KR101947701B1 - Input control method by weight estimation of load of motion platform - Google Patents

Abstract

The present invention relates to a method for controlling input by estimating a load and the weight of a motion platform to control the size of motion input driving the motion platform by estimating the weight of a passenger. The method for controlling input by estimating the load and weight of a motion platform uses a system. The system comprises: a control unit (100); a signal control unit (200) comprising an input gain schedule module (17) and an input gain calculation module (18) and increasing and decreasing a signal; and a motion input generating unit (19) generating the motion input of the motion platform in accordance with a signal level transmitted from the signal control unit (200). The control unit (100) comprises: a motion platform device/electronic unit (12); a torque obtaining unit (13) obtaining information on a torque value and a load value from the motion platform device/electronic unit (12); a load-torque polynomial module (14) calculating a load-torque polynomial by receiving the load value and the torque value from the torque obtaining unit (13); a load-torque relation module (16) calculating a load-torque relation by receiving the load and torque values from the torque obtaining unit (13); and a load estimation module (15) estimating the load of the passenger.

Description

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an input control method,

The present invention relates to an input control method for estimating the weight of a motion platform, and more particularly, to an input control method for estimating a weight of an occupant to control the size of a motion input for driving the motion platform, And a control method.

Generally, a (virtual reality) motion platform transmits motion sense to an occupant by using motion data linked with contents or dynamics information of an object generated in a physical engine. Since the motion input driving the motion platform always has the same value under the same content condition, the inertial load acting on the motion platform increases as the occupant's weight increases.

According to Patent Publication No. 10-2016-0113491 (Motion Platform System), "a motion platform system is disclosed. A motion platform system includes a wide viewing angle display that provides an image according to the movement of a user's head, a paragliding harness , A steering handle brake to be controlled by a user, a top frame to which the paragliding harness is fixed, a stand structure to support the top frame, and a computing device to reproduce contents for the image.

Conventional motion platform systems cause motion sickness to passengers because of the high inertial load degrading the response performance of the motion platform. Further, the strength of the mechanism and the link portion is lowered, and the body of the non-stationary motion platform is shaken to generate an impact. Therefore, a control method for controlling the motion input according to the weight of the passenger is required.

Moreover, it is obvious that the structural durability of the mechanism will be lowered due to continuous impacts and vibrations acting as fatigue loads, and there is a problem in that it is impossible to increase the floor area or anchor it firmly considering the versatility of the installation.

The present invention provides an input control method through load weight estimation of a motion platform for controlling the size of a motion input for driving a motion platform by estimating the weight of a boarding pass, There is a purpose.

In order to achieve the above object, the present invention provides a method of controlling a vehicle comprising the steps of: acquiring information about a load value and a torque value from a motion platform mechanism / Torque polynomial module 14 for calculating a load-torque polynomial by receiving a load value and a torque value from the torque obtaining section 13, and a load-torque polynomial module 14 for receiving a load value and a torque value from the torque obtaining section 13, Torque relation polynomial module 14 receives a result of calculation of a load-torque polynomial from the load-torque polynomial module 14, and calculates a load-torque relationship between the load- And a load estimation module (15) for receiving the calculation result of the load-torque relationship from the load estimation module (16) and estimating the load of the occupant, and a controller Reflect the schedule of A signal adjusting unit 200 for adjusting an input signal and calculating an input gain based on the input value and an input gain schedule module 17 and an input gain calculating module 18 for calculating an input gain based on the load value, And a motion input generating unit 19 for generating a motion input of the motion platform according to the transmitted signal level.

Specifically, the torque obtaining unit 13 obtains torque data through a dummy test (model test); The load estimation module 15 estimates a load of a passenger by using a torque acting on a servo motor 1) applies a gain to a motion cue according to a weight, And 2) selecting a motion cue for a high / low load weight.

In the embodiment, the method 1) is preferentially applied considering the operation cost of the motion cue.

In an embodiment, the load estimation module 15 comprises a passenger weight estimation algorithm and a motion input determination algorithm via servomotor load measurement; 1) The servo motor load estimation algorithm derives a polynomial of an appropriate order through the polynomial regression method of the motor load table by the weight of the passenger acquired by the test, estimates the weight of the passenger by measuring the motor load using the derived formula, Verifying validity against the weight of the passenger obtained through the dynamic relationship of the motion platform mechanism; 2) The motion input decision algorithm sets the reference weight value and the maximum weight value to determine the motion input. If the estimated weight is below the reference weight value, the motion input size is applied as 100% When the weight value is equal to or greater than the maximum weight value, applying the gain value according to the weight increase to reduce the motion input, and when the weight value is greater than the maximum weight value, setting the motion input size to 0% will be.

In an embodiment, the servo motor load estimation algorithm is driven at a set position; A step S2 of judging whether the HMD (head mounted display) is turned on; Step S3 where the HMD is changed to a neutral position if the HMD is turned on; A step S4 of judging whether or not it is an operating position (On Position); Step S5, which is driven to a neutral state if it is an On position; Performing a load estimation algorithm (Weight Estimation Algorithm) for estimating a load S6; Step S8 of setting the axis number Axis = 1 after proceeding to step S7 in which the number of iterations Iteration = 1 is set; Step S9 of requesting a torque value; Step S10 for waiting for a response for 50 ms and step S11 for receiving a torque value; A step S12 of judging whether the axis Axis = 3; And a step S13 of calculating a polynomial equation if the axis Axis = 3.

In an embodiment, the motion input determining algorithm includes: a step S14 of judging whether or not the iteration number (Iteration) = 10; If the number of repetitions is 10, a step S15 for normalizing the processing result on the load values up to now; A step S16 of extracting a minimum value (Min. Value) and a maximum value (Max. Value) according to the processing result on the load value up to now; A step S17 of extracting an average value according to a processing result on the load value without the minimum value and the maximum value of the step S16; And a step S18 of applying the load value according to the processing result to the gain so far.

Advantageous effects of the present invention are that the responsiveness of the motion platform is ensured and the fatigue load and shock are prevented through the control method of the present invention.

1 is a block diagram illustrating a system configuration for implementing an input control method through weight estimation according to the present invention;
2 is a flowchart showing a flow of weight estimation according to the present invention.

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, the present invention will be described in detail with reference to the accompanying drawings.

First, it is composed of an occupant weight estimation algorithm and a motion input decision algorithm through servomotor load measurement, which is a solution of the present invention.

1) Motor load estimation algorithm

The polynomial of the appropriate order is derived by the polynomial regression method of the motor load table according to the passenger weight obtained by the test. The motor load is measured using the derived formula to estimate the occupant weight. In addition, the validity is verified by comparison with the weight of the passenger obtained through the dynamics relationship of the motion platform mechanism.

2) Motion input decision algorithm

The reference weight value and the maximum weight value are set to determine the motion input. If the estimated weight is below the reference weight value, the magnitude of the motion input is 100%. When the estimated body weight is below the maximum body weight value, the gain value according to the body weight is applied to reduce the motion input. When the maximum weight value is exceeded, the size of the motion input is set to 0% to limit the movement and transmit a warning message.

The reason for applying the gain value is to reduce the movement of the motion platform by applying a gain value to the value of the motion input, which is a signal that moves the motion platform, in order to lower the inertia load increase of the motion platform system due to the weight increase. Lt; / RTI >

FIG. 1 is a block diagram showing a system configuration for implementing an input control method through weight estimation according to the present invention. The system includes a passenger 11 as an object for measuring weight information of a passenger, And a torque acquiring section 13 for acquiring information about a load value and a torque value from the motion platform mechanism / At this time, the torque obtaining unit 13 obtains torque data through a dummy test (model test). The reason for obtaining the torque data through the dummy test is that a dummy test And obtains motor torque data according to the dummy weight, and the dummy test stores the varying torque while increasing the load acting on the motion platform using a dummy (barbell disc).

A load-torque polynomial module 14 for receiving a load value and a torque value from the torque obtaining section 13 to calculate a load-torque polynomial, and a load-torque polynomial module 14 for receiving a load value and a torque value from the torque obtaining section 13, Torque relationship polynomial from the load-to-torque polynomial module 14 and receives a load-torque polynomial calculation result from the load-torque polynomial module 14 and a load- And a load estimation module (15) for receiving the calculation result of the driver and estimating the load of the passenger.

At this time, the load estimation module 15 estimates the load of the occupant by using the torque acting on the servo motor, and 1) applies a gain according to the weight to the motion cue Or 2) selecting a motion cue for high / low loads. The method 1) is preferentially applied considering the operation cost of the motion cue . For reference, a motion cue refers to an input signal for moving a motion platform, so that a motion cue can be referred to as motion input data, and a motion cue for a high / low load motion queue the motion cue is not a method of reducing the motion input by calculating the gain value according to the weight of the present invention, but rather a method of generating the motion input data for the high load / low load and loading the motion input data according to the estimated occupant load .

An input gain schedule module 17 that reflects the schedule of the input gain based on the load value transmitted from the load estimation module 15 and an input gain calculation module 18 that calculates the input gain based on the load value, And a signal regulating unit 200 for performing the increase / decrease of the signal. In this case, the schedule of the input gain means a calculation algorithm of the gain value according to the estimated weight.

And a motion input generating unit 19 for generating a motion input of the motion platform according to the signal level transmitted from the signal adjusting unit 200.

The main features of the input control method based on weight estimation will be described based on the system configuration.

The weight of the present invention is obtained by 1) obtaining a torque data through a dummy test, using a barbell as a dummy test model, and 2) using a polynomial regression. The third polynomial is calculated as shown in Table 1 by using the regression analysis in which the dependent variable is represented by a polynomial of independent variables.

The present invention has the feature of verifying the control method through 3) dummy test as shown in Table 2.

Here, a polynomial equation is defined as shown in Equation (1), the polynomial equation is corrected in a matrix form as shown in Equation (2), and is solved by least squares estimation as shown in Equation (3).

The present invention is characterized by comparing with the torque calculated by 4) Jacobian as shown in Tables 3 and 4. For the reliability of the dummy test data and the weight estimation value, the load equation using Jacobian is compared with the load equation. For comparison of the results, the polynomial equation is applied as the first polynomial, The reason why this process is necessary is to compare the mathematically calculated result (calculation result using Jacobian) in order to secure the reliability of the data obtained by the dummy test, and the inventor confirmed the same trend except for the initial value.

The present invention has a feature that 5) a control signal is generated by calculating a gain indicating an input / output ratio of a load signal.

As shown in Table 5, when the estimated weight exceeds the reference value, the motion cue is linearly reduced by applying a gain, and the estimated weight When the critical value is exceeded, the motion cue is cleared to zero and a warning message is transmitted.

FIG. 2 is a flow chart showing the flow of weight estimation according to the present invention. Steps S1 to S5 are pre-processing, S8 to S13 are main processing, and S14 to S17 are post-processing.

Further, the occupant weight estimation algorithm is embodied in steps S1 to S13, and the motion input determination algorithm is embodied in steps 14 to 18.

Referring to FIG. 2, in step S1, which is driven at a set position, a step S2 of determining whether the HMD (head mounted display) is turned on is performed.

If the HMD is turned on, the process proceeds to step S3 where it is changed to the neutral position, and then, step S4 is performed to determine whether the HMD is in the On position.

If it is the On position, the process proceeds to step S5, which is driven in a neutral state. Then, a load estimation algorithm (Weight Estimation Algorithm) for estimating the load is performed.

The process proceeds to step S7 in which the number of iterations = 1 is set, and then step S8 is performed in which the axis Axis = 1 is set.

Step S9 for requesting a torque value, and then step S10 for waiting for a response for 50 ms and step S11 for receiving a torque value are sequentially performed.

A step S12 for determining whether the axis Axis = 3 is carried out, and if the axis Axis = 3, a step S13 for calculating a polynomial equation is performed.

The process proceeds to step S14 where it is determined whether or not the number of iterations is 10, and if the number of iterations is 10, a step S15 is performed to nomalize the process results for the load values up to now.

The minimum value and the maximum value of the step S16 are calculated in step S16 by extracting the minimum value and the maximum value according to the processing result of the load value up to now. step S17 of extracting an average value according to the processing result on the load value without performing the step S17 and step S18 of applying the load value according to the processing result to the gain in this order.

11; Occupant 12; Motion Platform Mechanism / Full Book
13; A torque obtaining section 14; Load-torque polynomial module
15; A load estimation module 16; Load-torque relationship module
17; An input gain schedule module 18; Input gain calculation module
19; The motion-

Claims (5)

delete delete A motion platform mechanism / full length section 12 configured to mount the occupant 11; a torque obtaining section 13 for obtaining information on a load value and a torque value from the motion platform mechanism / total length section 12; A load-torque polynomial module 14 for receiving a load value and a torque value from the torque obtaining section 13 to calculate a load-torque polynomial, a load-torque polynomial module 14 for receiving a load value and a torque value from the torque obtaining section 13, Torque relationship polynomial from the load-torque polynomial module 14 and receives a result of the calculation of the load-torque polynomial from the load-torque polynomial module 14 and calculates a load- And a load estimation module 15 for receiving the calculation result and estimating the load of the passenger, an input gain schedule module 15 for reflecting the schedule of the input gain based on the load value transmitted from the load estimation module 15, (17) And an input gain calculation module 18 for calculating an input gain on the basis of the signal level of the motion platform 200. The signal controller 200 adjusts the motion level of the motion platform according to the signal level transmitted from the signal controller 200, A method for controlling an input through a load weight estimation of a motion platform using a system configuration including a motion input generating unit (19)
The torque obtaining unit 13 obtains torque data through a dummy test (model test);
The load estimation module 15 estimates a load of a passenger by using a torque acting on a servo motor 1) applies a gain to a motion cue according to a weight, 2) select a motion cue for a high / low weight;
The load estimation module 15 is constituted by an occupant weight estimation algorithm and a motion input decision algorithm through servo motor load measurement;
1) The servo motor load estimation algorithm derives a polynomial of an appropriate order through the polynomial regression method of the motor load table by the weight of the passenger acquired by the test, estimates the weight of the passenger by measuring the motor load using the derived formula, Verifying validity against the weight of the passenger obtained through the dynamic relationship of the motion platform mechanism;
2) The motion input decision algorithm sets the reference weight value and the maximum weight value to determine the motion input. If the estimated weight is below the reference weight value, the motion input size is applied as 100% When the weight value is equal to or greater than the maximum weight value, applying the gain value according to the weight increase to reduce the motion input, and when the weight value is greater than the maximum weight value, setting the motion input size to 0% Input control method by estimating load weight of motion platform.
The method of claim 3,
The servo motor load estimation algorithm includes:
A step S1 driven by a settled position;
A step S2 of judging whether the HMD (head mounted display) is turned on;
Step S3 where the HMD is changed to a neutral position if the HMD is turned on;
A step S4 of judging whether or not it is an operating position (On Position);
Step S5, which is driven to a neutral state if it is an On position;
Performing a load estimation algorithm (Weight Estimation Algorithm) for estimating a load S6;
Step S8 of setting the axis number Axis = 1 after proceeding to step S7 in which the number of iterations Iteration = 1 is set;
Step S9 of requesting a torque value;
Step S10 for waiting for a response for 50 ms and step S11 for receiving a torque value;
A step S12 of judging whether the axis Axis = 3;
And a step S13 of calculating a polynomial equation if the axis Axis = 3.
The method of claim 3,
Wherein the motion input decision algorithm comprises:
A step S14 of judging whether or not the iteration number (Iteration) = 10;
If the number of repetitions is 10, a step S15 for normalizing the processing result on the load values up to now;
A step S16 of extracting a minimum value (Min. Value) and a maximum value (Max. Value) according to the processing result on the load value up to now;
A step S17 of extracting an average value according to a processing result on the load value without the minimum value and the maximum value of the step S16;
And a step S18 of applying the load value according to the processing result to the gain so far.

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