KR20170085869A - Virtual reality technology platforms Sports - Google Patents

Abstract

In a virtual simulator, a virtual simulator is used to simulate a physical exercise similar to that of a real skier. VR skiing can be used to simulate the energy consumption and power of a skier's muscles and energy consumption in real mountains. We develop a virtual reality ski simulator technology that can exercise without feeling the thrill of the speed of skiing in the place where there is not even snow where there is not. Most of the ski simulators developed until now can not implement dropping feeling at the time of falling down and the structural limit through the load simulator during deceleration or rotation centrifugal force, deceleration and acceleration is called the new 3 axis ski motion simulator and 3 axis ski reaction Invented Dynamo. By realizing the reaction force of the snow and the mountain of the actual ski in the ski booth by inventing the rotational and sliding reaction force dynamo, the real feeling and the feeling of the skiing speed / Using this special 3-axis special simulator, we will develop a motion simulator technology that can sense the result of gravity and acceleration from skiing to the actual body.
In addition, the real image of the actual ski resort is generated in real time without delay, and the dome-shaped screen is used to show the ski area and the crowd (internet crowd) And ski skier watching the scoreboard of the opponent skier, and the skier can watch the video of his posture ski resort after practicing (Darim patent: posture analysis Chromakey fixed patent), and posture correction and coaching becomes possible. In order to implement this VR ski, a ski player skiing without taking anything in the VR ski, and the skiing exercise is performed by using (selected) ski 3D DB given only by body posture, ski position (left and right) The virtual ski is implemented. When a ski physics model using ski, snow, and mountain data is calculated in real time, multiple sensors are used to accurately and quickly read the posture of a skier. First of all, the acceleration of each designation of the body through the attachment of the ski measurement sensor reading the angle and position of the left and right skis of the simulator player and the multiple inertial sensors (hand, leg, body, head) The position of the center of gravity of the skier and the moment of inertia of the skier by reading the chromakey image of the skier for obtaining the position information of the body by using the information and the depth camera, . The physical model of the ski is computed in real time by calculating the acceleration magnitude and direction, solving the ski physics model through the movement of the players and the movement of the skiers. The position of the ski player is the image generating device, the ski area is displayed on the screen, the ski reaction force generates the force of the ski reaction dynamo, the speed and acceleration of the ski player are the VR ski motion generator, You will experience the actual graphic and motion feeling of the running experience of the running agency.
For the implementation of VR skiing sport, each ski player can see it as a scene of skiing in a virtual ski resort using virtual studio technology that actually shows on the ski slope, while watching other skiers at the same time, It is a technology that enables VR skiing sports to allow viewers from the athletes as well as the Internet to view and broadcast BJs' own broadcasts, as well as to allow spectators to purchase tickets for spectators through the Internet.

Description

An elevator-type motion simulator device that generates a gravity load of falling, rotation, and deceleration in the mountain of a skier in the direction of vertical gravity and a virtual ski-simulator technique and a virtual ski simulator by a ski reaction force dynamo device Virtual network for racing sports VR ski Internet broadcasting for sports, Virtual reality technology platforms Sports for virtual crowd watching game service,

By inventing a ski simulator that implements a simulated ski simulator as if the actual skier actually rides on a virtual ski slope by creating a graphic image of a virtual skier, the skier as well as the general public can enjoy skiing without having to go skiing in the mountains with snow. Develop skills that enable you to do the same physical exercise. We have developed core technologies that enable realistic feel and exercise in the implementation of VR Ski, solving core technologies that have not been able to implement skiing as a simulator until now, It provides the VR ski sports platform that allows visitors to see and participate, enabling the technology of the VR sports industry to be available on the Internet, such as Olympic.

Recently, the development of virtual reality technology enables the real-time implementation of video graphics from HD to UHD. In addition, it is possible to relay virtual sports such as virtual reality relay broadcasting game broadcasts by enabling the image screen to be a non-flat, immersive two-sided lens or curved screen technology, and smart image through the Internet. Recently, e-Sport is a sports game on the internet. It is a game in which athlete uses energy in general sports and does not exercise and consumes energy.

This e-Sport skiing game uses a simple ski device and can be seen as a game rather than a real skiing exercise like wii skiing or Microsoft's kinnect skiing. In addition to these games, there are many ski game devices for arcade, but they feel the high speed gliding rotation of the actual ski, support the load of the muscle falling and deceleration by the muscles, and the angle of the ski and the posture of the body are precisely responded, Techniques to enable practice and player games are difficult technologies that nobody can try yet. In order to make a real ski-like movement with a virtual reality ski simulator (not a real ski), the skiing descent (the kinetic energy is accelerated by the position energy in the mountain) and the brake deceleration or rotation Exercise should be made in the simulator to accelerate the accelerating and decelerating forces to the human body. In addition, while feeling the muscle movement and the reaction of the ski (sliding friction, the reaction force) of the force which occurs in the actual ski similar to the snow and the mountain, the force which makes the power to adjust the angle and the ski position to move the ski in the simulator A ski reaction force and a torque generating device, that is, a ski dynamo device. In this simulator, the physics model of the ski is analyzed by using the change of the posture of the ski player, the movement of the ski, and the graphic data of the virtual ski field - mountain, and the velocity position and the reaction force of the VR ski player are specifically solved, There is no sports simulator that allows the realization of the reaction force in real time by the control of the dynamo and consuming the energy of the actual skiing motion like the actual skiing.

The present invention invented a ski simulator that absorbs kinetic energy to consume energy through actual muscles as well as immersive image environments such as an actual ski scene, unlike a method in which athletes only implement a virtual ski environment graphically. In the present invention, a special motion generation simulator is implemented as a simulator of a high-grade, intermediate-grade, and an entry-level course with a height that allows an actual ski player to freely fall in order to generate a muscle load of rapid descent and rotation and deceleration of the ski The thrill of skiing, as well as exercise, is actually making. We also developed a dome-type immersion screen and a multi-projector technology to maximize the immersion of the graphic and minimize the space.

In the present invention, the key element technique is to ski the skier at a height of 8 to 15 meters or more, or ski the skier in the mountain at the time of elevation, so that the simulator can be driven only by adjusting the body posture, We applied motion capture technology to detect precise skiing motion in real time in skier 's posture. Image correction technology to optimize delay and inaccuracy in general motion capture is added to inertial sensor motion capture. It is possible to maximize the accuracy by using the Depth camera technology such as the kinetic which is used. This ski simulator enables skiers to practice skiing as well as ski racing for virtual skiing in virtual skiing areas, so that it is possible to freely show the relay and virtual trips of VR ski sports that transcend time and space regardless of the location of the space and audience , So that anyone can freely broadcast it, so that a new Ski VR sport can be developed. Especially, by using virtual studio technology for each ski player, the expression and attitude of each athlete can be freely implemented in the virtual ski area. After skiing, it is possible to analyze and coach the athlete through his ski video and motion capture data Which provides a variety of additional services such as coaching, practice, experience, racing, broadcasting, and broadcasting in the virtual reality sports industry.

The VR ski sports platform is shown in Figure 1. A number of simulators are connected to the Internet to compete, and the spectators who enjoy sports with smart devices are connected. The motion of the skier's body in each simulator is based on the motion data of a number of inertial sensors (acceleration, gyro, and compass) attached to various parts of the body, (Roll, Yaw) from the ski physics model server using the information from the Depth camera and read the information of the measured sensors. , And calculates the reaction force acting on the position, velocity, acceleration, and skiing of the skier's virtual ski area in real time using the virtual ski area graphical 3D database. The position information of the ski player calculated in this physical model server is sent to a real-time image generation server sharing the ski 3D video DB, so that a ski 3D high-definition (HD, UHD) graphic is created at the position of the ski player, The image is sent to a dome screen image processing server which synthesizes and transforms images to be displayed on a dome-shaped screen so as to maximize the immersion feeling in the space of the dome-type screen, and sent to the screen through a single screen or a plurality of screens or a projector. At this time, the video server records the virtual ski scene composing the image generated background on the chroma key of the camera, sends the camera information to the web server so that the other ski players and the internet crowd can view the video image, And the score and relative player information are displayed on the screen installed in the virtual ski area.

These Internet virtual skiing broadcasts consist of VR ski web server, DB server, streaming server, etc. There are a lot of servers on the Internet, and various VR ski sports can be enjoyed by various sports additional services.

The concept of a virtual reality skiing device that feels like a real thrill of skiing while actually exercising the muscles as a virtual reality, like real skiing on snow.

Using the physics model of skiing, it is possible to precisely measure the body posture of the athlete, to sense the motion of the skier, to find out the position of the skier in the virtual ski area, and to generate the graphic in high image quality, And a ski racing sports technique that races in one space by watching each other through a network with the technique of a virtual ski slope.

Invented a ski simulator without skiing in mountains and snow

1. VR ski sports platform operation conceptual diagram.
Drawing 2. (X, y, z) and the skewer coordinate system (x, y, z) of the ski physical model and the slope angle and the progress velocity V, the acceleration a
3. Acceleration, gravity, and moment of inertia in the center of gravity O _B (X, Y, Z) and the position in the left and right skis of the skier's body Motion sensor (inertia sensor) _L S _R (X, Y, Z), operating f _L , f _{R in} vertical, horizontal, and longitudinal directions, and rotational torque T _L , T _R.
Drawing 4. How the physical server works The signals of the posture sensors and the ski position / angle sensors are processed to calculate the ski player's reaction force, player position and speed in real time using the ski physics model.
Drawing 5. The angle of rotation (radius of rotation P) B on the ground of the ski player's tilt angle θ. B Angle of the skis in tilted equilibrium. O _B Center of gravity, acceleration, centrifugal force,
6. Load - parallel relationship diagram in main load.
7. Infinite vertical motion 3 - axis motion generation simulator and ski reaction force dynamo concept diagram for ski player 's mid - load generation.
Drawing 8. A schematic diagram of the operation principle of Ski Dynamo.
Drawing 9. A three - axis motion simulator structure with large vertical motion for vertically accelerating load and at the same time controlling left / right tilting angle.
Drawing 10. VR ski load generation control and simulator / dynamo system function diagram.
Drawing 11. Dome screen pipe connection module and ventilation pipes and connection example.
Drawing 12. Example of a screen ceiling, floor and dispersed lighting on both sides using LED lighting pipes.
Drawing 13. LED lighting module for simulator screen frame.
Drawing 14. VR ski resort operation menu.
Drawing 15. VR ski sports platform using VR skiing.

Skiing in snowy mountains is caused by the skier's attitude and the adjustment of the angle of the ski (center of gravity), the skiing of the mountain due to the snowy slip of the mountain, the friction of the ski and the gravity. The physical model of this ski produces a physics model that predicts the ski surface snow S (X, Y, Z) and snow friction state ski movements. In this physical model, various data such as ski surface shape, snow characteristics, air resistance are added. In order to implement skiing in a virtual graphic mountain as a VR (Virtual Reality), the skier's movement through the input of the skier's posture, motion, ski (left, right) It can be represented by a physical model and made of various models, enabling the simulator to calculate the movement of the ski. At this time, various data such as eye friction, skiing, etc. are applied to the physical model. The mathematical physics model of Eq. (1) uses the attitude of the skier and the ski angle at the computer server in real time to calculate the position and velocity of the skier. Therefore, the information such as the skier's motion information, the center of gravity, the acceleration of the center of gravity, and the position and angle of the instantaneous skier through the motion recognition, motion capture and image processing of the skier, At the same time that the speeds are calculated in real time on the physical model server by equation (1), the reaction force added to the skier from the ski is calculated.

(4)

'VR skiing' is a technique that allows a person to experience the physical effects of skiing as well as graphic skiing in VR skiing equipment, and the reaction force on the skiing area, . In Figure 5, the force of the muscle at the center of the body at the ski floor during rotation is defined as the force of P due to the combined force of the kinetic acceleration / centrifugal force and gravity of the ski player, and the angle with respect to gravity can be defined as B.

In VR skiing, it is most important to create a simulator that creates the reaction force, ie, the power of skiing, and the muscle movement that supports it, so that it feels like a real ski. The implementation of the simulator which makes this repeated acceleration / deceleration skiing motion become important becomes important.

The equilibrium relation of the ski player at the time of rotation or deceleration in the actual drawing 5 is converted into the coordinate system of the skier at the equilibrium state of the skier, And the other load and rotational torque f _Rh , f _Lh , and M _R , M _L are loads that control the angles and positions of the left and right skis of the foot that are relatively less than P do. In the present invention, it is desirable to make the direction of the composite force (hereinafter, referred to as "thrust") P of the equilibrium state be the vertical motion of the simulator, to maximize the load and the ski feeling and to apply the P load to the simulator acceleration, As shown in Fig. 7, the driving device of the simulator.

The force of the composite force (hereinafter referred to as "thrust") P is implemented through the vertical acceleration control of the simulator, and the positions of the other ski reaction forces and the left and right skis, ie, S _L and S _R , In this case, the ski / dynamo is set up so that the rotational moment on the ski and the load on the front side / rear side of the side are perceived and the two legs are positioned and rotated on the ski. At this time, the graphic shows the image rotated by β so that the skier feels like a real ski.

In this way, reaction force and load generation for skiing are classified into two types, and the force of ski reaction force P of main ski descending, rotation and deceleration is generated and the force and rotation torque of right and left, And the forces for controlling the force and the ski surface in the direction of gravity and acceleration of the ski player in the equilibrium state of the ski player in the direction of the main axis portion in the P direction during deceleration, acceleration and rotation A simulator and a dynamo system realizing the load / reaction force of an actual ski-like environment as an actual invention are invented. Actual becomes of the skiers body tilted in acid in order to implement the position of the ski to the rotation in the simulator control the distance to the player's body and feet ski to be _{S L (X, Y, Z} ) and S _R (X (Hereinafter referred to as "ski dynamo") at the ski mounting site to adjust the position of the ski dynamo control device in the ski simulator so as to adjust the position of the ski dynamo control device, rolls at high speeds to allow the skier's skiing posture to be created.

At this time, in ski dynamo, when the ski player controls the front and rear, right and left movements of the left and right skis, and the ski angle, the left and right ski centers are controlled too far from the center of the simulator to control the washout filter The horizontal reaction force and the rotational load are generated.

Figure 5 shows a cross section of a ski dynamo that generates reaction force and rotational moment when the skier adjusts the left (L), right (R) ski booth of ski dynamo, left and right, front and rear and ski angle.

The ski booth is _equipped with M _roll , M _YAW on the left and right sides with rotation moment, sensors and loads to read the ski movements of the ski booths, the ski movements of the ski booths, the ski movements of the skiers of the boats (Roll, YAW) And the position and angle of the left and right skis are adjusted to the ski physics model server so that the skier can adjust the left and right ski position and rotation so as to feel the force of the skier on his / her own muscles And is used to calculate the motion of the ski.

를 발생시키는 모션발생 장치가 필요하게 된다. The velocity and motion of the ski are the gravity-accelerated loads that occur during the weight,

A motion generating device is required.

하중을 스키선수의 몸무게에 시뮬레이터의 수직가속도를 발생시키기 위해 수직방향으로 가속도가

1g 이상으로 최소의 가속(하강), 감속(브레이크) 회전에 대해 발생이 되도록 발생된다. 즉,

1g(중력)의 가속 속도로 1~2초간 가속을 할 수 있도록 하기 위해서는 1초시 5m, 2초시 20m(

)의 거리(높이)가 필요하여, 이 높이로 실제의 스키의 급브레이크 회전가속을 구현할 수 있고 이러한 수직의 거리에 구동을 하면서 좌우, 앞뒤 회전(pitch/Roll)의 자세 각을 만들어내는 특수 구조의 3축 시뮬레이터 구동장치가 발명의 방식으로 가능하게 된다.The ski simulator motion plate with the ski dynamo shown in Figure 8

In order to generate the vertical acceleration of the simulator on the weight of the skier,

(Lowering), deceleration (brake) rotation to 1 g or more. In other words,

To accelerate for 1 to 2 seconds at the acceleration speed of 1g (gravity), 5m for 1 second and 20m for 2 seconds

(Height) of the ski, which can realize the acceleration of the actual ski's rapid braking rotation at this height, and a special structure for generating the posture angle of the right and left, pitch and roll while driving at such a vertical distance A three-axis simulator driving apparatus of the present invention becomes possible in the method of the invention.

1g 혹은 그 이상, 이하 (gravity = 9.8m/sec)의 가속을 내면서 좌우 및 앞뒤 각도(pitch/Roll)가

20~30도가 되도록 하기 위해서 그림9와 같은 3축 모션발생 장치를 발명하여 사용한다. In other words, the vertical part has a movement of more than 10m or 20m and vertical acceleration

(Pitch / roll) with acceleration of 1 g or more or less (gravity = 9.8 m / sec)

In order to achieve 20 to 30 degrees, a 3-axis motion generator as shown in Fig. 9 is invented and used.

That is, the motions Y ₁ , Y _{2, and} Y ₃ are generated by the motors 1, 2, and 3, and the motion includes a vertical motion Y _MP to move the motion plate MP linked by three links, a forward and backward inclination angle θ _P , right and left inclination angle θ _R is be determined by the calculation of expression (ⅱ) caused by the vertically rotating with the rotation of the motor 1, 2, 3 of the three lead screws each link height y _1, y _2, y _3.

The formula (II)

식(Ⅱ)

The formula (II)

값이 나오게 되면 이를 위한 M₁, M_2, M₃의 모터 제어에 의해 Y_MP의 가속도를 제공하여 스키선수의 스키평형 상태의 하중을 실제 그림5에서와 같이 근육에 힘을 실제로 받게 되며 그래픽 스크린의 영상의 변화와 모션판의 각도 변화에 의한 스키자세 및 스키반력을 느끼게 함으로써 실제 스키장과 유사한 근육 부하 및 스키 반력을 느끼며 스키 운동을 하는 시뮬레이터 환경을 만들어 낼 수 있다. Therefore, the direction and magnitude of the main acceleration of the ski player are calculated in the physical model server

When the value is obtained _, the acceleration of Y _MP is provided by motor control of M ₁ , M _2, M ₃ for this, so that the load of the skier's ski equilibrium state is actually applied to the muscle as shown in Fig. The skiing posture and the skiing reaction force due to the change of the image of the motion plate and the angle of the motion plate are sensed, so that the simulator environment can be created that feels the muscular load and the ski reaction force similar to the actual skiing scene.

/-80

를, 좌우로 약 160

정도의 비평면 돔형 스크린으로 공간을 적게해서 가볍게 해야하는 모션 플레이트 공간에 가상 스키장을 구현하게 된다.It is very important to increase the immersion feeling of the image part in addition to the control function of the simulator in which the VR ski occurs such as muscle, posture, sensation, and ski reaction force. To achieve this, a light dome-shaped screen is used on the motion plate to realize a high-quality, real-time ski-view screen with a wide viewing angle. (Low-cost models use binocular stereoscopic glasses - Oculus, Google Glass, etc.) The field of view (FOV) of a binocular lens type eyeglass screen or the dome screen has a viewing angle of about +20

/ -80

Approximately 160

A non-planar, dome-shaped screen will reduce the footprint and create a virtual ski area in the lightweight motion plate space.

발생 및 자세를 위한 θ_P/θ_R 및 스키다이나모를 이용한 왼쪽, 오른쪽 스키의 반력(X, Y 방향 및 스키 회전 부하)를 발생시키는 기구물 구조와 제어시스템 구성도를 보여주고 있다.In Fig. 10, the main skiing acceleration / deceleration load m (g +

(X, Y direction and ski rotation load) using left and right skis using θ _P / θ _R and ski dynamo for generation and attitude.

를 위한

를 만들어내게 된다. 이때, 스키선수 자세가 산의 지형과 관련하여 계산되는 θ_{P ,} θ_R를 만들어

는 스키 수직 운동 발생을 유효한 공간에서 최적화 되도록 하는 고주파 성분만 통과시키는(High pass filter) 성격의 워시아웃 필터(Washout filter)를(7) 거쳐 각각 3개의 모터제어신호를 모터드라이버(8)를 통해 3개의 모터(4)를 구동하게 된다.The vertical rise and fall of M _P (Motion Plate) ③ in Fig. 10 can be obtained by adjusting the slip height y ₁ , y ₂ , y ₃ of the three motors ④ to the θ _R angle and θ _P Pitch) angle, and the link Y moves the _MP vertically. In order to generate these motions, the principal force and the angle of the ski player calculated at the physical model server are sent to the ski simulator control server ② where the load-focusing ski load

for

. At this time, the ski player's posture makes θ _{P ,} θ _R computed with respect to the mountain topography

A washout filter having a characteristic of passing a high frequency component through which the generation of the vertical skiing motion is optimized in an effective space is connected to the motor driver 8 via a washout filter 7, The three motors 4 are driven.

의 값과 회전력 부하가 (13)모터에 연결된 YAW 플레이트(14)에 부가되도록 다이나모가 설계된다. 이때의 YAW방향의 스키선수의 회전은 모터(13)에 부착된 센서를 통해(12) 물리 모델의 입력 데이터로 사용이 된다. 각 스키의 좌우 및 앞뒤의 슬라이딩 부하 및 센서는 모터(15), (16)에 의해 각각 제어되게 그림처럼 설계되며 각각의 위치 정보(S_X, S_Y)는 모터 센서로 계산되어(12)를 통해 물리 모델 서버(1)로 입력된다. 물리 모델 서버(1)은 스키선수의 자세 정보(17)와 스키장 DB를 이용하여 스키 물리 모델 식(Ⅰ)을 계산하고 여기서 계산된 반력인 M_Roll(11), M_YAW(13), 슬라이딩 반력 T_X, T_Y신호를 스키다이나모 서버(18)로 보내어 스키의 위치 S_X, S_Y의 제어 영역 내 구동을 위한 Washout filter(19)의 신호를 이용한 각 모터들의 부하 토오크 및 하중제어를 하게 된다.At this time, the ski dynamo attached on the motion plate MP (3) is designed to be able to rotate left and right, right and left, forward and backward as shown in the detail diagram of (9). First, the rotation of the roll plate 10 on which the ski booth is mounted for the right and left rolls of the ski is generated by the M _roll motor of (11), and the rotation angle is generated by the sensor attached to the motor (12) physical model server. In the same way to ski the direction of rotation

And the rotational force load is added to the YAW plate 14 connected to the motor (13). At this time, the rotation of the ski player in the YAW direction is used as the input data of the physical model (12) through the sensor attached to the motor 13. The sliding loads and sensors on the left, right, front and rear sides of each ski are designed to be controlled by motors 15 and 16, respectively, and each position information S _X , S _Y is calculated by a motor sensor 12, To the physical model server (1). The physical model server 1 calculates the ski physics model I using the skier posture information 17 and the ski slope DB, and calculates the reaction forces M _Roll (11), M _YAW (13), and the sliding reaction force T _X and T _Y signals to the ski dynamo server 18 to control the load torque and load of each motor using signals of the washout filter 19 for driving in the control area of the ski positions S _X and S _Y .

) 방향에 대하여 스크린에 몰입감이 극대화 되도록 보여지는 것이 무엇보다 중요하다.In addition to the muscle movement and the descent effect of the ski simulator,

) Direction, it is most important that the immersion feeling is maximized.

The ski simulator has to make more than 1g (gravity) of vertical, up and down at high speed, so the weight of man and MP, and the blue / green background screen for video screen and virtual studio are specially designed, A high-quality screen is required.

In the present invention, an aluminum pipe frame for a screen is assembled so as to form an assembly connection type connection part, and various 3D curved screen frames have been developed.

First, the corresponding image according to the position and the FOV value of the projector is calculated by a 3D rendering method (Kim, Young-Dae's patent immersion type) by calculating the projector-specific image so that the image of the arbitrary curve screen is generated without distortion in the dome screen projection server Edge blending and color correction for each of the projectors are performed to generate a high-quality image as if a single high-definition projector generates an image on a curved dome screen.

If the screen is made by bending a large aluminum plate, the cost of the expensive press molding is increased, and the weight of the screen is increased, and even if the composite material is used, Assembly, installation, etc., the driving motor of the ski simulator requires a large power with a heavy weight.

In the present invention, in order to manufacture such a screen, a cloth having a high reflectance of a span cloth such as a swim cloth is used, and a cloth having a span sagging after the cloth is inserted into the aluminum pipe and the connection module shown in FIG. Using the function of making light and making sure that the precise image is finally adjusted by the image processing server, the dome screen projection server treats the part where the screen partially protrudes or the part which does not become the predicted surface by the image processing and the fine tuning program, It was invented to make the optimum dome string with the weight.

(3) Bending pipes (4) on the back of the screen cloth (span) (1) with (3) and (4) Set the sewing line (5) and the length d so that the pipe does not touch the screen when the pipe is inserted more than the screen span by stretching more than the screen and other cloth with the screen and other cloth. It is possible to make a dome screen.

At this time, it is possible to cut the fabric like (6) on the sewing span cloth attached to the screen for aluminum pipe and screen assembly. The seam is given R as in (9), so that the pulling force of the screen is not concentrated at some point. When these prefabricated screens are shaped, reinforcing the silicone to the joints to increase vibration and robustness will result in a sturdy screen and easy adjustment and use of various size and shape frames.

The video screen technology is used for VR skiing broadcasts and skiing analysis, for the background / green screen of the chromakey studio of the skier virtual ski resort studio for coaching.

The chromakey screen allows a single green or blue background to have the same brightness per location, and the virtual studio technology used for broadcast weather broadcasts for good chromakeys (a technique that extracts only the player image from the background) A green screen and a broadcast light should be installed so that it can be made in a ski simulator, and an accurate chromakey player image can be extracted from the camera. This image can be used in a physics model server of a player's attitude information and a virtual space So as to be displayed on the ski simulator of the virtual player and the other player.

In the narrowness and vibration environment of the ski simulator, there is a projector screen in front of the player, so that the light of the light develops the LED bar light, which is not a side LED type light to generate shadow light on the player's face and body, And ceiling, it is used to make it easy to attach, and it is developed and used so that some pipe of the screen can be lit by the same size as the pipe which uses this pipe on the screen.

Figure 15 shows a LED lighting system in which the LED PCB is made into a strip shape inside the pipe shown in Figure 13 and used for assembly. At this time, a linear, curved LED lighting device, which supplies power (12Volt DC) or can be connected to the connector through the end of the LED pipe, is used to illuminate like a station studio to provide a composite scene in a skier's virtual ski area It was invented to make the virtual studio environment light and complete in a small space.

This method is lightweight and robust with its own weight (aluminum, cloth, plastic joints) and LED lighting, so it can be manufactured with a lot of motion (simulator) with high rigidity, and production cost is minimized.

The lighting should disperse the light of uniform brightness so that the image of the ski player and the background green / blue are well separated. To do this, the LED frame, the sides (2) and the floor 3) to solve the illumination by arranging the LED frame, in which the light of all the lights is emitted only to the player side so as not to affect the front screen.

Even if the dome screen does not have the perfect dome screen design, the dome screen 3D image projection server (Fig. 11 (6)) can be calibrated to calibrate the surface of the screen, And the other parts are corrected, and the dome screen control technology of the 3D Render engine of the present invention is utilized to realize the desired dome screen image in the high resolution on the dome screen made of the aluminum frame and the span screen, (12) The ski resort is unfolded.

At this time, the image to be displayed on the dome screen is transmitted to the multi-HD (multi-HD) video server 11 to increase the immersion feeling of the high-quality multi-screen image 11 by using the information of the ski physics model server UHD) screen, and this video is transmitted in real time to the real time dome screen device through the video output and input board.

At this time, video output and input boards are designed so that video processing for output and input is made without delay.

At this time, in the image generating server 7, (A) and (B) images of other VR ski competitors are displayed directly on the virtual ski area viewed from the position of the ski player, or the image of the actual ski player is displayed on the 3D model character I like to compete with other players on the ski slope.

In the virtual ski area, various information such as a virtual signboard (information of the athletes, the speed and distance of the athlete) created by the graphic can be displayed so that the athlete can see the current status and the other athlete information, And speakers.

In addition, the data in the ski slope DB provides a ski slice editing and authoring mode that allows the skiers to change the flag used in the ski slope, the stadium obstacle, The width, the position of the gondola, and the like.

An engine of a ski real-time image generation server is provided to provide such a ski field authoring function, and their 3D data is provided through the Web server 10.

Figure 17 shows the concept of the authoring tool for editing the position of the flags of the downhill game and the tilt angle of the ski slope using the ski field authoring tool.

VR ski virtual studio In order to create an additional industry as Internet broadcasting and VR sports, the chromakiski image is not only used for posture input information of the physical model but also provides the functions of posture correction, coaching and analysis (Such as virtual studio golf, such as posture analysis, patented technology, Kim Young-dae)

The posture analysis and coaching function of VR ski is very important function of VR ski and it provides very important function for ski training of the athlete using the information of the attitude recognition of the ski player and provides a very important function to teach the skier to the beginner do.

In particular, the VR ski virtual studio function can be used to (1) synthesize his skiing video with the video of the chroma key camera (10), (11) with the background of the video server (12) Together with the encoding server 13, it is sent to the VR ski web server, allowing each spectator to view the desired scene in the venue (VR stand) where they want to watch. At this time, it provides the function of utilizing the CPY / CPU of the smart device of the audience to reduce the server load.

The service will be provided by appearing as if it is on a virtual ski slope. (1), (2), and (3) are generated from the VR ski web server (4) and broadcast to the Internet audience (6) through Internet broadcast or VOD server, (7), (8), (9) and provide the function to relay broadcast (9) Sports from around the world, such as the Olympics, will be available as VR Ski devices.

VR skiing sport, which uses physical muscles to practice skiing and actually raises VR skiing grounds, provides sports advertisements and sports broadcasts in a virtual reality space, as in the case of ordinary ski racing, so that audiences can freely We will be offering a new VR sports skiing platform that will allow you to choose from, sell stadiums, sell your virtual billboards on VR ski slopes, and see and hear the expressions and voices of skiers on the internet.

Figure 18 shows various VR skiing sports services along with the crowd of skiers (1), (2), (3) in the VR skiing sports environment.

Claims (28)

The direction and the magnitude of the force acting on the center of gravity of the skier in the equilibrium state of the skier such as descending, rotating, decelerating of the ski are implemented by an elevator type gravity adjusting type simulator,
A graphical display of the equilibrium slope graphically displayed on the graph of the vertical simulator. A simulator that moves more than two axes of inclination (rotation) and ski position (left and right) An elevator-type vertical motion generating unit for realizing the elevator-
A simulator of the motion generation in which a ski player holds the position of the athlete (the relative position of the center of gravity and the ski in the equilibrium state) with the simulator of two or more axes and the ground surface
Claims (1) to (4), wherein a load of a plurality of axes (a ski left-right rotation roll and a direction rotation YAW) for sensing a sliding load and a turning moment reaction force at the ground of a ski,
A ski simulator device that uses four or more axes for each ski to control the skier's ski control by using a device using a ski dynamo that controls the sliding load (front and back of the ski) and the lateral force With the ability to impose feel and exercise
The three-axis elevator type ski simulator implementation apparatus realizing the structure of claim 1 by the simulator of the link structure as shown in Fig. 9 and Fig. 10 which can control the right and left, Includes equipment
The control of the dynamo of the ski reaction force according to claim 2 in the manner shown in Fig. 8 and Fig. 10 is carried out in such a manner that the reaction force of the ski player is controlled by the simulator
Claim 4 includes the function of using a left and right ski position control (Washout filter) to move within the simulator moving area through control to prevent the position of the left and right skis from deviating from the center of the simulator
In claim 1, the central axis of the simulator vertical region is an intelligent Washout () that intelligently transfers the position of the ski player to the position area such as up (down), deceleration (down), etc. so that the motion area for vertical load generation is rotated at a given height Includes the ability to use filters
In the claims 1 and 2, a motion simulator and a ski simulator 3D for controlling the motion simulator and the reaction dynamo by using the ski physics model for ski dynamo load and image generation and calculating the equation of the physical model in real time, Includes a ski physics model server that computes kinematic models in real time
In the physical model server of claim 7, the skier's graphical skiing 3D data for calculating formulas, the posture of the skier, and the formula having parameters such as snow, wind, skiing type, Includes real-time motion capture information for precise attitude reading and precise computation of physical model using position and angle information of new time-left and right ski
Using the infrared model Depth camera or TOF sensor generally used for the motion capture of the skier of claim 8, the center of gravity position and the inertia moment of the human body according to the load distribution of the human body part are calculated and the physical model is used and it includes
In the method of claim 10, using the inertial sensor method for measuring the acceleration component due to the bow movement at each part of the human body without delay for each human body part, It includes the ability to use
It is of course possible to additionally use a function of additionally using fast motion information as a camera signal image of a plurality of chroma backgrounds to acquire motion information of claim 10.
The human body model used in the physical model according to claims 7 and 8 is characterized in that, in the measurement data of claims 9 to 11, the momentary body center of gravity of the instantaneous skier, the instantaneous moment of inertia of the body of the instantaneous skier, It is natural to use a human body model with a more flexible structure that includes the use of a human body model using a momentary instantaneous body model.
Ski dynamo is equipped with sensors that read the angular position of the ski controlled by the skier in real time. In the case of four axes on each of the left and right ski, the method shown in Fig. 10 is used and the momentary ski adjustment is used in the physical model do.
The server for calculating the physical model of the ski according to claim 8 reads the motion of the skier and the movement of the skier in real time (5) in FIG. 1 to provide a control command of the ski dynamo server and the ski motion simulator server 2, (8) to provide the position and speed information of the ski player, thereby generating a screen image of a ski resort in which a high-quality image is viewed in the direction of the main force load of claim 1, so that the skier actually feels his or her body in an inclined posture with respect to the mountain It is important to use a technique that uses a way to create a rotating image of a scene that produces a graphic image that will hold it.
According to a fourteenth aspect of the present invention, the image is a multi-screen output for giving an immersive stereoscopic effect to provide a high-quality (2HD, 4HD, 8HD) output of a wide viewing angle. Let's do it.
In order to realize the high quality image outputted in the claim 15 on a narrow simulator moving motion platform, a hemispherical screen (which can be described as a dome shape) screen can maximize the space according to the left and right rotation of the simulator, So that the distance between the eyes of the skier and the screen can be maximized.
The optimal size and shape of the screen can be determined through the motion generation area of the motion simulator.
The dome-type screen according to claim 16, wherein the multi-channel video input to the video server for generating an image through the plurality of projectors is transmitted through a dome screen server to the dome screen in real time in accordance with the characteristics of each projector, Use of visible techniques is included.
According to the fifteenth and fifteenth aspects of the present invention, in the image of the dome screen, the virtual ski ground and the screen corresponding to the position of the ski player are displayed in 3D position of each point according to the positions of the projectors, It is natural that one server can be implemented (depending on performance) by creating each projector image individually.
In order to realize the shape of the video dome screen of claim 16, a screen for maximizing the distance between the ski player and the screen in a narrow space while minimizing the load of the ski motion simulator is manufactured by bending the aluminum type pipe in various shapes, And a span type screen cloth and a general span cloth are used to make a screen in the manner of FIG. 14, and the precise graphic 3D data of the screen is displayed on a dome screen server It is cheaper to use the technique of screen making method of the ski simulator by using the technique of calibrating the shape of the screen surface by calibrating and making the light, Light screen technology The front ofa.
In the claims 15 and 17, the ski slope image can be displayed in the current ski resort of the skier, and the other skier can be shown. The video tactuer, which captures the actual player of the competitor's character by the virtual studio technique, So that it can be viewed as a real player, thereby realizing a sense of realism. In addition, a virtual studio function is provided in which an opponent player is displayed on an additional screen on the screen so as to communicate with the opponent.
The method of claim 20, wherein the chroma key method of the virtual studio technique used for each ski player broadcast is used, and the background of the skier is used with a green or blue screen so that the image of the skier is used for a plurality of cameras And a video screen is formed by combining the images directly with the ski slope so as to be recorded and broadcast so that the virtual ski slope can be viewed by other people.
In claim 21, it is natural to use the method of claim 19 to make a blue or green screen as a ski player background.
In the case of claims 21 and 22, it is necessary to use a method which can be used together with the frame in the manner of FIGS. 13 and 15 in which LEDs are attached to a grid-shaped frame for efficient illumination in a narrow space and a video image of a player, It is possible to lightly produce efficient light without using illumination and to minimize the space.
In Claims 20 and 21, a chrome-key image of each VR ski simulator player connected to the Internet to show a race to the ski audience or visitors to the Internet, or a character player (player clothes, 1) (Internet VR Web server), and the video of the skiers is displayed on the VR ski area.
According to claim 24, since a virtual ski video of a ski player as well as a score board, a player information, a billboard, and an actual internet visitor are displayed in the virtual ski resort, various sports industries are provided in various kinds of VR sports.
It is natural that the posture analysis and the coaching / function are provided through the motion data of each athlete and the virtual ski video, and the function of efficiently training and teaching by using it is provided.
Each skier will obviously provide a virtual ski video recording service that allows him or her to watch the video of the entire skiing course and to view and own the recorded video through the web.
The ski database of VR ski web server has a variety of ski field course editors that can change the training courses and obstacles of each skier group for each skier's group so that they can share it with the ski database server on the Internet or network. The provision of tools is provided as a very important function in training ski areas.

Images