DE102013101926A1 - Device for forming walking motion on base frame in simulated virtual space by data processing unit, has virtual space whose running surface is complemented by step surface in running direction, where step surface partially engages on disk - Google Patents

Abstract

The device has a base frame (1) including a tread (12) that is turned about a rotational disk (10). The base frame in region of the tread comprises a motor-driven winding reel (13) for winding on to shoes (3). A data processing unit (5) computes and simulates a movement in the virtual space from sensor values. A virtual space is formed on a data processing unit that communicates with a display unit. A running surface (12) of the virtual space is complemented by step surface in the running direction, where the step surface partially engages on the rotational disk.

Description

The present invention relates to a device for imaging a running motion on a base frame into a virtual space simulated by a data processing unit, wherein the base frame has a running surface comprising a turntable rotatable about a rotation axis, wherein the base frame in the region of the running surface at least one motor driven winding spool is associated with the winding of traction means connected to sliding shoes, wherein the rotational positions of the turntable and the at least one reel spool are detected by means of communicating with the data processing unit sensors and transmitted to this and the data processing unit calculates a movement in the virtual space from the sensor values, and the represented by her virtual space via a communicating with the data processing unit display unit.

Such devices are already widely known in the art, such as the product "Stringwalker", which on the Internet at the address http://intron.kz.tsukuba.ac.jp/stringwalker/stringwalker.html is described. This special solution provides a tread on which a person can move forward continuously, with the feet or shoes of that person being pulled across the floor surface by means of cables. For this purpose, the shoes are each provided in this example at four places each with a pull rope, which is wound on a winding spool at the edge of a circular turntable. If the person now moves forward continuously, each step is compensated by a corresponding strong counterbearing of the foot again, as both the turntable on which the person moves, and the bottom of the shoes are designed as sliding surfaces. In this case, the reel spools are operated so that the feet are repeatedly pulled back into the center of the turntable. Due to the rotation of the turntable and a change of direction of the current person is possible to simulate the most realistic movement.

An application of this kind is particularly interesting for simulating a virtual reality, in which the user is presented with a virtual screen by means of a suitable screen in which he moves. The actual movements, which are detected by the device and converted into movement signals for the virtual space, are simultaneously compensated by means of the tension cables. Thus, while the person does not move in reality due to the compensation, a movement takes place in the virtual space with which the user interacts.

The disadvantage here is that the movements generated by the retraction of the feet to their original position is unrealistic, especially because a movement on the "Stringwalker" only in slow steps is possible. A faster movement, in which it would be desirable to lean over while running as a natural position, is not envisioned and would result in a loss of balance.

Another solution is described in "Virtual Perambulator: A Novel Interface Device for Locomotion in Virtual Environment" by Hiroo IWATA and Takashi FUJII, Institute of Engineering Mechanics, University of Tsukuba, Tsukuba, 305 JAPAN , Published in Proceedings of the 1996 Virtual Reality Annual International Symposium (VRAIS 96) , There, different running situations are simulated, which also work with a fixed tread and skates or skates. This is intended on the one hand to hold the user with a hip belt on a suspension to attach it via a swing-type suspension from above or to limit its range of motion by a waist-high ring on which the user can hold. Such an arrangement also permits a running position, whereby here too there is the disadvantage of an unnatural movement in that the user must actively bring his feet back to the front after an outward strike, or vice versa. In particular, in view of the perfectly flat tread is such a movement by the first taking place extending the leg and the subsequent subsequent retraction is not considered realistic.

Finally, a solution from the DE 696 21 844 T2 which is an omnidirectional treadmill device. This is suitable for simulating a running motion in the context of a virtual reality. Here, despite the use of a treadmill actually set in the running direction, a sideways or obliquely directed movement should be made possible by suitable measures. Proposed is the superimposition of two transverse treadmills and the use of mounted balls or rollers in the upper treadmill on which the user is running and which are driven transversely by the lower treadmill.

The object of the present invention is therefore to further improve the running experience in the virtual space for the user and to design it so that the impression of a movement in the virtual world is further perfected for the user.

This is achieved by a device for imaging a running movement in a simulated virtual space according to the features of the claim 1. Further, useful embodiments of such a device can be taken from the following claims.

According to the invention, a device for imaging a running movement into the virtual space has a base frame on which the user can move. The movement mainly takes place on a rotatable turntable on which the user runs with the aid of sliding shoes. Such a turntable allows a rotational movement or a reversal movement of the user, which can be detected and quantified due to a sensory detection of the rotation of the turntable of a data processing unit connected to the base frame data. A compensation of the movement of the user by the use of sliding shoes, the backward movement by means of suitable traction means, each with at least one winding spool can be supported to assist the sliding movement to the rear. Also, the rotational position of the reel spools, of which at least one is provided for each shoe, is detected by means of a sensor, so that the rotational position can be forwarded from this sensor to the data processing unit. In this case, the virtual space is simulated by the data processing unit and displayed via a display unit, which can be designed, for example, as display glasses. The user thus sees via the display unit the virtual space in which he moves by detecting his movements on the winding spools and the rotation of the turntable, which serve as input signals for the data processing unit.

The movements are thereby improved by the fact that the tread of the user, to which the surface of the turntable, in addition to the hub is supplemented by a tread which at least partially surrounds the turntable and the tread, to the turntable, extended. Here, the tread is provided with a slope to provide a more realistic perception by the user. By holding the user more or less centrally over the turntable and assisting the rearward movement of his feet by means of the reel spools, the user is held in a relatively upright position to maintain his balance. In reality, however, he would go forward in his running motion and thus hit from the perspective of his body axis on an inclined floor surface. This is simulated because of the tread that the user will step on the device as it progresses. The user thus moves essentially in the area of the front edge of the turntable, which there merges into the tread surface. Tread surface and turntable, however, are decoupled so that a rotation of the turntable is independent of the tread possible.

In order to be able to respond to different habits or different step lengths, body sizes and simulated geographies of the virtual space, the tread surface can preferably be adjusted in its incline. In particular, it may be useful if the adjustment is performed by the data processing unit, which thereby reacts to measured body properties of the user or takes into account the geography of the virtual space. Thus, in the case of a sloping simulated terrain, the data processing unit will more or less bring the inclination and tread surface into alignment with the turntable. In particular, with increasing terrain, the inclination of the tread surface relative to the hub will be increased.

A concrete embodiment of the device can provide for a particularly low friction between sliding shoes and tread that the tread is covered with felt and the shoes have a sole made of polytetrafluoroethylene, commonly known under the brand name "Teflon". This makes it possible to drag the user during his running with the least possible effort on the feet to the rear, so as to support the running movement and make it realistic to the user. For practical reasons, it may also be useful to design the sliding shoes as overshoes, which legaschenartig can be pulled over the user's normally worn shoes.

In addition, the shoes can be further developed such that at least one pressure sensor arrangement is provided in the region of the soles, wherein these pressure sensors on the one hand weight determination of the user is made possible, on the other hand, the moment of occurrence and the characteristic of the running are detected via the data processing unit can. This is data-connected to the pressure sensor arrangements and also uses their data as input for simulating the running motion in the virtual world. Alternatively, the pressure sensors can also be arranged in the base frame and can then be omitted in the shoes.

In addition to the pure running motion, it is also sensible for increased realism to be able to detect other movements of the body in order, for example, to be able to react to the user turning his head to the right or left. This can be done on the one hand via suitable sensors on the display unit, if it is directly connected to the head. On the other hand, it is more comfortable when the base frame a Imager assembly, in particular a three-dimensional imager, assigned, which performs a motion detection of the user. This has the advantage that, for example, arm and finger movements can also be detected so that the detected body limbs and their movements can also be transmitted into the virtual space. Furthermore, this makes it possible to perform a face detection in order to give characteristics indicative of an avatar or a graphic representation of the user in the virtual space, so that a recognition of the individual co-users is possible in the virtual space. Finally, an estimate of the body size in this way is possible, based on the example, the adjustment of the inclination of the tread can be made. However, other adjustment features such as the tensile force on the winding coils or braking forces on the turntable can be influenced thereby.

Such a braking of the turntable or an adjustment of the pulling force of the winding bobbins is carried out with some advantage on the basis of a running recognition, which the data processing unit carries out on the basis of its sensor values. In particular, the sensor values from the pressure sensors in soles of the sliding shoes, winding position and rotational positions of turntables or reel spools and the data of a three-dimensional image generator are used for this purpose.

The position detection of the winding coils and / or the turntable is preferably carried out by means of rotary encoders, so for example optical sensors which can read bar marks arranged on the turntable or the winding coils.

The turntable may also be associated with weighing means for determining the body weight of the user, so that there is an alternative to weight determination via the pressure sensors in the sliding shoes.

Another measure of the movement of the user in the virtual space is the tensile force exerted by the user when riding on the winding spools. With this information, it is determined how fast the reel spools should be handled. Such a detection of the tensile force can be effected in that the winding coils are attached to a pivotable suspension, which is connected to the base frame. By the tensile force, the suspension is then pulled in the direction of the user and it is determined a deflection relative to the vertical, which can be detected as a measured value. Here, either the pivoting about an axis around take place, with a provision must be realized for example by means of a spring means, or the entire suspension can be formed elastically, so that the pivoting of the suspension can be realized as a bend.

In order to keep the user in a defined position during its running movement, the base frame can also be assigned a holding device which holds the user in the back area. For this purpose, the holding device can be connected via a tether with the user. In a further development of this embodiment may be provided between the tether and the holding device also a return spring, which prevents the user from bending, for example, at a slightly faster running movement, but the user retracts back to the starting position as soon as the pull of the user subsides. This arrangement also helps to keep the user in a defined position above the turntable and to let move forward only while running. Depending on the weight or body size, the return spring used, which draws the tether back to the holding device, also be adjustable, with an adjustment of the return spring, if necessary, can also be made by the data processing unit. For example, by means of the pressure sensors in the sliding shoes, the weight of the user can be determined, the size can be determined by means of a motion detection based on a camera, a 3D camera or the like and the setting of the return spring can be made as a function of height and / or body weight. If necessary, however, this setting can also be manually vornehmbar.

The invention described above will be explained in more detail below with reference to an embodiment.

Show it

1 a device for mapping a running movement into a virtual space in a schematic side view,

2 a detail of 1 in the area of the holding device, as well

3 another detail of 1 in the area of the winding spools.

1 shows a base frame 1 on which a person is 6 constantly moving. The base frame 1 here has a tread 12 on, over which the person 6 running. The tread 12 consists of a turntable 10 and a tread 11 together. The tread 11 surrounds the turntable 10 in sections, leaving the person 6 at the Strike forward first on the tread 11 occurs and his foot motion back to the turntable 10 pulling is supported. The retraction of the foot on the turntable 10 carried out by means of sliding shoes 3 , which each have a pull rope 14 each with a winding spool 13 are connected.

Moves the user 6 his foot with the sliding shoe 3 forward, so is the winding spool 13 due to an optical scan, determine that it is unwinding. Depending on the body weight, the unwinding speed and the body size and the associated stride length of the person 6 becomes the winding spool 13 first unrolled and is after discontinuation of the shoe 3 on the tread this retraction back to a starting position approximately in the middle of the hub 10 back support. When going out, the person becomes 6 first on the tread 11 occur, which has a tendency, so that the appearance of the person 6 looks as realistic as possible for them. Due to a holder of the person 6 in the back of which is a person's prevention 6 only limited possible, allowing an adjustment of the inclination of the tread 11 brings the needed compensation. The person 6 So it essentially moves while running above the transition between turntable 10 and tread 11 but, if it stops, it will be essentially over the center of the turntable 10 come to a stop.

This causes inter alia a holding device 2 which has a tether 21 with the person 6 connected is. Using a spring arm 20 becomes the tether 21 in the absence of an opposing force back to the holding device 2 withdrawn and the person 6 thus returned to a static starting position. The coordination of the actuators, in particular the work of the winding spools 13 , by means of a data processing unit 5 , which is in data communication with all sensors and actuators of the device. Also simulates the data processing unit 5 a virtual room, which has a display glasses 4 for the person 6 is made visible. All sensor values of the device are sent to the data processing unit 5 and serve as inputs that it uses to calculate a virtual motion in the virtual space.

2 shows as a detail the 1 the area of the connection between the holding device 2 of the base frame 1 and that of the person 6 applied tether 21 , The holding device 2 is on the one hand a spring arm 20 associated with which the movement of the person 6 from the holding device 2 limited way, on the other hand is a return spring 22 provided by the data processing unit 5 is adjustable. Depending on the height and body weight of the person 6 becomes the spring force of the return spring 22 adjusted, so that a larger, heavier person must muster a greater resistance to the force of the return spring 22 to stem. The return, which over the spring arm 20 or the return spring 22 takes place, keeps the person 6 in the right position above the turntable 10 so that it falls off the base frame 1 is effectively prevented and also an exact positioning in the tread area 11 and the turntable 10 he follows. Also the line of sight of the person 6 is thus largely fixed, so that the use of a motion-capture method with a single imager arrangement is possible. However, the spring arrangement allows at the same time so much movement that different running positions by the person 6 can be taken, resulting in a realistic running experience.

3 shows another detail in the area of the back of the turntable 10 where the winding spools 13 are arranged. The respective position of a reel spool 13 is using an optical sensor 16 detects which position of the reel spool 13 due to line markings 15 on the reel spool 13 can capture. As a result, learns with the optical sensor 16 connected data processing unit 5 , at which position the winding spool 13 and thus the associated sliding shoe 3 located. Depending on this position, the respective action of the reel spool 13 from the data processing unit 5 coordinated. To capture the traction of the person 6 at the winding spool 13 the latter is on a suspension 17 arranged, which about a pivot axis 18 is pivotable around. Here is the suspension 17 associated with a return which the suspension 17 will withdraw into the vertical position as soon as no more burden by the person 6 he follows. The deflection angle 19 the suspension 17 relative to the vertical is also recorded and for the traction of the person 6 at the winding spool 13 used.

Thus described above is a device for imaging a running on a base frame running motion in a simulated by a data processing unit, virtual space, which by the arrangement of an additional tread in the area serving as a base tread hub and a slope of this tread a significant improvement of the running experience in the virtual Space allows.

LIST OF REFERENCE NUMBERS

1

 basic frame

2

 holder

3

 skids

4

 display glasses

5

 Data processing unit

6

 person

10

turntable

11

tread

12

tread

13

winding reel

14

rope

15

line marking

16

optical sensor

17

suspension

18

swivel axis

19

angle of deflection

20

spring arm

21

safety belt

22

return spring

QUOTES INCLUDE IN THE DESCRIPTION

This list of the documents listed by the applicant has been generated automatically and is included solely for the better information of the reader. The list is not part of the German patent or utility model application. The DPMA assumes no liability for any errors or omissions.

Cited patent literature

• DE 69621844 T2 [0006]

Cited non-patent literature

• http://intron.kz.tsukuba.ac.jp/stringwalker/stringwalker.html [0002]
• "Virtual Perambulator: A Novel Interface Device for Locomotion in Virtual Environment" by Hiroo IWATA and Takashi FUJII, Institute of Engineering Mechanics, University of Tsukuba, Tsukuba, 305 JAPAN [0005]
• Proceedings of the 1996 Virtual Reality Annual International Symposium (VRAIS 96) [0005]

Claims (10)

Device for imaging one on a base frame ( 1 ) running movement into one by means of a data processing unit ( 5 ) simulated virtual space, the base frame ( 1 ) a tread ( 12 ), which rotatable about a rotation axis turntable ( 10 ), wherein the base frame ( 1 ) in the area of the tread ( 12 ) at least one motor-driven winding spool ( 13 ) for winding on with sliding shoes ( 3 ) is associated with associated traction means, wherein the rotational positions of the turntable ( 10 ) and the at least one winding spool ( 13 ) by using the data processing unit ( 5 ) communicating sensors ( 16 ) and transmitted to the data processing unit ( 5 ) calculates a movement in the virtual space from the sensor values, as well as the virtual space simulated by it, via a data processing unit ( 5 ) communicating display unit, characterized in that the tread ( 12 ) by one to the turntable ( 10 ) at least in the direction of subsequent tread ( 11 ), which, from the turntable ( 11 ) from rising, this at least partially encompasses. Device according to claim 1, characterized in that the inclination of the tread ( 11 ) manually and / or by the data processing unit ( 5 ), in the latter case preferably in dependence on the geography of the virtual space, is adjustable. Device according to one of claims 1 or 2, characterized in that the tread ( 12 ) is covered with felt and the sliding shoes ( 3 ) have a sole of polytetrafluoroethylene, wherein the sliding shoes ( 3 ) are preferably designed as overshoes. Device according to one of the preceding claims, characterized in that the sliding shoes ( 3 ) in the region of the soles each at least one with the data processing unit ( 5 ) communicating pressure sensor assembly is associated. Device according to one of the preceding claims, characterized in that the base frame ( 1 ) one with the data processing unit ( 5 ) communicating imager arrangement, preferably at least one three-dimensional imager, is assigned for carrying out a movement detection. Device according to one of claims 4 or 5, characterized in that a preferably servo-controlled braking of the turntable ( 10 ) and / or the tensile force of the winding spools ( 13 ) due to a run detection by the data processing unit ( 5 ), which identifies the running detection by means of pressure sensors in the soles of the sliding shoes ( 3 ) and / or due to motion detection by means of an imager arrangement. Device according to one of the preceding claims, characterized in that the turntable ( 10 ) and / or the winding spools ( 13 ) one with the data processing unit ( 5 ), optical sensors scannable bar code ( 15 ) assigned. Device according to one of the preceding claims, characterized in that the winding spools ( 13 ) on a pivoting suspension ( 17 ) and a tensile force on the winding spools ( 13 ) causes by means of sensors measurable deflection of the suspension. Device according to one of the preceding claims, characterized in that the base frame ( 1 ) a holding device ( 2 ) with a tether ( 21 ) associated with the holding device ( 2 ) with the interposition of a preferably adjustable return spring ( 22 ) connected is. Device according to claim 9, comprising means for weighing and / or determining the height of a person on the turntable ( 10 ) standing person ( 6 ), whereby the return spring ( 22 ) using the data processing unit ( 5 ) on the basis of the determined weight and / or the determined height of the turntable ( 10 ) standing person ( 6 ) is automatically adjustable.

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