed on the upper side of a support frame of a virtual reality-based skydive bodily sensation simulator system according to an embodiment of the present invention. Motor, and a servo motor dedicated to the right shoulder lift.
5 is a block diagram of a parachute descent management server of a virtual reality-based skydive bodily sensation simulator system according to an embodiment of the present invention.
FIG. 6 is a view showing a control of an instructor control terminal of a virtual reality-based skydiving bodily sensation simulator system according to an embodiment of the present invention, FIG. 7 is an exemplary view of a screen displayed by a post critique data processing unit, FIG. 10 is a view showing a kinematic model of a biped, which is a human joint model, and FIG. 11 is a view showing an example of 3D modeling of a biped, FIG. 13 is a diagram illustrating a relative position of a major joint according to a posture of a current trainer, FIG. 14 is a graph showing an input variable and an output variable of a wind model, Fig. 15 is a 3D example of a parachute failure. Fig.
16 is a block diagram of a supervisory control terminal of a virtual reality-based skydive bodily sensation simulator system according to an embodiment of the present invention.
17 is a block diagram of a hardware controller of a virtual reality-based skydive bodily sensation simulator system according to an embodiment of the present invention.

The following merely illustrates the principles of the invention. Therefore, those skilled in the art will be able to devise various apparatuses which, although not explicitly described or illustrated herein, embody the principles of the invention and are included in the concept and scope of the invention.

Furthermore, all of the conditional terms and embodiments listed herein are, in principle, only intended for the purpose of enabling understanding of the concepts of the present invention, and are not to be construed as limited to such specifically recited embodiments and conditions do.

It is to be understood that the block diagrams herein represent conceptual aspects of exemplary circuits embodying the principles of the invention. Similarly, all flowcharts, state transition diagrams, pseudo code, and the like are representative of various processes that may be substantially represented on a computer-readable medium and executed by a computer or processor, whether or not the computer or processor is explicitly shown .

Also, the explicit use of terms such as processor, control, or similar concepts should not be interpreted exclusively as hardware capable of running software, and may be used without limitation as a digital signal processor (DSP) (ROM), random access memory (RAM), and non-volatile memory. Other hardware may also be included.

Means for solving the problems of the present invention are as follows.

That is, a virtual reality-based skydiving bodily sensation simulator system according to an embodiment of the present invention includes:

A support frame (100);

A harness (200) worn by a drop descending trainer;

An HMD 500 that is worn by the drop descent trainer and provides a descent image according to daytime, nighttime, and climatic environments in real time;

And an instructor control terminal (1000) for processing data for training scenario production, trainee history management, and post critique, and for controlling the trainee's parachute drop training simulation.

In addition, according to a further configuration, an I / O control board 2100 for receiving the input contact signal of the totalization knob and the separation bundle and transmitting the input contact signal to the parachute descent management server,

A speed control unit 2200 for controlling the speed of the blower fan,

An encoder control unit 2300 for receiving the encoder pulse value for the control line and transmitting the value to the master control unit,

And a master controller 2400 for transmitting the data collected from the I / O control board, the speed controller, and the encoder controller to the parachute descent management server. .

At this time, the supervisory control terminal (1000)

A scenario editing unit 1100 for editing the training exercise condition setting and training scenarios,

A training control unit 1200 for controlling departure of an aircraft, parachute estimation and malfunction and treatment,

And a post-criterion data processing unit 1300 for processing post-criticism data on training outline, drop trajectory, training debriefing, and posture correction.

Hereinafter, embodiments of the virtual reality-based skydiving bodily sensation simulator system according to the present invention will be described in detail.

FIG. 1 is an overall configuration diagram of a virtual reality-based skydiving bodily sensation simulator system according to an embodiment of the present invention, and FIG. 2 is an example of a support frame.

1 and 2, the virtual reality-based skydive bodily sensation simulator system of the present invention includes a support frame 100, a harness 200, a motion control line 300, a parachute control line 400, an HMD 500, A photosensor unit 600, a motion sensor unit 700, a blower unit 800, a parachute descent management server 900, and an instructor control terminal 1000.

On the other hand, the display panel 10 is configured on either side of the support frame to output an image in real time.

The support frame 100 is a device for supporting a load of 200 kg or more, and is a base frame in which a harness, a motion control rope, a parachute control rod, and a blower are installed.

As shown in Fig. 3, the lift / motion means 20 is formed above the support frame.

That is, as shown in Fig. 4, a leg-lift dedicated servomotor, a left shoulder lift dedicated servo motor, and a right shoulder lift dedicated servo motor are configured.

The servomotor for the leg lift only processes the inclination of the pitch angle of ± 15 or more. The servomotor for the left shoulder lift handles the inclination to the left by ± 15 degrees and the servomotor for the right shoulder lift Tilt to the right.

In addition, the leg lift only servomotor has a leg lift layer line, a left shoulder lift dedicated servo motor has a left shoulder lift layer line, and a right shoulder lift dedicated servo motor has a right shoulder lift layer line.

In addition, the drop descending trainer wears the harness 200, and the photosensor unit 600 is mounted on the harness to sense the separation and spreading of the parachute.

In the case of a general parachute simulator, a harness, a lizer, a canopy separation bundle, a parachute calculation handle, a parachute control rod, a sensor detachable back plate, a preliminary parachute expansion handle, and the like constitute the operation principle of the above configuration.

In addition, a control line sensor is formed in the parachute control line 400, which is connected to the support frame at one side.

That is, the steering sensor is configured to obtain the steering control signal.

On the other hand, generally, the motion control line 300 is connected to one side of the support frame and the other side is connected to the harness to control the motion of the drop descending trainee.

In addition, the HMD 500 wears a drop descent trainer and performs a function of providing a descent image according to the daytime, nighttime, and climatic environments in real time.

The motion sensor unit 700 performs the posture extraction of the drop descending trainee. At the free descent, the posture of the trainee preferably uses four or more gyro sensors as a recognition method according to the behavior of the practitioner.

The posture of the drop descending trainee is extracted through the motion sensor unit, and wireless type sensors such as a hand, a foot, a head, and a lower body constitute sensors for attitude correction training.

The parachute control and the movement of the trainee can be linked to the video so that the trainee can confirm the current posture.

On the other hand, the air blowing device 800 is installed below the support frame and provides wind to the drop descending trainee.

5 is a block diagram of a parachute descent management server of a virtual reality-based skydive bodily sensation simulator system according to an embodiment of the present invention.

5, the parachute descent management server 900 includes a 3D image information database 910, an image engine unit 920, a dynamic processing unit 930, a posture data extraction unit 940, a free fall dynamics An engine unit 950, an HMD rendering unit 960, a specific posture divide 970, and a trainee free-strong-field world mountain 980. [

The 3D image information database 910 includes 3D object modeling information such as a parachute and an aircraft, character information, 3D terrain modeling information, and the like. In the skydiving simulation process, in order to realize an actual virtual world, And falling topography modeling, weather conditions, shadows, water, rainfall, wind and fog effects to provide interactive virtual reality.

To achieve this, HMD is used to maximize the degree of immersion by applying a viewing angle of 100 degrees or more and a stereo rendering technique.

At this time, the image engine unit 920 processes images such as weather environment, day / night environment, special effects (smoke etc.), and 3D terrain information based on the 3D image information database.

The dynamic processing unit 930 can perform various functions such as weather modeling, parachute flight modeling, high altitude function failure modeling, And so on.

The dynamic processing unit can perform an aircraft departure function, a parachute mountain calculation and a function failure / treatment function, a parachute air launch function, a parachute landing function, and the like.

In skydiving, it is necessary to model dynamic characteristics of the human body, such as air resistance, and dynamics of falling conditions such as gravity, wind direction, wind speed, etc., will be.

As shown in Fig. 11, the functional failure modeling means modeling a shape that is opened when the normal failure occurs and the functional failure occurs.

The modeling according to the high and low elevation levels is a wind modeling technique. The low elevation input is to input only the wind direction and wind speed values at the surface and exit elevation, and the high elevation is the wind direction and wind speed You enter a value.

That is, as shown in FIG. 14, the dynamic processing unit performs wind modeling using the input variables and output variables of the wind model.

Specifically, the wind direction and the wind speed according to the current altitude are calculated based on the input variables.

The posture data extracting unit 940 acquires the posture extracted by the motion sensor unit, extracts data for posture recognition from the free fall dynamics engine unit, and delivers the extracted data.

That is, as shown in FIG. 13, the relative position of the main joint according to the attitude of the current trainee is input. After finding the two attitudes changing in the predetermined descending attitude, the variable position value is output.

A filter for the motion and image control needs to be designed. It means a motion filter for expressing the motion in the motion base at the actual drop.

That is, the value of the motion sensor unit is always extracted based on the basic posture.

In this case, the free-fall dynamics engine unit 950 performs a function for processing free-fall aerodynamic data. Specifically, the aerodynamic data processing of the free-fall dynamics engine unit 950 refers to an initial velocity model and a termination velocity Using the model, it means to calculate the initial inertial velocity, the direction of travel, and the longitudinal velocity of the parachute, based on the change of wind from the free fall section to the just before the parachute deployment,

The initial velocity model computes the initial inertia velocity and the direction of travel of the rigid object and the parachute based on the altitude, travel speed and direction of the aircraft. The longitudinal velocity model calculates the end velocity considering the aerodynamics according to the stiffness posture do.

The initial velocity model predicts the initial inertial velocity and travel direction of the rigid object and the parachute based on the speed and direction of the aircraft. The aircraft azimuth angle

To the coordinate system angle.

And, based on aircraft speed and direction

To calculate the forward speed.

In addition, the direction of discharge of the strong fault is assumed to be opposite to that of the aircraft,

.

On the other hand, the termination speed model performs the termination speed model considering aerodynamics according to the stiffness posture,

Lt; / RTI >

to be.

The HMD rendering unit 960 is a means for rendering a descending image according to the daytime, nighttime, and climatic environments and providing the rendered image to the HMD.

That is, it is an image processing module for rendering a descending image and transmitting it to an HMD to provide a three-dimensional image to a trainee.

Meanwhile, the specific posture divider 970 stores information about a free descending posture. As shown in FIG. 8, the 3D posting information stores the 3D modeling information for the free descending posture, Dimensional rendering based on the sensing information of the motion sensor unit for measuring the three-dimensional image.

Then, the relative position data of the main joints is extracted for interlocking with the free-falling dynamics engine part, which is performed by the trainer-free-strong-zone-global-part 980.

In other words, the human body model of the trainee is shaped in 3D, and relative position information about the joints of the human body is acquired through the motion sensor unit mounted on the trainee's arms and legs to divide the aerodynamic data on the posture and the inertia characteristic data of the human body , The aerodynamic force and the human body inertial characteristic data according to the posture change of the trainee are calculated from the specific posture database by using the interpolation method and then the simulation based on the environment and wind data is performed to calculate the position, .

That is, FIG. 9 shows an example of extracting attitude data for interlocking with a dynamic engine.

Specifically, as shown in FIG. 10, a kinematic model of a biped, which is a human joint model, is utilized. 3D model data is generated through inverse kinematics using only the information of the sensor mounting joints.

As shown in FIG. 12, numerical analysis and interpolation of the free-falling position will be described. When the dropper model data (relative position of the main joint) is received, The angle of the joint is calculated and the angle range is analyzed.

Then, the symmetrical relation between the arms and legs is analyzed to determine the change of the reference posture.

For example, it is judged to be a triangular advancement in a horizontal stable type.

As shown in FIG. 1, the system of the present invention processes data for training scenario production, trainee history management, and post critique, and has an instructor control terminal 1000 for controlling the trainee's parachute drop training simulation .

6 and 16, the supervisory control terminal 1000 includes a control unit

In other words, the instructor-controlled terminal of the skydiving training simulator is an application program used by the instructor, such as a parachute selection, a training area, an aircraft model, an environment setting (altitude, location, weather specification, team training setting) And a scenario editing section that includes a training scenario editing function.

In addition, the training control section is responsible for training such as flight departure function, parachute function failure and treatment function, parachute air maneuvering function and parachute landing function, and stores the training situation. The training situation such as training evaluation, And a post-criterion data processing unit for analyzing the post-criterion data.

At this time, the post-criterion data processing unit is a function of variously analyzing the training situations such as the training evaluation, the post-criticism and the training of the trainee database, analyzing the trainee's training items by evaluation items, And selects and prints the contents of the document.

That is, it provides functions such as training management, evaluation execution, history analysis, student management, debriefing, and printing.

As shown in FIG. 7, the post-criterion data processing unit provides a screen for providing training management, evaluation execution, history analysis, trainee management, debriefing, printing, and the like.

Specifically, the training data is displayed on the screen in the area (1) of FIG. 7 when the training is finished, that is, the data stored on the screen is displayed on the screen. (2) ④ Provide a screen to analyze the performance of the students by establishing a period of time and analyze them by individual or group. ④ Provide a screen to add, delete, search, And provides a screen for printing the training information, the evaluation result, and the history analysis result in the area (6).

17, the hardware controller 2000 includes an I / O control board 2100, a speed control unit 2200, an encoder control unit 2300, and a master control unit 2400, .

The I / O control board 2100 receives the input contact signal of the calculation handle and the separation bundle and transmits the input contact signal to the parachute descent management server. The I / O control board 2100 receives the contact point signal while pulling the calculation handle attached to the parachute, To the parachute descent management server.

At this time, the parachute descent management server performs the parachute-estimated motion processing when the estimated pulling-up signal is obtained.

Also, in the case of the split bundle handle, the contact signal is received at the same time as pulling, and the data processing process is the same as that of the estimate handle.

The speed control unit 2200 is configured to adjust the speed of the blower fan.

That is, the speed of the blower fan is controlled by the instructor so as to increase or decrease the wind speed.

The encoder control unit 2300 is a means for receiving an encoder pulse value for the control line and transmitting the received encoder pulse value to the master control unit.

That is, it controls an aerodynamic analysis such as lifting force and resistance force generated when a free fall and a parachute are operated, and a rotation torque according to the operation of a parachute control line. When the encoder pulse value is obtained from the control line sensor, And the master control unit obtains the motion values for the motor rotation and tilt provided by the parachute descent management server.

At this time, the master control unit 2400 sends the data collected from the I / O control board, the speed controller, and the encoder controller to the parachute descent management server.

Through the above-described structure and operation, it is possible to perform free-fall dynamic characteristic modeling, free fall and parachute aerodynamic analysis, dynamic modeling, motion control, 3D image provisioning, parachute function malfunction simulation, .

Meanwhile, the method according to various embodiments of the present invention may be stored in a computer-readable recording medium. The computer-readable recording medium may be a ROM, a RAM, CDROMs, magnetic tapes, floppy disks, optical data storage devices, and the like, as well as carrier waves (e.g., transmission over the Internet).

While the present invention has been particularly shown and described with reference to exemplary embodiments thereof, it is to be understood that the invention is not limited to the disclosed exemplary embodiments, but, on the contrary, It should be understood that various modifications may be made by those skilled in the art without departing from the spirit and scope of the present invention.

100: Support frame
200: Harness
300: Motion control line
400: Parachute rover
500: HMD
600: photo sensor unit
700: Motion sensor unit
800: blower
900: Parachute descent management server
1000: Instructor control terminal
2000: Hardware controller

Claims

A virtual reality-based sky diving experience simulator system,
A support frame (100);
A harness (200) worn by a drop descending trainer;
A motion control line 300 connected to one side of the support frame and connected to the harness on the other side for controlling the motion of the drop descending trainer;
A parachute control rod 400 having one side connected to the support frame and providing an operation signal to the control line sensor;
An HMD 500 that is worn by the drop descent trainer and provides a descent image according to daytime, nighttime, and climatic environments in real time;
A motion sensor unit 700 for performing posture extraction of a drop descending trainer;
A blowing device 800 installed on the lower side of the support frame to provide wind to the drop descending trainee;
A 3D image information database 910 including 3D object modeling information such as a parachute and an aircraft, character information, 3D terrain modeling information,
An image engine unit 920 for processing images such as weather environment, day / night environment, special effects, 3D terrain information,
Weather modeling, parachute flight modeling, high altitude function fault modeling, low altitude function fault modeling A dynamic processing unit 930 for processing the data,
An attitude data extracting unit 940 for acquiring the attitude extracted by the motion sensor unit and extracting and transmitting data for attitude recognition from the free fall dynamics engine unit,
A free-fall dynamics engine section 950 for processing free-fall aerodynamic data,
An HMD rendering unit 960 for rendering a descent image according to the daytime, nighttime, and climatic environments and providing it as an HMD,
A specific position database 970 storing information on the free-fall position,
The body model of the trainee is shaped in 3D, and the relative position information about the joints of the human body is obtained through the motion sensor unit mounted on the trainee's arms and legs, and the aerodynamic data of the body and the inertial characteristic data of the body are digitized. And the human body's inertia characteristic data according to the attitude change of the body are calculated from the specific posture database by interpolation and then simulation is performed based on the environment and wind data to calculate the position, posture, speed and drift distance of the trainee A parachute descent management server 900 comprising a trainee freeride fence world mountain 980;
And an instructor control terminal (1000) for processing data for training scenario production, trainee history management, and post critique, and for controlling the trainee's parachute drop training simulation,

The aerodynamic data processing of the free-fall dynamics engine section 950 is a process in which a change in wind from a jump to a just before the deployment of the parachute to a free fall section, a strong fault of the start of the parachute on the basis of the posture of the trainee, And a virtual reality-based sky diving experience simulator system in which the terminal speed is calculated.

The method according to claim 1,
An I / O control board 2100 for receiving the input contact signal of the totalization knob and the separation bundle and transmitting the input contact signal to the parachute descent management server,
A speed control unit 2200 for controlling the speed of the blower fan,
An encoder control unit 2300 for receiving the encoder pulse value for the control line and transmitting the value to the master control unit,
And a master controller 2400 for transmitting the data collected from the I / O control board, the speed controller, and the encoder controller to the parachute descent management server. Virtual reality based skydiving experience simulator system.

3. The method according to claim 1 or 2,
The supervisory control terminal (1000)
A scenario editing unit 1100 for editing the training exercise condition setting and training scenarios,
A training control unit 1200 for controlling departure of an aircraft, parachute estimation and malfunction and treatment,
And a post-criterion data processing unit (1300) for processing post-criticism data on training outline, drop trajectory, training debriefing, and posture correction, and a virtual reality-based skydiving bodily sensation simulator system.