KR101821592B1 - Walking simulator system using virtual reality and method for calculating pedestrian position thereof - Google Patents

Abstract

The present invention discloses a walking simulator system using virtual reality and a pedestrian position calculating method thereof. The walking simulator system includes a walking pad configured to allow a pedestrian to march in place; a motion sensor for sensing the motion of the pedestrian walking on the walking pad; a head mount display (HMD) mounted on the head of the pedestrian and outputting an image related to a virtual reality space where the pedestrian is walking; and a controller for calculating the virtual walk position of the pedestrian based on motion information sensed by the motion sensor and controlling the output image of the head mount display. It is possible to minimize the dizziness of the pedestrian.

Description

TECHNICAL FIELD [0001] The present invention relates to a walking simulator system using a virtual reality, and a pedestrian simulator system using the virtual reality,

The present invention relates to a pedestrian simulator system to which a virtual reality technology is applied so that it can be used for experiential traffic safety education of an aged pedestrian, and a pedestrian position calculating method thereof.

Recently, the elderly population is increasing due to the explosion of the elderly population, and the traffic accident rate of older pedestrians is increasing. In this way, the traffic safety problem of the elderly population is emerging as a serious social problem, and the importance of the prevention of the traffic accident of the aged pedestrian whose exercise ability is decreased is increasing.

As a result, it is necessary to construct educational system to prevent traffic accidents of elderly pedestrians. However, because of the characteristics of elderly people, .

Considering this reality, a portable simulator system is proposed as an alternative. In the case of aged pedestrians, the purpose of pedestrian education is to evaluate their walking ability through virtual reality, not knowledge transfer, Since experiential learning is effective, the necessity of development of a walking simulator capable of such experiential learning is increasing.

Japanese Patent Application Laid-Open No. 10-2015-0031389 (Feb. Open Patent Publication No. 10-2009-0122875 (2009.12.01)

SUMMARY OF THE INVENTION The present invention has been made in view of the above-mentioned problems, and it is an object of the present invention to provide a gait simulator suitable for mobile visiting education and to provide an optimal gait simulator .

Further, the present invention provides a pedestrian position calculation method capable of minimizing dizziness of a pedestrian by allowing the walking of a pedestrian to be reflected as close to reality as possible in a space in a virtual reality.

It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory and are not intended to limit the invention to the precise forms disclosed. Other objects, which will be apparent to those skilled in the art, It will be possible.

In order to achieve the above-mentioned object, the present invention provides a walking paddle, comprising: a walking pad configured to walk on a walk with a pedestrian; a motion sensor for sensing motion of the pedestrian walking on the walking pad; A head mounted display (HMD) for outputting an image related to a real space, and a controller for controlling the output image of the head mounted display by calculating a virtual walk position of the pedestrian based on the motion information sensed by the motion sensor A walking simulator system using a virtual reality is disclosed.

According to the walking simulator system of the present invention, the working pad may include a rolling plate configured to slip a foot when the pedestrian walks, and a handle provided on the top of the rolling plate.

According to the walking simulator system of the present invention, the head mount display may include a speaker for outputting sound associated with the virtual reality.

The walking simulator system of the present invention may further include a fixed-mount display mounted on one side of the working pad.

According to the walking simulator system of the present invention, the controller calculates in real time the distance between the virtual object located at a predetermined distance forward from the reference point of the body of the pedestrian and the ankle position of the pedestrian calculated from the motion information, It is possible to calculate the virtual walking position of the vehicle.

According to another aspect of the present invention, there is provided a method for controlling a pedestrian, comprising: sequentially calculating an ankle position information of a pedestrian from motion information acquired from the motion sensor at regular intervals; Calculating a first distance value and a second distance value successively by sequentially calculating distances; comparing the first distance value and a second distance value to calculate a reference point position of the body of the pedestrian based on the comparison result; A method for calculating a virtual realistic pedestrian position is disclosed.

According to the virtual reality pedestrian position calculating method of the present invention, the calculating of the reference point position may be performed by maintaining the position of the reference point when the second distance value is smaller than the first distance value, And moving the position of the reference point corresponding to the position moving distance of the ankle from the moment it becomes larger.

The virtual reality pedestrian position calculating method of the present invention may further include stopping the movement of the reference point from a moment when the second distance value becomes smaller than the first distance value while continuing to move the reference point.

The virtual reality pedestrian position calculating method may further include calculating a reference point position of the pedestrian by comparing the first distance value and the second distance value of the ankle of the opposite foot of the foot, after stopping the reference point movement.

According to the present invention having the above-described structure, it is possible to maximize the effect of walking training by providing a virtual reality through a stereoscopic image to a pedestrian through a head mound display so that the space coincides with the experience in a virtual reality.

Also, it is possible to reflect the walking of the pedestrian in the virtual reality space as close to reality as possible by applying the position movement according to the actual walking pattern of the pedestrian to the walking position calculation method, thereby minimizing the occurrence of dizziness in the virtual reality subjects .

1 is a block diagram showing a walking simulator system according to an embodiment of the present invention;
2 is a perspective view of a working pad according to an embodiment of the present invention;
3 is a cross-sectional view of the working pad shown in Fig.
FIG. 4 is a flowchart illustrating a method of calculating a position of a pedestrian in a virtual reality according to an embodiment of the present invention. FIG.
5 is a diagram sequentially showing a walking pattern of a pedestrian walking on a working pad;

Hereinafter, a walking simulator system and a pedestrian position calculating method using the virtual reality related to the present invention will be described in detail with reference to the drawings.

1 is a block diagram showing a walking simulator system according to an embodiment of the present invention. FIG. 2 is a perspective view of a working pad according to an embodiment of the present invention, and FIG. 3 is a sectional view of the working pad shown in FIG.

1 to 3, the walking simulator system of the present embodiment includes a walking pad 110, a motion sensor 120, a head mount display 130, and a controller 140.

The working pad 110 is configured so that the pedestrian can walk while standing. As shown in FIGS. 2 and 3, the walking pad 110 may include a rolling plate 111 on which a foot of a pedestrian slips when the pedestrian is walking. The rolling plate 111 may be formed in a concave curved shape whose surface is lowered toward the center. When the pedestrian paces his / her foot and contacts the rolling plate 111, the foot slides on the surface of the rolling plate 111 And can return to the place. The rolling plate 110 may have a symmetrical shape in the front, rear, left, and right centered on the center position of the pedestrian so that the pedestrian can walk back and forth, right and left.

The handle 112 may be provided on the upper side of the rolling plate 111 and may include a handle 112 that can be walked with the pedestrian by hand. Lt; / RTI > The handle 112 may have a ring shape surrounding the periphery of the pedestrian.

A support portion 115 for supporting the body of the pedestrian may be additionally provided on the inside of the handle 112, and this may have a ring shape having a diameter smaller than that of the handle 112. The support portion 115 may have a configuration connected to the connection portion 116 extending inwardly from the handle 112.

An upwardly extending support rod 114 may be installed at one side of the rolling plate 111 and the head mount display 120 may be connected to the support rod 114 via a cable. According to this configuration, the pedestrian can wear the head-mounted display 130 (HMD) while standing on the rolling plate 111 of the working pad 110.

Referring again to FIG. 1, the motion sensor 120 senses the motion of a pedestrian walking on the working pad 110. The motion sensor 120 may be a Kinect sensor installed at a position in front of the pedestrian to sense the three-dimensional motion of the pedestrian, and the motion sensor 120 may perform tracking of the body gesture using an infrared camera . However, the type of the motion sensor 120 is not limited thereto and can be implemented in various ways.

The head mount display 130 is worn on the head of a pedestrian, and outputs an image related to a virtual reality space in which the pedestrian is walking. The head mount display 130 may provide a three-dimensional stereoscopic image to the pedestrian, and may further include a speaker for outputting sound related to the virtual reality. The configuration of the head mount display 130 is well known in the art, and a detailed description thereof will be omitted.

The controller 140 controls the output image of the head mount display 130. The controller 140 may store video / audio information about a virtual reality space, information about an unexpected event (time, weather, automobile), education contents, evaluation factors, Causes the information to be output to the head mount display 130 according to an operator's command or predetermined setting.

The controller 140 calculates the virtual walk position of the pedestrian based on the motion information sensed by the motion sensor 120 and controls the output image of the head mount display 130. For example, if the pedestrian stepped forward and moved forward, the controller 140 causes the corresponding image to be output to the head-mounted display 130. [

In addition to the head mount display 130, a fixed mount display 150 may be further provided on one side of the working pad 110. In the present embodiment, the fixed mount display 150 may be a combination of four displays, Lt; RTI ID = 0.0 > 4 < / RTI > The number of displays to be applied to the fixed-mount display 150 can be variously modified.

FIG. 4 is a flowchart showing a method for calculating a position of a virtual reality pedestrian according to an embodiment of the present invention, and FIG. 5 is a diagram sequentially showing a walking pattern of a pedestrian walking on a walking pad.

According to the present invention, the controller 140 determines whether or not a virtual object (N.Null Object) located at a certain distance forward from the reference point of the pedestrian's body (for example, the position of the pedestrian's pedestrian) Calculated in real time, and calculates the walking position of the pedestrian on the basis of the calculated distance.

In the walking position calculation method according to the present invention, a position of a reference point (for example, a position of a pedestrian) of a body of a pedestrian is defined as a virtual reality walking position, and a virtual object (N, Null Object) Is used. The virtual object N refers to a virtual object located at a predetermined distance (for example, 2 meters) forward from the reference point of the pedestrian's body. The virtual object (N) is dependent on the reference point and moves together with the reference point.

Hereinafter, the method for calculating the virtual real walking position will be described in detail with reference to FIGS.

First, the controller 140 acquires the motion information sensed by the motion sensor 120, specifically the tracking information of the leg joints at a predetermined period (for example, 30 ms intervals) (S10). Identify and check whether the foot information acquired in this process is left or right. The controller 140 sequentially calculates an ankle position at intervals corresponding to the acquisition period (S20).

Next, the controller 140 sequentially calculates the distance between the virtual object N and the position of the ankle. The distance D between the virtual object N and the ankle (refer to FIG. 5) is obtained in real time (S30) at an interval (for example, 30 ms) corresponding to the motion information acquisition period. The first distance value D1 and the distance value obtained in the next cycle of the first distance value D1 are defined as a second distance value D2, The first distance value D1 and the second distance value D2 are continuously changed according to the real-time calculation. The controller 140 sequentially obtains the first distance value D1 and the second distance value D2 in sequence.

The controller 140 compares the first distance value D1 with the second distance value D2 (S40), and calculates the reference point position of the body of the pedestrian based on the comparison result.

In this regard, the walking pattern shown in Fig. 5 will be described. (A) shows that the pedestrian is in the ready state, and (b) shows the state where the pedestrian is in the process of taking one foot forward. (C) shows a state in which the foot taken by the pedestrian comes into contact with the cloud plate 111 and moves forward as far as possible, and (d) shows a state in which the front foot slides backward to the rear of the cloud plate 111. Finally, (e) indicates that the backward foot is backwardly backward as far as possible and the opposite foot is lifted forward.

(a) state and (b) state, the center of gravity of the body of the pedestrian is on the foot, and in the state (c), the center of gravity is moved to the foot. In the present invention, the current position is maintained without moving the reference point until the state (a) reaches the state (c), and the reference point is moved after the state (c).

That is, the controller 140 compares the first distance value D1 with the second distance value D2, and when the second distance value D2 is smaller than the first distance value D1, . The distance between the virtual object N and one of the ankles gradually decreases until the state (c) of FIG. 5 is reached through the state of FIG. 5 (a) Is smaller than the distance value D1.

since the distance between the virtual object N and one ankle becomes longer after the state (c), the distance from the moment when the second distance value D2 becomes larger than the first distance value D1, The position is moved (S50).

5 (d), the center of gravity continues to be positioned on the foot even in the process of sliding backward to the back of one foot plate 111, and the center of gravity moves from the state (e) to the opposite foot. The present invention regards the position from the state (c) to the position (e) as a section in which the reference point of the body moves, and reflects the position movement distance of the ankle as the movement distance of the reference point. And (e) stopping the movement of the reference point after the state and not reflecting the movement of the ankle in the movement of the reference point.

That is, the controller 140 maintains the movement of the reference point and moves the reference point from the moment when the second distance value D2 becomes smaller than the first distance value D1, that is, from the state of FIG. 5 (e) (S60). After the movement of the reference point is stopped, the ankle of the opposite foot of the corresponding foot is similarly performed (S80). That is, the process of calculating the position of the reference point of the pedestrian by comparing the first distance value D1 and the second distance value D2 of the opposite foot ankle is repeated.

According to the above-described method for calculating the walking position of the virtual reality, the walking position in the virtual reality of the pedestrian can be calculated as close as possible to the actual one only through the walking information of the pedestrian only, It is possible to minimize the occurrence of dizziness in possible learners.

The pedestrian simulator system and the pedestrian position calculating method using the virtual reality described above are not limited to the configuration and method of the embodiments described above, but various modifications can be made by those skilled in the art within the scope of the technical idea of the present invention .

110: Working pads 111:
112: handle 120: motion sensor
130: Head mount display 140: Controller
150: Fixed mount display

Claims (9)

A walking pad configured to walk with the pedestrian in place;
A motion sensor for sensing a motion of a pedestrian walking on the working pad;
A head mounted display (HMD) mounted on a head of a pedestrian and outputting an image related to a virtual reality space on which a pedestrian is walking; And
And a controller for calculating a virtual walk position of the pedestrian based on the motion information sensed by the motion sensor and controlling an output image of the head mount display,
Wherein the controller is configured to calculate a virtual walk position of the pedestrian,
A first distance value and a second distance value are sequentially and repeatedly obtained by sequentially calculating in real time the distance between a virtual object located at a predetermined distance forward from the reference point of the pedestrian's body and an ankle position of the pedestrian calculated from the motion information, ,
Comparing the first distance value with the second distance value and maintaining the position of the reference point when the second distance value is smaller than the first distance value and if the second distance value is larger than the first distance value Wherein the position of the reference point is moved in response to a position moving distance of the ankle from the moment. The apparatus according to claim 1,
A rolling plate in which the feet slip when the pedestrian is walking; And
And a handle provided on an upper side of the cloud plate. The head-mounted display according to claim 1,
And a speaker for outputting sounds related to the virtual reality. The walking simulator system according to claim 1, further comprising a fixed mount display mounted on one side of the working pad. delete A virtual reality pedestrian position calculating method of a walking simulator system using a virtual reality according to claim 1,
Sequentially calculating the ankle position information of the pedestrian from the motion information obtained at a predetermined period from the motion sensor;
Sequentially calculating a first distance value and a second distance value by sequentially calculating a distance between a virtual object positioned a certain distance forward from a reference point of the pedestrian's body and a position of the ankle; And
Comparing the first distance value with the second distance value, and calculating a reference point position of the body of the pedestrian based on the comparison result,
Wherein the step of calculating the reference point position comprises:
The position of the reference point when the second distance value is smaller than the first distance value and the position of the reference point corresponding to the position movement distance of the ankle from the moment when the second distance value becomes larger than the first distance value, And moving the virtual reality pedestrian position. delete The method according to claim 6,
Further comprising stopping movement of the reference point from a moment when the second distance value becomes smaller than the first distance value while continuing to move the reference point. 9. The method of claim 8,
And calculating a position of a reference point of a pedestrian by comparing the first distance value and the second distance value of the ankle of the opposite foot of the foot after stopping the movement of the reference point.

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