JP2014512926A - Device control method and device for enabling a user to walk or run in an arbitrary direction at one point - Google Patents

Abstract

The present invention relates to a method of controlling the device (1) that allows a user (25) to walk or run in an arbitrary direction at one point, and a device (1) therefor. This device (1) comprises a stationary central platform (9), which is surrounded by a convex polygonal deck (6) of the same height, said deck (6) comprising a plurality of decks (6) Divided into trapezoidal roller conveyors. Each conveyor has rollers parallel to its trapezoidal base line, the short side of which is adjacent to the platform, and the long side of the base line forms one side of the polygon. The rollers of the conveyor are driven to bring the user (25) walking on it back to the central platform (9). The roller itself is a continuous circular cylinder, and a drive belt that frictionally engages with the roller is provided below the roller. According to this method, the marker (26) placed on the head of the user (25) is monitored by the video camera (24) and the speed of the roller conveyor is adjusted according to the recognized size and position of the marker. Is done.
[Selection] Figure 6

Description

  The present invention relates to a method for controlling an apparatus that allows a user to walk or run in an arbitrary direction on the spot. The device includes a stationary central platform, which is surrounded by a convex polygonal deck of the same height. The deck is divided into a plurality of trapezoidal roller conveyors, each conveyor having a plurality of rollers parallel to the trapezoidal base line, the short side of the base line is adjacent to the platform, and the long side of the base line is the multiple side. One side of the square is formed. Here, the rollers of the conveyor are driven to bring the user walking on it back to the central platform. Furthermore, the invention relates to an apparatus controlled by such a method.

  A device which is a problem of the above kind is already known from WO 96/35481 A2. In this application, an embodiment of the apparatus is disclosed, which includes a trapezoidal roller conveyor, which is a circular cylindrical section of two equal lengths, with a central in the middle. Having a roller divided into two cylindrical parts including a waist part. Further, in this international application, a method for controlling the device based on data from an accelerometer worn by a user of the device is disclosed.

  This known device and method raises several safety concerns. One concern is that even if the waist portion of the roller is partially covered by the countersunk cover strip as shown, the waist portion risks the risk of entangling the user's clothing in a dangerous manner. There is in point to raise. Furthermore, the accelerometer used in this known method is of little use when detecting a user whispering. The user's whisper will need to stop the conveyor immediately for safety reasons, for example to avoid the risk of pinching fingers.

  Second, this known device also has some practical drawbacks. Whether using a belt or gears, the integration of the rollers is very complex, depending on the method chosen for driving the rollers. In the case of a belt, since the roller is surrounded, it is difficult to mount or remove the roller. In the case of a gear, it is necessary to use an intermediate gear to rotate the adjacent roller in the same direction, not in the opposite direction.

  Another prior art device is disclosed in WO 2010/089618 A2. This device also has a platform composed of trapezoidal roller conveyors, but the rollers of this conveyor are of a safety design. This roller is a continuous circular cylinder, driven from below by a friction wheel. This structure minimizes the risk of involving the user's clothing. To control the device and keep the user in the center of the platform, circular rails are used that surround the user at a distance. The rail can carry sensor means for measuring the user's distance from the rail, and the distance data is used as an input to control the roller conveyor.

  The latter device is much easier to assemble than the former device, but the large number of friction wheels used in the device leaves some room for improvement. Further, since the distance measuring sensor means arranged on the peripheral rail is used, for example, when the user kneels or crawls and falls, the apparatus cannot be controlled safely.

  Against the above technical background, a first object of the present invention is to devise a method for advantageously controlling a device of the type mentioned at the outset. It is a second object of the present invention to provide an apparatus with an improved trapezoidal roller conveyor.

  According to the present invention, the first object is the method described at the outset, and further includes the following steps: mounting a plurality of video cameras on the top of the device at a position considerably higher than the user The camera is placed in a defined matrix and oriented downward; mounting a direction marker on the user's head; and the position and size of the marker The step of monitoring by the camera and the speed of the roller conveyor according to the distance of the marker from the central platform as viewed from above by the camera, when the distance is large, when the distance is high, and when the distance is small Includes a step of controlling at a low speed and a step of stopping the roller conveyor when the distance becomes zero. It is achieved by a method for the symptoms. By using a video camera instead of an accelerometer as in prior art devices, the user needs to wear a simple marker, for example on the top of a hat or helmet, in order to be connected to the device There is only there. Therefore, there is no need to wire or attach a battery pack or the like, which improves convenience and safety. In addition, by placing the marker above the user's arm or leg that moves back and forth during walking or running, the user's actual position can be monitored and the roller conveyor speed adjusted accordingly Much easier.

  Preferably, the method according to the invention further comprises the step of stopping the roller conveyor when the size of the marker as viewed from above by the camera is considerably reduced or when the marker is no longer visible from the camera. . This step represents another important safety feature. The reason is that the roller conveyor of the device according to the invention is guaranteed to stop immediately if the user is kneeling, lying down, stumbling over or simply losing the marker.

  The method according to the invention further comprises the steps of mounting a video display or screen that can be viewed by the user, the content shown on the video display or screen, the speed of the roller conveyor, the actual position of the marker and It is desirable to further include adapting to the size as well as its direction. This can greatly enhance the user's overall recognition of the virtual reality environment on which the video display or screen is projected. Furthermore, according to a preferred embodiment, the subject shown on the video display or screen can be selected depending on the type of marker used. This makes the device according to the invention more user-friendly and, for example, simply by changing from a hat having one type of marker thereon to another hat having another type of marker thereon. It can be made adaptable to the user.

  The method according to the invention increases the speed of the roller conveyor when the direction of the user's overhead marker indicates that the user who has stepped on the deck is oriented non-radially with respect to the central platform. It is desirable to further include a reducing step. This step takes into account that if the user turns his head during walking, for example, the user usually slows down his walking speed and may lose balance if moved quickly by the roller conveyor of the device according to the invention. doing.

  In accordance with the present invention, a second object is a device that allows a user to walk or run in any direction at a point, including a stationary central platform, which platform includes: Surrounded by a convex polygonal deck of the same height, the deck is divided into a plurality of trapezoidal roller conveyors, each conveyor having a roller parallel to the trapezoidal base line, the short side of the base line on the platform Adjacent, the long side of its base line forms one side of the polygon, and the rollers of the conveyor are driven to bring the user walking on it back to the central platform, the rollers being continuous In the apparatus, the drive means is a roller controller. The drive means is frictionally engaged with the roller from below. An endless belt extending along the belt, the endless belt being in friction drive engagement with all the rollers of the roller conveyor, and the drive means frictional with the conveyor roller in the central portion of the conveyor roller Engaging, the roller is pivoted at its end in a resiliently mounted bearing. Compared to the facility described in WO 96/35481 A2, this facility not only simplifies the trapezoidal roller conveyor and its production and assembly, but also lifts and removes the conveyor, for example. Therefore, since it is not necessary to attach and detach the drive belt, maintenance management becomes easy. Furthermore, this device according to the present invention improves safety in that the surface of the roller conveyor is smoother than before and has less irregularities, thus reducing the risk of entanglement of clothes or pinching of fingers. Furthermore, the device according to the present invention is much easier to complete than the drive system including individual rubber wheels compared to the device of WO 2010/0896182 pamphlet. The roller conveyor will be able to walk or run on it more comfortably, like a sports floor with some elasticity, and even if the user steps on the position of the roll off the center of the roll, the roll of the conveyor And good driving contact between the driving means.

  The drive shafts of the drive means are preferably connected to each other by a flexible joint and driven by a single motor. It is well known to use a flexible joint, also called a universal joint, to transmit rotational motion around a corner if it is within reasonable limits. Thus, in the apparatus according to the invention, every transition between two adjacent roller conveyors in order to transmit power from a single motor to all conveyors in small angle steps that do not cause any interruption problems. One such joint can be used.

  The deck of the device according to the invention is preferably surrounded by a stationary floor plate of the same height. This floor plate forms a limit on the outside of the device and can be used as a safe retreat, for example, when the speed of the roller conveyor of the device is too slow to bring the user back to the central platform.

  The floor plate preferably covers parts of the driving means. This is very advantageous because it simplifies access to the drive means. In addition, this can minimize the height of the device. The reason is, for example, that a preferred single motor must be quite large, but that motor can be hidden under a thin floor plate rather than under a thick roller conveyor. is there.

  According to a preferred embodiment of the device according to the invention, the deck is a regular convex polygon and the roller conveyor is an equal isosceles quadrilateral. Such a scheme is most advantageous if a device is created that allows walking or running in any direction without any restrictions. This may be the case when the outer limits of some roller conveyors are close to the central platform, while other conveyors are not.

  In the drawings, preferred embodiments of the device according to the invention are shown, and preferred embodiments of the method according to the invention are described.

FIG. 1 shows a preferred embodiment of the device according to the invention in a perspective view. FIG. 2 is a top view of the apparatus of FIG. FIG. 3 is a detailed view of part A of FIG. FIG. 4 is a side view of the device along line BB in FIG. FIG. 5 is a detailed view of part C of FIG. FIG. 6 shows a perspective view of the user of the device, the device itself and other means necessary for carrying out the method according to the invention.

  The device 1 according to a preferred embodiment of the invention is substantially circular when viewed from above. The circular perimeter is created by a horizontal ring-shaped floor plate 2, which is divided into several fan-shaped parts 3 by radial lines. There are a total of 16 identical floor sectors 3, all of which rest on a frame structure 4 containing the radial beam 5 below the dividing line. The frame structure 4 including the radial beam 5 can best be seen in FIG. In FIG. 3, the two floor fan-shaped parts 3 are removed in order to clarify the substructure of the device 1. On the inner periphery of the ring-shaped floor plate 2, each floor sector 3 forms a line extending linearly from one dividing line to the next dividing line. Thus, the 16 floor fan-shaped portions 3 constitute a regular hexagonal ring-shaped opening.

  A horizontal deck 6 having the same height as the floor plate 2 is provided inside the ring-shaped opening of the ring-shaped floor plate 2. The deck 6 is also ring-shaped and concentric with the floor plate 2. The deck 6 is composed of a total of 16 identical roller conveyors 7, i.e., one isosceles quadrilateral trapezoid each provided with a roller 8 parallel to the base of the trapezoid. The sixteen roller conveyors 7 are each arranged concentrically in the radial direction with one of the sixteen floor sectors 3 and are each provided with any major interruption by the rollers 8 along the longer baseline of the roller conveyor 7. Without being connected to the floor fan-shaped portion 3. The opposite roller 8 along the shorter baseline of the roller conveyor 7 defines a regular hexagonal opening that forms the inner perimeter of the deck 6.

  Finally, a horizontal central platform 9 having the same height as both the floor plate 2 and the deck 6 is provided inside the ring-shaped opening of the ring-shaped deck 6. This platform 9 is stationary and has a regular hexagonal shape and a size that fits without leaving any significant interruption in the inner periphery of the deck 6. This central platform 9, like the floor plate 2, rests on the frame structure 4 with a radial beam 5 extending over its entire length in the center of the circular device 1.

  The deck 6 also rests on the frame structure 4, but is not directly resting on the radial beam 5, but is mounted on top of this beam 5 as seen in the detailed view of FIG. It rests on an elastic elastomer band 10. A side plate 11 of the roller conveyor 7 is placed on the elastomer band 10. The side plate 11 is held in place by a stud 12, which is attached to a radial beam 5 and freely passes through an orifice opening in the side plate 11. This allows for some movement of the supported side plate within the limits defined by the head of the stud 12 protruding to the top of the orifice opening.

  The rollers 8 of the roller conveyor 7 are pivotally supported in bearings 13 held by the side plates 11 and are mounted as close as possible to each other without contacting each other. This attachment takes place parallel within the same roller conveyor 7 and laterally between two adjacent roller conveyors 7 at the top of the radial beam 5 of the frame structure 4. Thus, the rollers 8 could rotate freely without the drive means 14 located below the rollers 8 and in frictional contact with the respective rollers 8.

  As can be seen in FIG. 3, according to a preferred embodiment of the invention, the drive means 14 of all roller conveyors 7 are provided with an endless belt 15. The belt 15 extends in the radial direction toward the center of the apparatus 1 at the center of the roller conveyor 7. By means of a sliding support 16 at the lower part of the upper belt of each endless belt 15, these upper belts are pressed into frictional engagement with all the rollers 8 of the roller conveyor 7. Here, since the roller conveyor 7 is elastically supported, complete belt-roller contact is ensured even when the roller 8 is subjected to an eccentric load.

  Each endless belt 15 moves around the terminal pulleys 16 and 17. Of these pulleys, it is preferable that the inner pulley 16 is a driven pulley and the outer pulley 17 is a drive pulley. Further, the drive pulley 17 is driven by a cardan shaft device 18. The cardan shaft device 18 includes flexible joints 19 on both sides of the drive pulley 17 and extends from a single electric motor 20 to the first drive pulley 17 and then to the next drive pulley 17 and so on. ing.

  As is often seen in FIG. 3, the cardan shaft device 18 is well hidden under the floor plate 2 but is easily accessible by simply removing the selected floor sector 3. The same applies to the roller conveyor 7, but the roller conveyor 7 is very easy to remove, since it is friction driven and can therefore be lifted easily when the fixing stud 12 is removed.

  In FIG. 6, the device 1 according to the preferred embodiment described above is shown with some additional features provided to enable the method of controlling the device 1. In FIG. 6, the perspective view itself of the device 1 is the same as that in FIG.

  The configuration of FIG. 6 includes a cage 21 surrounding the device 1 in addition to the device 1. The cage 21 has a vertical column 22 and a roof including a rail 23 extending diagonally. The pillar 22 is preferably used to attach a video display or screen (not shown) that allows the creation of a virtual reality environment known per se. The rail 23 carries a video camera 24 that is directed downward. As can be seen, the video camera 24 is arranged in a suitably defined matrix at a substantial height above the user 25 of the device 1. The user wears a hat, and a marker 26 with a prescribed pattern indicating the direction is provided on the top of the hat.

  In the method according to the invention, the video camera 24 tracks the position of the marker 26, its size and its direction, and the information is obtained from where the user 25 of the device 1 is currently and where the user is. Is used to determine whether or not When the user is not in the center of the device 1 on the stationary platform 9 or leaves the platform 9, the electric motor 20 is activated to drive the roller conveyor 7 and the roller conveyor 7 is stepped on it The person 25 is brought back to the platform 9. According to this method, the speed at which the user 25 is returned to the platform 9 increases as the user 25 moves away from the platform. This also means that if the user 25 approaches or is close to the stationary platform 9, the speed is reduced. When the user 25 returns to the stationary platform 9, the electric motor 20 is stopped again, and thus the roller conveyor 7 is stopped. In the method according to the invention, the roller conveyor 7 is likewise stopped when the marker 26 above the user 25 becomes difficult to recognize or becomes undetectable. Such a situation may be due to the user 25 hitting and falling, or having stepped on the floor plate 4 past the deck 6, or because the marker 26 has fallen off for some reason. is there. Further, if a change in the recognized size of the marker 26 is detected, it may be due to the user 25 kneeling or lying down. It can be used as an index to stop immediately.

  In a further improved control mode based on the method according to the invention, the speed of the roller conveyor 7 is based on the position of the user 25 with respect to the central platform 9, in this case in addition, in some cases the user Are provided with differentiating elements that account for the time at which the position change occurs and adapt the speed of the roller conveyor 7 accordingly, and an integrating element that allows a faster maximum conveyor speed over time.

  The method according to the invention comprises the steps of wearing a video display or screen (not shown) that can be viewed by the user 25 and the display content, i.e. the viewing angle of the content shown on the video display or screen or It may further include adapting the moving speed to the speed of the roller conveyor 7 and the actual position and size of the marker 26 and its direction. It is also possible to suitably select the subject shown on the video display or screen depending on the type of marker 26 used. That is, for example, in the case of the marker 26 on the army helmet, the battle scene is started, or in the case of the marker 26 on the station manager's hat, the train platform scene is started.

  Finally, the method according to the invention is where the direction of the marker 26 above the user 25 indicates that the user 25 stepping on the deck 6 is oriented in a non-radial direction with respect to the central platform 9. Can further include reducing the speed of the roller conveyor 7. This is because, when the user 25 turns his head while walking, the user 25 usually decreases the walking speed, so that the user 25 may lose balance when moved quickly by the roller conveyor 7 of the apparatus 1. ing.

Claims (10)

A method for controlling a device (1) that allows a user (25) to walk or run in any direction at one point, said device (1) comprising a stationary central platform (9) The platform (9) is surrounded by a convex polygonal deck (6) of the same height, and the deck (6) is divided into a plurality of trapezoidal roller conveyors (7), each conveyor (7) A roller (8) parallel to the trapezoidal base line, the short side of the base line being adjacent to the platform (9), the long side of the base line forming one side of the polygon, and the conveyor In the control method, the roller (8) of (7) is driven to bring the user (25) walking on it back to the central platform (9) in the following steps:
Mounting a plurality of video cameras (24) on top of the device (1) at a position substantially higher than its user (25), the cameras (24) being arranged in a defined matrix; And step downwards, and
Wearing a direction indicating marker (26) on the head of the user (25);
Monitoring the position and size of the marker (26) with the camera (24);
Depending on the distance of the marker (26) from the central platform (9) as viewed from above by the camera (24), the speed of the roller conveyor (7) is high if the distance is large, When the distance is small, controlling at a low speed;
Stopping the roller conveyor (7) when the distance becomes zero;
A method characterized by comprising:   2. The method according to claim 1, wherein when the size of the marker (26) viewed from above by the camera (24) is significantly reduced, or the marker (26) is seen from the camera (24) at all. The method further comprising the step of stopping the roller conveyor (7) when it is no longer possible.   3. A method according to claim 1 or 2, wherein a step of mounting a video display or screen that is visible to the user (25), and the content shown on the video display or screen is transferred to the roller conveyor (7). Adapting to the speed of the marker and the actual position and size of the marker (26) and its direction.   4. The method according to claim 3, further comprising the step of selecting the subject to be shown on the video display or screen depending on the type of marker (26) used.   5. The method according to claim 1, wherein the direction of the marker (26) above the user (25) is determined by the user (25) stepping on the deck (6). The method further comprising the step of reducing the speed of the roller conveyor (7) when indicating a non-radial orientation with respect to the central platform (9). A device (1) that allows a user (25) to walk or run in any direction at a point, said device (1) comprising a stationary central platform (9), said platform (9) is surrounded by a convex polygonal deck (6) of the same height, and the deck (6) is divided into a plurality of trapezoidal roller conveyors (7), and each conveyor (7) A roller (8) parallel to the base line, the short side of the base line is adjacent to the platform (9), the long side of the base line forms one side of the polygon, and the conveyor (7) The roller (8) is driven to bring the user (25) walking on it back to the central platform (9), said roller (8) being a continuous circular cylinder, each conveyor (7) On the lower side, the low side (8) and the friction drive engaging driving means (14) is provided, in the apparatus (1),
The drive means (14) includes an endless belt (15) extending along the roller conveyor (7), the endless belt (15) being connected to all the rollers (8) of the roller conveyor (7). Friction drive engagement, and
The drive means (14) is frictionally engaged with the conveyor roller (8) at the central portion of the conveyor roller (8), and the roller (8) is elastically mounted at its end. ) To be pivoted within,
(1) characterized by the above.   Device (1) according to claim 6, wherein the drive shaft (18) of the drive means (14) is interconnected by a flexible joint (19) and driven by a single motor (20). A device (1) characterized in that.   Device (1) according to claim 6 or 7, characterized in that the deck (16) is surrounded by a stationary floor plate (2) of the same height. ).   9. The device (1) according to claim 8, wherein the floor plate (2) covers parts of the drive means (14).   10. The device (1) according to claim 8 or 9, characterized in that the deck (16) is a regular convex polygon and the roller conveyor (7) is an equal isosceles quadrilateral. Device (1).

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