KR20210079077A - Robot operation system for boarding experience - Google Patents

Abstract

The present invention relates to a robot operating system capable of providing boarding experience. According to the present invention, it is possible to increase the sense of reality by manipulating a robot, which is a real object, rather than manipulating an object implemented in virtual computer graphics, and the motion according to the movement of the robot is transmitted to the user's body as it is, so that the realism of the boarding experience can be maximized.

Description

Robot operation system for boarding experience

The present invention relates to a robot operating system capable of a boarding experience, and more particularly, to a technology for enabling a robot boarding experience by remotely operating and operating a robot and allowing a user to feel the robot's movement.

With the development of technology, various cutting-edge technologies are being applied in the leisure, game, and entertainment industries as well. The most primitive form of game is to manipulate objects represented by computer graphics through displays. However, through this basic type of game, only visual and auditory pleasure can be experienced.

For this purpose, a riding-type game simulator using a motion device has been developed. That is, the user enjoys the game by operating the control panel after boarding the boarding-type game simulator, but the seat is operated according to the movement of the object expressed in computer graphics, thereby enabling a more realistic experiential game. However, such a riding-type game simulator is also capable of only manipulating an object through computer graphics, and thus cannot realistically reflect the dynamic characteristics of the target object.

On the other hand, a technology for manipulating real objects has also been developed. The most representative examples are remote-controlled cars (RC cars) or drones. In other words, it enables a more realistic operation experience by operating a remotely located car or drone through a wireless remote control.

In addition, according to the Republic of Korea Patent No. 10-1336802 (2013.11.26. 'Humanoid robot performing boxing') developed by the applicant of the present invention, by operating the robot capable of walking upright through the control unit, a realistic boxing match can be performed. making it possible In other words, it is to enable a more realistic experience by manipulating real objects rather than objects implemented through computer graphics.

However, games that manipulate real objects such as RC cars, drones, and boxing robots can provide realistic visual pleasure, but have limitations in experiencing the movement of real objects.

The present invention has been devised to solve the problems of the prior art as described above, in which the user directly manipulates the real robot to realistically reflect the dynamic characteristics of the target object, as well as the movement of the real robot to the user's body. The purpose of the present invention is to provide a technology that provides a feeling of being operated while riding on a real robot by direct transmission.

A robot operating system capable of boarding experience according to the present invention for achieving the above object includes: a robot whose operation is performed in response to a user's manipulation command; and a boarding unit for the user to board and input a manipulation command, wherein the robot includes: a motor for generating power for motion generation; a sensor unit for collecting sensing information by measuring a physical change according to movement; a communication processing unit for connecting a communication channel with the boarding unit and transmitting and receiving information; and a control unit that receives a manipulation command from the boarding part through the communication processing unit, operates the motor to generate movement, and transmits the sensing information collected through the sensor unit to the boarding unit through the communication processing unit. ; and, the boarding unit includes: a seating unit on which a user rides; a manipulation unit for receiving a user's manipulation command; a communication unit for connecting a communication channel with the robot and transmitting and receiving information; a driving unit for operating the seating unit to enable motion reproduction; and the driving unit so that a motion corresponding to the sensing information is reproduced when a user's manipulation command input from the manipulation unit is transmitted to the robot side through the communication unit, and sensing information of the sensor units is received from the robot through the communication unit a control unit for transmitting a motion command to the .

Here, when it is confirmed that the robot performs a left or right turn by analyzing the sensing information, the control unit of the boarding unit controls the driving unit so that the seating part rotates left or right, and when it is confirmed that the robot has fallen, the seating part is rearward It is possible to control the driving unit to be inclined or to generate strong vibration.

In addition, the robot may further include a camera that captures an image around the robot, wherein the control unit processes the image information captured by the camera to be transmitted to the boarding unit through the communication processing unit, and the boarding unit comprises: A display for outputting image information photographed by the camera of the robot; further comprising, wherein the control unit receives image information photographed by the camera of the robot through the communication unit, it can process to be output through the display.

In addition, when outputting image information captured by the camera of the robot through the display, the control unit of the boarding unit may process such that a virtual object corresponding to the sensing information of the sensor units is overlaid and output through the display.

The robot operating system capable of a boarding experience according to the present invention enables a more realistic experience because a user remotely manipulates a robot, which is a real object, while riding on the boarding board, and receives the robot's movement through all body parts.

In other words, it is possible to increase the sense of reality of the experience by manipulating a real object called a robot, rather than manipulating an object implemented in computer graphics like a conventional game.

In addition, it is possible to experience boarding from a first-person point of view rather than from a third person's point of view by not only simply manipulating the real object of the robot, but also allowing the image captured by the camera installed on the head of the robot to enter the user's field of view. .

In other words, when manipulating while watching the fighting of robots from a distance from the robot, it is difficult to easily recognize that a distant opponent is throwing a punch or approaching, and this inevitably slows the reflex response. However, in the present invention, since the movement or state of the other robot is checked from the field of view of the robot being manipulated by the headgear type display, an immediate reaction is possible. In other words, it is possible to more quickly perform operations of throwing punches or defending and evading the opponent's attack by one's own robot.

In addition, there is no fear of confusing the operation direction because the operation is performed while checking the other robot in the field of view of the robot. That is, when the user operates from behind his or her robot, the direction of operation is the same, but if the positions of the robot and the other robot are changed while the robots are moving on the ring, the position where the user and the robot face each other may be However, in this case, if the robot is looking at the robot with the naked eye, the user's point of view and the robot's point of view are reversed and the operation direction is confused. However, as in the present invention, in a state in which the headgear-type display is worn, the viewpoint of the robot being manipulated by the robot is always maintained, so there is no fear of confusing the operation direction.

In addition, a virtual object that changes according to the robot's movement and position may be overlaid on the image output on the display. Accordingly, the user can experience a boxing match as a boxer in an actual boxing arena, or experience such as driving a car in a car arena.

In addition, the boarding part the user boards is synchronized with the robot's movement to reproduce the movement, so the user not only operates the robot, but also feels the robot's movement and impact to maximize the realism of the boarding experience. If you do not wear a headgear display and receive a punch while controlling the robot from a distance of several meters, you will not feel that you and the robot are united. In other words, you only watch the robot fall with your eyes, and the impact is not transmitted.

However, in the present invention, the opponent is viewed from the robot's point of view through the headgear display, and when receiving a punch from the opponent robot, the opponent's punch is viewed from the front and a punch impact is applied to the body at the same time. If it falls after being hit by an opponent's punch, not only the seat part is tilted, but also the view of the fall process is doubled as the real robot is looking at the scene as it falls.

That is, the camera mounted on the real robot, the headgear type display worn by the user, the sensor unit mounted on the real robot, and the movement of the seating unit are organically connected and operated, so that the user can feel integrated with the robot. A boarding experience can be performed, thereby maximizing the sense of reality.

1 is a view for explaining a robot operating system according to an embodiment of the present invention.
Figure 2 is a perspective view for explaining the robot in the robot operating system shown in Figure 1;
Figure 3 is a conceptual diagram for explaining the configuration of the robot in the robot operating system shown in Figure 1;
Figure 4 is a perspective view for explaining a boarding unit in the robot operating system shown in Figure 1;
Figure 5 is a conceptual diagram for explaining the configuration of the boarding unit in the robot operating system shown in Figure 1;
FIG. 6 is a view for explaining a state in which the seating part of the boarding part interlocks according to the movement of the body part of the robot in the robot operating system shown in FIG. 1;
7 is a view for explaining a state in which an impact is applied to the seating part of the boarding part according to the fall of the robot in the robot operation system shown in FIG.
FIG. 8 is a view for explaining an example in which an image captured by a camera of a robot in the robot operating system shown in FIG. 1 is output to a headgear type display worn by a user; FIG.

Hereinafter, preferred embodiments of the present invention will be described with reference to the accompanying drawings. However, some configurations irrelevant to the gist of the present invention will be omitted or compressed, but the omitted configuration is not necessarily a configuration that is not necessary in the present invention, and may be used in combination by those of ordinary skill in the art to which the present invention belongs. can

1 is a view for explaining a robot operating system according to an embodiment of the present invention. As shown in FIG. 1 , the robot operating system according to an embodiment of the present invention includes a robot 30 and a boarding unit 10 .

Before the description, the robot 30 referred to in the present invention operates according to a manipulation command input by a user, collects sensing information measured by a self-built sensor unit, and sends it to the boarding unit 10 where the user is located. It means the real object to be transmitted. That is, the robot 30 may be manufactured in the form of a car or an airplane depending on implementation. However, in the present invention, an example in which the humanoid robots 30 and 30', which consist of a plurality of joints and can perform boxing with an opponent while walking on two legs, are applied will be described.

In addition, the robot 30 may be positioned on a ring prepared in advance to compete with the opponent. That is, referring to FIG. 1 , the first robot 30 and the second robot 30 ′ are positioned on the ring, and the first robot 30 is operated by a user riding on the first boarding unit 10 , The second robot 30' is operated by a user riding on the second boarding unit 10'. Here, since the first robot 30 and the second robot 30' have the same configuration, and the first boarding unit 10 and the second boarding unit 10' also have the same configuration, hereinafter, the first Only the configuration of the robot 30 and the first boarding unit 10 will be described.

Figure 2 is a perspective view for explaining the robot in the robot operating system shown in Figure 1, Figure 3 is a conceptual diagram for explaining the configuration of the robot in the robot operating system shown in Figure 1 . As shown in FIGS. 2 and 3 , the robot 30 has a human shape in which a head 31 , a body 33 , an arm 40 , and a leg 41 are coupled to each other.

The body part 33 may be divided into an upper body and a lower body, and the head 31 is coupled to the upper portion of the body 33 , the arms 40 are coupled to both sides, respectively, and the lower body is the leg part. (41) is combined.

The head 31, the arm 40, and the leg 41 coupled to the body 33 are rotatably coupled to each other by an articulating part consisting of a connecting frame, a horn, and a power transmission shaft, and power transmission. The motor 43 is connected to the shaft and rotates to enable movement of the joint. In addition, the arm 40 and the leg part 41 are connected in more subdivided configurations to take an action such as walking or punching, and the motors 43 installed in each connection part operate, so that a delicate movement is possible.

On the other hand, the head 31 is provided with a camera 32 for capturing images of the surroundings of the robot 30, and the body 33 receives an operation command from the boarding unit 10 to control the motor 43 and Components for collecting sensing information according to the movement of the robot 30 and transmitting it to the boarding unit 10 are mounted. That is, as shown in FIG. 3 , the body 33 includes a communication processing unit 34 , a control unit 35 , a tilt sensor 36 , a gyro sensor 37 , an acceleration sensor 38 and a sound sensor 39 . include

The communication processing unit 34 is provided to connect the communication channel with the operation unit 12 installed in the boarding unit 10 , receive an operation command, or transmit sensing information collected from various sensors to the boarding unit 10 . According to the implementation, the communication processing unit 34 may transmit and receive information to and from the boarding unit 10 side by a short-range wireless communication method such as RF communication, Wi-Fi, Bluetooth, etc., and a boarding unit located at a remote location using an Internet network or a mobile communication network. (10) and information may be transmitted and received.

The control unit 35 receives the user's operation command received through the communication processing unit 34 and controls the motors 43 to cause the robot 30 to perform a specific operation according to the operation command, or the sensor unit 36, 37 , 38 , 39 , and 42 are provided to transmit and process the sensing information collected by the camera 32 and the image information captured by the camera 32 to the boarding unit 10 through the communication processing unit 34 . In addition, the control unit 35 may control the movement of the robot 30 separately from the user's operation command by controlling the motor 43 according to a pre-programmed bar in response to the sensing information collected by the sensor unit.

The sensor unit is provided to measure a physical change value that changes according to the movement of the robot 30 and transmit it to the control unit 35 in real time. Such a sensor unit may include a tilt sensor 36, a gyro sensor 37, an acceleration sensor 38, a sound sensor 39, and a sole sensor 42, of which the tilt sensor 36, the gyro sensor 37 ), the acceleration sensor 38 and the sound sensor 39 are installed on the body part 33, and the sole sensor 42 is installed on the bottom surface of the bottom surface of the leg part 41, that is, the sole of the robot 30 in close contact with the ground. do.

The inclination sensor 36 is a sensor for measuring inclination information of the robot 30 , the gyro sensor 37 is a sensor for measuring angular velocity according to the movement of the robot 30 , and the acceleration sensor 38 is the robot 30 ) is a sensor that measures acceleration according to movement. The sensing information measured by the inclination sensor 36 , the gyro sensor 37 , and the acceleration sensor 38 may be used as basic data for calculating the posture or movement of the robot 30 , and these sensing information ), the controller 14 of the boarding unit 10 analyzes and determines the posture and movement of the robot 30 , and then transmits a corresponding motion command to the driving unit 15 .

Meanwhile, the sound sensor 39 is a sensor that collects acoustic information generated around the robot 30 , and the sole sensor 42 is a sensor that measures whether the sole of the robot 30 is in contact with the ground. If the ground contact is not confirmed by the sole sensor 42 installed on the bottom of both legs 41, the control unit 35 determines that the robot 30 has fallen, and controls the motors 43 according to a preset bar. It allows the robot 30 to automatically stand up independently of the user's manipulation command.

4 is a perspective view for explaining the boarding part in the robot operating system shown in FIG. 1 , and FIG. 5 is a conceptual diagram for explaining the configuration of the boarding part in the robot operating system shown in FIG. 1 . The boarding unit 10 receives the sensing information from the robot 30 and receives the sensing information from the robot 30 so that the user can get on board and input a manipulation command for driving the robot 30 so that the motion according to the movement of the robot 30 can be transmitted to the user. is a device that This boarding unit 10 may be installed near the robot 30 so that the user can directly observe the movement of the robot 30 with the naked eye, but in the camera 32 installed on the head 31 of the robot 30 Since it is also possible that the photographed image is output through the display 20 of the boarding unit 10 , the boarding unit 10 may be installed far away from the robot 30 .

4 and 5 , the boarding unit 10 includes a seating unit 11 , a manipulation unit 12 , a communication unit 13 , a control unit 14 , a display 20 , a speaker 21 , and a driving unit 15 . ) is included.

The seating part 11 is a part on which a user rides and is manufactured in the form of a normal chair. Of course, the seating unit 11 may be manufactured in another form capable of reproducing the movement of the robot 30 according to the operation of the driving unit 15 . For example, it may be manufactured in the form of clothes, shoes, and helmets worn on the user's body.

The manipulation unit 12 is provided to receive a user's manipulation command. The manipulation unit 12 may be manufactured in the form of a remote control, in the form of a stick, in the form of a button, in the form of a mouse and keypad, in the form of a dial or touch screen, in the form of a weapon such as a gun. Depending on the implementation, a user's operation command may be input as a voice command, and in this case, the operation unit 12 may be manufactured in the form of a microphone. Alternatively, the manipulation unit 12 may be a motion detection sensor that detects a user's motion. In addition, the manipulation unit 12 may be manufactured in a form in which the above-mentioned various types of input means are complexly applied.

The communication unit 13 connects a communication channel with the robot 30 and transmits a user command input from the operation unit 12 to the robot 30 side, or is provided to receive sensing information collected and transmitted by the robot 30 . . The communication unit 13 may transmit and receive information to and from the robot 30 in a short-distance wireless communication method such as RF communication, Wi-Fi, and Bluetooth, and communicate information with the robot 30 located at a distance using an Internet network or a mobile communication network. You can also send and receive.

The control unit 14 transmits a user's manipulation command input through the manipulation unit 12 to the robot 30 side through the communication unit 13 in real time to operate the robot 30 and receives sensing information from the robot 30 . After analysis, it is provided to control the driving unit 15 so that a motion corresponding to the movement of the robot 30 can be transmitted to the user through the seating unit 11 . In addition, the control unit 14 processes the image information received from the robot 30 to be output to the screen through the display 20 , and transmits the sound information collected from the sound sensor 39 of the robot 30 through the speaker 21 . Processed for audio output.

The display 20 is provided to output an image captured by the camera 32 mounted on the head 31 of the robot 30 to the screen. The display 20 may be manufactured in the shape of a normal monitor and installed on the front of the seating unit 11 , or may be manufactured in the form of headgear and worn on the user's head.

The speaker 21 transmits the vivid sound of the field to the user by outputting the sound information collected by the sound sensor 39 of the robot 30, or to output pre-stored sound source information reproduced by the control unit 14. will be prepared If the display 20 is manufactured in the form of headgear, the speaker 21 may be a headset provided integrally with the headgear.

When the control unit 14 analyzes the sensing information of the robot 30 to determine the movement of the robot 30 and outputs a motion command corresponding thereto, the driving unit 15 drives the seating unit 11 in response to the motion command. prepared to do For example, the driving unit 15 may cause the seating unit 11 to rotate left and right according to the motion command output from the control unit 14 or to move or tilt the seating unit 11 forward and backward to apply an impact. This driving unit 15 is designed as a multi-joint parallel robot structure employing a link driving motor that can reproduce the movement of the robot 30 as much as possible, so that Roll, Pitch, Yaw, Surge. ), a sway, a heave, and the like, may operate the seating unit 11 in various ways.

Meanwhile, in the boarding unit 10 , the components of the communication unit 13 , the control unit 14 , etc. are built into the seating unit 11 and may be manufactured integrally, or separate components that perform the functions of the communication unit 13 and the control unit 14 . After the server or computer of the seat unit 11 is installed near the operation unit 12, the driving unit 15, the display 20, and the speaker 21 may be connected to transmit/receive necessary information.

The robot operating system according to the embodiment of the present invention described above with reference to FIGS. 1 to 5, further according to the example of the interlocking operation of the robot 30 and the boarding unit 10, which will be described with reference to FIGS. 6 to 8 below. will be materialized. First, the basic operation of the robot 30 manufactured to perform a boxing match will be described in more detail as follows.

The arm part 40 and the leg part 41 of the robot 30 are more subdivided and connected in order to take an action such as walking or punching. That is, the arm 40 includes a shoulder, a wrist, and a fist directly connected to the body 33 , and the leg 41 includes a thigh, a knee, an ankle, and a foot. Of course, since each component of the arm 40 and the leg 41 is coupled by the joint component, it is possible to perform delicate motions such as walking or punching by moving with the rotation of the motor 43 .

When a user riding on the seating unit 11 of the boarding unit 10 for operation of the robot 30 inputs a manipulation command through the manipulation unit 12 , the control unit 14 controls the robot 30 through the communication unit 13 . ) to send the operation command to the When the communication processing unit 34 of the robot 30 receives a manipulation command from the boarding unit 10 connected through short-range wireless communication, the control unit 35 drives each motor 43 to respond to the manipulation command. For example, if an operation command for commanding a punch is input, the control unit 35 operates the motor 43 at a portion connecting the shoulder of the body 33 and the arm 40 so that the shoulder is lifted upward, and also the shoulder The motor 43 at the part connecting the part and the wrist is operated so that the wrist part is spread almost parallel to the shoulder part. Accordingly, as shown in FIG. 6 , a punch is possible by performing an operation in which the arm 40 is straightened forward.

On the other hand, the control unit 35 of the robot 30 determines that the robot 30 has fallen through the sensing information measured by the sensor unit, and then controls the motors 43 so that the robot 30 automatically stands up according to its own built-in program. can do. For example, if it is confirmed through the inclination sensor 36 that the robot 30 is maintained for more than a reference time in a collapsed state by a certain angle or more, and at the same time it is not confirmed that the soles are in contact with the ground through both sole sensors 42, the robot After determining that (30) is in a completely fallen state, the motors 43 are controlled so that an automatic standing operation is performed.

In this way, when the robot 10 falls, an operation such as automatically standing up should be performed by itself according to a program built into the control unit 35 rather than according to a user's operation command. That is, the user only needs to input a simple manipulation command, and additional operations necessary for the rest of the fighting process are performed by the program built into the control unit 35 .

Meanwhile, image information captured by the camera 32 mounted on the robot 30 and sensing information collected by the sensor units are transmitted to the boarding unit 10 in real time. That is, the control unit 35 transmits image information captured by the camera 32 installed on the head 31 to the boarding unit 10 through the communication processing unit 34, and the control unit 14 of the boarding unit 10 processes the image information transmitted from the robot 30 through the communication unit 13 and outputs it through the display 20 .

Referring briefly to FIG. 8 , image information captured by the camera 32 is output to the display 20 in the form of a headgear worn by the user. That is, the user does not observe the robots 30 and 30 ′ from the perspective of a third person, but checks the first-person view image captured from the field of view of the robot 30 through the display 20 . Accordingly, the user may receive a feeling that he or she is directly operating the robot 30 while riding the robot 30 through the first-person view image captured through the display 20 .

Meanwhile, when outputting image information captured by the camera 32 through the display 20 , the controller 14 may output a pre-stored virtual object together with the actual captured image. That is, by analyzing the sensing information collected through the gyro sensor 37 or the acceleration sensor 38 mounted on the body part 33 of the robot 30, the posture, movement and position information of the robot 30 can be analyzed. , based on this, a virtual object previously synchronized with the captured image of the camera 32 is output through the display 20 together. For example, the real image around the robots 30 and 30' is an office, but the background of the boxing stadium full of spectators is stored in advance as a virtual object in the storage unit (not shown), and the controller 14 controls the gyro sensor 37 ) or by analyzing the sensing information of the acceleration sensor 38 to determine the movement of the robot 30, the boxing stadium is output from the display 20 to the background screen of the opposing robot 30' in synchronization with this.

Through this, the user can look at the opponent robot 30' through the field of view of the robot 30 while riding on the robot 30, and at the same time receive the feeling that a boxing match is in progress in a boxing arena full of spectators. have.

Meanwhile, if the collected information measured by the sensor unit of the robot 30 is analyzed, the movement of the robot 30 can be grasped in real time. The movement of the robot 30 grasped in this way is transmitted to the driving unit 15 of the boarding unit 10 and reproduced in the seating unit 11 .

For example, as shown in FIG. 6 , it is assumed that the robot 30 blows a right-hand punch according to a user's manipulation command and the right side of the body 33 is twisted. The movement of the body part 33 can be confirmed through the gyro sensor 37 and the acceleration sensor 38 , and the controller 14 controls the gyro sensor 37 and the acceleration sensor 38 received from the robot 30 . When the sensing information is analyzed, a motion command is issued to the driving unit 15 so that the upper body twisting motion of the robot 30 can be reproduced as it is in the seating unit 11 . That is, when viewed from above, if the body 33 rotates counterclockwise while the robot 30 blows a right-hand punch, the control unit 14 sends the driving unit 15 to rotate the seating unit 11 counterclockwise. It transmits motion commands.

As another example, as shown in FIG. 7 , the robot 30 may be hit by the uppercut of the opponent robot 30' and fall backward. When the robot 30 receives an impact and falls, the impact is recognized through the gyro sensor 37 and the acceleration sensor 38 , and the fall is detected through the inclination sensor 36 and the sole sensor 42 . That is, the control unit 14 of the boarding unit 10 may determine that the robot 30 has fallen after being hit through the sensing information received from the robot 30 , and accordingly, the control unit 14 controls the driving unit 15 . ) to give a strong vibration to the seating unit 11 to apply a shock to the user, or to apply an impact when the robot 30 falls backward so that the seating unit 11 is tilted backwards. Thus, like the robot 30, the user can also experience falling.

Conversely, when the robot 30 strikes a punch while moving forward according to the user's manipulation command, but the other robot 30' performs an evasive operation, the robot 30 that has been groomed in vain may fall forward due to inertia. . In this case, the control unit 14 of the boarding unit 10 analyzes the sensing information of the inclination sensor 36, the gyro sensor 37, the acceleration sensor 38, and the sole sensor 42 to prevent the robot 30 from falling forward. As a result, the control unit 14 inputs a mother ship command to the driving unit 15 so that the seating unit 11 is tilted forward in the forward direction, so that the user can experience falling forward like the robot 30. can do.

In addition, when the robot 30 is hit by the strong punch of the other robot 30', the control unit 14 analyzes the sensing information to confirm that a strong punch impact has occurred, and accordingly controls the driving unit 15 to seat the robot 30 . By making the part 11 strongly shake in the front-rear direction, the impact received from the robot 30 can be transmitted to the user's body as it is.

In addition, the control unit 14 of the boarding unit 10 analyzes the sensing information transmitted from the robot 30 to change the posture of the robot 30 (lower or raise the posture), inclination, torso twist, and position movement. , falling, impact, and the like, and in response, the control unit 14 controls the driving unit 15 so that the seating unit 11 is synchronized with the movement and posture change of the robot 30 and rotates, moves forward and backward, left and right, It is possible to reproduce motions such as tilting, rattling, and leaning back and forth.

Of course, the punch shock or fall shock that the robots 30 and 30 ' receive while performing a boxing match may be stronger, but the motion reproduction made in the boarding unit 10 is the experience of being hit and the experience of falling. They should be designed to be as safe as possible.

As described in detail above, in the robot operating system capable of boarding experience according to the present invention, a user remotely operates the robot 30, which is a real object, while riding on the boarding unit 10, and controls all movements of the robot 30. Since it can be transmitted through the body, a more realistic experience is possible.

That is, it is possible to increase the sense of reality of the experience because it is to operate a real object called the robot 30, rather than to operate an object implemented in computer graphics like a conventional game.

In addition, in addition to simply manipulating the real object called the robot 30, the image captured through the camera 32 installed on the head 31 of the robot 30 enters the user's field of view, so that a third party's It is possible to experience the boarding from a first-person point of view rather than a stand-in.

That is, when manipulating while watching the fighting of the robots 30 and 30 ' from a place far away from the robot 30, it is difficult to easily recognize that the distant opponent robot 30 ' throws a punch or approaches, Because of this, the reflex reaction is inevitably slow. However, in the present invention, since the movement or state of the other robot 30 ′ is checked in the field of view of the robot 30 being operated by the user through the headgear type display 20 , an immediate reaction is possible. That is, the robot 30 of its own can more quickly perform an operation of throwing a punch or defending and avoiding an opponent's attack.

In addition, since the operation is performed while checking the other robot 30 ′ in the field of view of the own robot 30 , there is no fear of confusing the operation direction. That is, when the user operates from behind his/her own robot 30, the manipulation direction is the same, but the robots 30 and 30' move around on the ring and the positions of their robot 30 and the other robot 30' is changed, the user and the robot 30 may face each other. In this case, if the robot 30 is viewed with the naked eye, the viewpoint of the user and the viewpoint of the robot 30 are opposite. The direction of operation is confusing. However, as in the present invention, in a state in which the headgear-type display 20 is worn, the viewpoint of the robot 30 operated by the robot 30 is always maintained, so there is no fear of confusing the operation direction.

In addition, a virtual object that changes according to the movement and position of the robot 30 may be overlaid on the image output on the display 20 . Accordingly, the user can experience a boxing match as a boxer in an actual boxing arena, or experience such as driving a car in a car arena.

In addition, the user boarding unit 10 is synchronized with the movement of the robot 30 to reproduce the movement, so that the user not only operates the robot 30 but also the movement and impact of the robot 30 . By feeling together, the realism of the boarding experience is maximized. If you do not wear the headgear type display 20 and receive a punch while controlling the robot 30 from a distance of several meters, you do not feel that you and the robot are integrated. That is, the robot 30 only looks at the falling down, and the impact is not transmitted.

However, in the present invention, looking at the opponent from the point of view of the robot 30 through the headgear type display 20, and when receiving a punch from the opponent robot 30', looking at the opponent's punch flying from the front At the same time, a punch impact is applied to the body. If it falls after being hit by an opponent's punch, the seat 11 is not only tilted, but also the view of the falling process is a scene where the robot 30 is actually viewed while falling, so that the sense of reality is doubled.

That is, the camera 32 mounted on the real robot 30 , the headgear type display 20 worn by the user, and the sensor units 36 , 37 , 38 , 39 , 42 mounted on the real robot 30 . And, as the movement of the seating unit 11 is organically connected and operated, the user can perform a boarding experience with a feeling of being integrated with the robot 30 , thereby maximizing the sense of reality.

The above-described preferred embodiments of the present invention have been disclosed for the purpose of illustration, and those skilled in the art with the ordinary knowledge of the present invention will be able to make various modifications, changes and additions within the spirit and scope of the present invention, such modifications, changes and additions are to be considered as falling within the scope of the claims of the present invention.

10, 10' : boarding part
11: seating part
12: control panel
13: communication department
14: control unit
15: drive unit
20: display
21 : speaker
30, 30' : Robot
31: head
32 : camera
33: body
34: communication processing unit
35: control unit
36: tilt sensor
37: gyro sensor
38: acceleration sensor
39: sound sensor
40: arm
41: leg
42: sole sensor
43: motor

Claims (4)

a robot whose operation is performed in response to a user's manipulation command; and
Including; a boarding unit for the user to board and input a manipulation command;
The robot is
a motor for generating power for motion generation;
a sensor unit for collecting sensing information by measuring a physical change according to movement;
a communication processing unit for connecting a communication channel with the boarding unit and transmitting and receiving information; and
a control unit that receives an operation command from the boarding part through the communication processing unit, operates the motor to generate movement, and transmits the sensing information collected through the sensor unit to the boarding unit through the communication processing unit; including,
The boarding unit,
a seating unit on which the user rides;
a manipulation unit for receiving a user's manipulation command;
a communication unit for connecting a communication channel with the robot and transmitting and receiving information;
a driving unit for operating the seating unit to enable motion reproduction; and
A user's manipulation command input from the manipulation unit is transmitted to the robot side through the communication unit, and when sensing information of the sensor units is received from the robot through the communication unit, the driving unit is configured to reproduce the motion corresponding to the sensing information. A control unit that transmits a motion command; a robot operating system capable of boarding experience, comprising: a.
According to claim 1,
When it is confirmed that the robot has performed a left or right turn by analyzing the sensing information, the control unit of the boarding unit controls the driving unit so that the seating part turns left or right, and when it is confirmed that the robot has fallen, the seating part is tilted backward A robot operating system capable of riding experience, characterized in that the driving unit is controlled to lose or generate strong vibration.
According to claim 1,
The robot is
It further comprises; a camera for taking an image around the robot;
The control unit processes the image information captured by the camera to be transmitted to the boarding unit side through the communication processing unit,
The boarding unit,
A display for outputting image information captured by the camera of the robot; further comprising,
When the control unit receives the image information captured by the camera of the robot through the communication unit, the robot operating system capable of boarding experience, characterized in that it is output through the display.
4. The method of claim 3,
When the controller of the boarding unit outputs image information captured by the camera of the robot through the display, boarding characterized in that the virtual object corresponding to the sensing information of the sensor units is overlaid and output through the display. Robot operating system that can be experienced.

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