KR20090001411A - Haptic data transferring system for networked collaboration and method thereof - Google Patents

Haptic data transferring system for networked collaboration and method thereof Download PDF

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Publication number
KR20090001411A
KR20090001411A KR1020070034025A KR20070034025A KR20090001411A KR 20090001411 A KR20090001411 A KR 20090001411A KR 1020070034025 A KR1020070034025 A KR 1020070034025A KR 20070034025 A KR20070034025 A KR 20070034025A KR 20090001411 A KR20090001411 A KR 20090001411A
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South Korea
Prior art keywords
haptic
packet
data transmission
coordinate
coordinates
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KR1020070034025A
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Korean (ko)
Inventor
성미영
유용희
전경구
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인천대학교 산학협력단
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Publication of KR20090001411A publication Critical patent/KR20090001411A/en

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    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F13/00—Interconnection of, or transfer of information or other signals between, memories, input/output devices or central processing units
    • G06F13/14—Handling requests for interconnection or transfer
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
    • G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
    • G06F3/016—Input arrangements with force or tactile feedback as computer generated output to the user
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
    • H04L1/00—Arrangements for detecting or preventing errors in the information received

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  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Theoretical Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Signal Processing (AREA)
  • Human Computer Interaction (AREA)
  • Data Exchanges In Wide-Area Networks (AREA)

Abstract

The present invention relates to a haptic data transmission system for network collaboration and a method thereof.

The haptic data transmission system of the present invention comprises: a management device for generating cube coordinates corresponding to the haptic pointer coordinates based on a preset rendering rate, and calculating a buffer time based on delay times received from a plurality of transmission devices; Receiving the haptic pointer coordinates from the haptic device, generating a packetized first packet, and transmitting the packetized first packet to a management device, obtaining a delay time corresponding to receiving a second packet including cube coordinates, and transmitting the received packet to the management device; Receiving a buffer time corresponding to the transmission device for performing a haptic rendering of the second packet based on the buffer time.

According to the present invention, by predicting the lost data, it is possible to expect an effect that can effectively improve the error due to jitter or loss that can occur when transmitting and receiving the pointer coordinate packet. In addition, it is possible to expect an effect that can effectively synchronize the synchronization of the client by solving the asynchronousness to the delay.

Description

Haptic data transmission system and its method for network collaboration {HAPTIC DATA TRANSFERRING SYSTEM FOR NETWORKED COLLABORATION AND METHOD THEREOF}

1 is a block diagram illustrating a haptic data transmission system according to an embodiment of the present invention.

2 is a block diagram illustrating a packet structure for transmitting and receiving between a haptic data management device and a haptic data transmission device according to an embodiment of the present invention.

3 is a data flow diagram illustrating a haptic data transmission method of a haptic data transmission system according to an embodiment of the present invention.

The present invention relates to a haptic data transmission system and method for network collaboration, and more particularly, to a haptic data transmission system and method for reducing losses due to the network.

Recently, in the virtual environment, the use of tactile data as well as visual and audio data through audio and video is increasing. The environment in which online users play games or perform the same tasks using these haptic devices (also referred to as "haptic devices") is called the Haptic Collaborative Virtual Environment (hereafter referred to as "HCVE"). .

Since human touch is more sensitive than sight and hearing, when tactile data is transmitted, it is quite sensitive to network conditions. In particular, tactile data used in online games or media is more sensitive to network conditions.

In a collaborative virtual environment (hereinafter referred to as "CVE"), haptic data may refer to virtual objects shared by all clients or may be 3D coordinates pointed at by the haptic device. The transmission of these coordinates is similar to the existing network game or video and audio transmission method.

In the case of a client sending conventional coordinates, it transmits approximately 60 update packets per second in accordance with the graphics rendering cycle.

However, in order to transmit haptic data, the haptic data must be transmitted in accordance with the haptic rendering period of 1 kHz. Therefore, haptic data transmission is very sensitive to the actual network environment, and thus collaboration cannot be properly implemented due to delay, loss, and jitter in the collaboration environment.

Currently, various researches are being conducted for the transmission of haptic data. Representative studies include improving the virtual-time rendering (VTR) algorithms used for video and audio transmissions to perform haptic group synchronization, and using Queue Monitoring (QM). There is research to increase efficiency.

However, these existing studies do not provide an integrated solution first, and there is a problem in that synchronization between clients is not achieved due to delay due to network conditions.

Accordingly, an object of the present invention is to provide a haptic data transmission system and method using a new synchronization technique for reducing losses due to a network.

According to an aspect of the present invention for solving the above technical problem, a method for transmitting haptic data to a management device for managing a client,

Receiving haptic pointer coordinates from the haptic device; Transmitting a haptic pointer coordinate packet to which the haptic pointer coordinates are packetized in a preset format to the management device; A first coordinate packet corresponding to the haptic pointer coordinate packet from the management device based on a preset period, wherein the first coordinate packet is based on a preset rendering rate at which object coordinates corresponding to the haptic pointer coordinate are stored; A packet generated corresponding to the pointer coordinate packet; receiving and storing; Predicting packet loss for the received first coordinate packet; When a packet loss occurs according to the prediction, generating a lost packet based on a previously received first coordinate packet; And performing haptic rendering on the first coordinate packet based on a previously stored first buffer time.

Here, after receiving and storing the first coordinate packet,

Calculating a delay time based on the stored first coordinate packet and transmitting the delay time to the management device; Receiving a second buffer time corresponding to the delay time from the management device; And resetting the first buffer time based on the second buffer time.

According to a feature of the invention, the haptic data transmission method of the management device for transmitting and receiving haptic data with a plurality of haptic data transmission device,

Receiving haptic pointer coordinates from the haptic data transmission device; Generating first coordinates corresponding to the received haptic pointer coordinates based on a preset rendering rate at which object coordinates corresponding to the haptic pointer coordinates are stored; Transmitting the first coordinates to the haptic data transmission device; Receiving a delay time corresponding to the first coordinate transmission from the haptic data transmission device; And calculating a buffer time based on the received delay time and transmitting the buffer time to the haptic data transmission device.

Here, the step of receiving haptic pointer coordinates from the haptic data transmission device,

Predicting packet loss for the received haptic pointer coordinate packet; And

If packet loss occurs in accordance with the prediction, generating lost haptic pointer coordinates based on previously received haptic pointer coordinates.

According to an aspect of the present invention, the haptic data transmission system generates a first coordinate corresponding to the haptic pointer coordinates based on a preset rendering rate in which object coordinates corresponding to the haptic pointer coordinates are stored, and receives delays received from the plurality of transmission devices. A management device for calculating a buffer time based on time; And receiving the haptic pointer coordinates from the haptic device and transmitting the packetized haptic pointer coordinate packets to the management apparatus, obtaining the delay time corresponding to the reception of the first packet including the first coordinates, and transmitting the packet to the management apparatus. And a transmission device that receives the buffer time corresponding to the delay time and performs haptic rendering of the first packet based on the buffer time.

DETAILED DESCRIPTION Hereinafter, exemplary embodiments of the present invention will be described in detail with reference to the accompanying drawings so that those skilled in the art may easily implement the present invention. As those skilled in the art would realize, the described embodiments may be modified in various different ways, all without departing from the spirit or scope of the present invention. In the drawings, parts irrelevant to the description are omitted in order to clearly describe the present invention, and like reference numerals designate like parts throughout the specification.

Throughout the specification, when a part is said to "include" a certain component, it means that it can further include other components, without excluding other components unless specifically stated otherwise. In addition, the terms “… unit”, “… unit”, “module”, “block”, etc. described in the specification mean a unit that processes at least one function or operation, which is hardware or software or a combination of hardware and software. It can be implemented as.

A haptic data transmission system and method thereof according to an embodiment of the present invention will now be described in detail with reference to the drawings.

1 is a block diagram illustrating a haptic data transmission system according to an embodiment of the present invention.

As shown in FIG. 1, a haptic data processing system according to an exemplary embodiment of the present invention has a haptic data management device 200 that performs a server function and a haptic data transmission device 100 that performs a client function. -1, 100-n). In this case, the haptic data management apparatus 200 is connected to a plurality of haptic data transmission apparatuses 100-1 and 100-n through a network to perform data transmission and reception.

Here, the network includes a wired network such as Ethernet, and a wireless network such as a wireless local area network (WLAN).

First, the haptic data management apparatus 200 will be described in detail with reference to FIG. 1, and then the haptic data transmission apparatus 100-1 will be described.

The haptic data management device 200 includes a calculation module 202, a packet loss prediction module 204, a synchronization module 206, and a network module 208.

The haptic data management device 200 manages a plurality of haptic data transmission devices 100-1 and 100-n.

Calculation Module (hereinafter, also referred to as "CM") 202 has an execution period equal to the rendering time of each haptic data transmission device 100-1, 100-n, and every execution period. Receive a haptic pointer coordinate packet from packet loss prediction module 204.

The operation module 202 provides cube coordinates corresponding to the haptic pointer coordinates to the haptic data transmission apparatuses 100-1 and 100-n based on a preset rendering rate.

In detail, the calculation module 202 is configured to extract object coordinates to be used when rendering the haptic data transmission apparatuses 100-1 and 100-n corresponding to the haptic pointer coordinates included in the haptic pointer coordinate packet. Cube coordinates corresponding to the haptic pointer coordinates are generated based on the rate, and the generated cube coordinates are packetized and transmitted to the haptic data transmission apparatuses 100-1 and 100-n.

Here, the haptic pointer coordinate packet is a packet including haptic pointer coordinates received from a haptic device (omitted), and the cube coordinate packet is a packet including cube coordinates generated based on a preset rendering rate corresponding to the haptic pointer coordinates. .

Here, the rendering rate includes cube coordinates that are coordinates of a plurality of virtual objects.

Meanwhile, in the embodiment of the present invention, the coordinates of the virtual objects are used as the cube coordinates, but other coordinates that may be used as the coordinates of the virtual objects may be used in addition to the cube coordinates.

The packet loss prediction module (hereinafter referred to as “PM”) 204 may be configured to lose haptic pointer coordinate packets received from the respective haptic data transmission devices 100-1 and 100-n through the network module 208. In this case, the module generates a lost packet.

At this time, the packet loss prediction module 204 checks the packet that is fixedly received 1000 times per second, which is the rendering time of the haptic data transmission apparatuses 100-1 and 100-n, so that a new packet does not arrive. If not, it is regarded as a loss and generates a lost packet. The generated packet is then provided to the calculation module 202.

Here, the packet loss prediction module 204 estimates the lost packet by the following equation (1).

Xn = Xn-1 + Vn-1

Vn-1 = Xn-1-Xn-2

Where Xn is the predicted packet coordinate, Xn-1 is the last arrived packet coordinate, and Vn-1 is the difference between the last arrived packet coordinate and the previously arrived packet coordinate.

 In addition, the packet loss prediction module 204 checks whether or not the sequence number of the last arrived packet is larger than the recently received sequence number, and discards it if it is larger than jitter.

The synchronization module 206 receives the delay times from the respective haptic data transmission apparatuses 100-1 and 100-n through the network module 208, collects the received delay times, and collects the respective haptic data transmission apparatuses 100-n. A buffer time Rn of 1, 100-n is generated and transmitted to each haptic data transmission device 100-1, 100-n.

At this time, the synchronization module 206 calculates the buffer time using the following equation (2).

M = Max (D1, D2, D3, ..., Dn), n = number of haptic data transmission devices

Rn = M-Dn

Here, Dn is a delay time received from each of the haptic data transmission apparatuses 100-1, 100-n, M is the largest value of the delay time, and Rn is a buffer time.

The network module 208 is connected to the plurality of haptic data transmission devices 100-1 and 100-n through a network to perform data transmission and reception.

Next, the haptic data transmission apparatus 100-1 will be described in detail with reference to FIG. 1.

The haptic data transmission device 100-1 includes a network module 102, a haptic input module 104, a delay management module 106, a prediction module 108, a storage module 110, and a rendering module 112. .

The network module 102 is connected to the haptic data management device 200 through a network to perform data transmission and reception.

The haptic input module (HIM) 104 receives haptic pointer coordinates from the haptic device (omitted), packetizes the received haptic pointer coordinates, and transmits the haptic data management apparatus 200 through the network module 102. Send to

Here, the haptic input module 104 may receive the haptic pointer coordinate packet from the haptic data transmission device 100-n and provide it to the rendering module 112.

The delay module 106 obtains a delay time of a packet received from the haptic data management device 200 through the network module 102 every 5 seconds, and calculates the delay time of the obtained packet by the haptic data management device. Send to 200.

In addition, the delay management module 106 receives a buffer time from the haptic data management apparatus 200 and controls the cube coordinate packet stored in the storage module 110 to be transmitted to the rendering module 112 based on the received buffer time. do.

Specifically, when the buffer time is 0, the delay management module 106 controls the cube coordinate packet stored in the storage module 110 to be delivered to the rendering module 112 directly through the prediction module 108 sequentially. When the buffer time is greater than zero, all packets stored in the storage module 110 are provided to the rendering module 112 based on the buffer time.

Here, the delay management module 106 assumes that the initial buffer time is set to zero.

Prediction module 108 is a module that predicts lost packets according to whether cube coordinate packets received from haptic data management device 200 through network module 102 have been lost.

The prediction module 108 predicts the lost packet if it is lost while the packet is being transmitted, and provides the predicted packet to the rendering module 112.

At this time, the prediction module 108 checks the packets stored in the storage module 110 at a fixed rate of 1000 per second, which is the rendering time of the rendering module 112, and when there are packets that do not arrive, a loss occurs. And predict the lost packet to generate the predicted packet. The generated packet is provided to the rendering module 112.

Here, the prediction module 108 predicts the packet lost by Equation 1 above.

In addition, the prediction module 108 checks whether or not the sequence number of the last arrived packet is greater than the recently received sequence number, and discards it if it is larger than jitter.

The storage module 110 (hereinafter, also referred to as “BF”) 110 temporarily stores a cube coordinate packet received from the haptic data management apparatus 200 based on the packet sequence number.

The rendering module 112 performs preset haptic rendering based on the haptic pointer coordinates and the cube coordinates received from the prediction module 108.

In this case, when the buffering time exceeds 0, the rendering module calculates coordinates used for haptic rendering based on Equation 3 below.

P = C-R (R> 0)

CP = BF [P]

Here, C is a current time (ms), R is a buffer time, CP is a coordinate to be used in the rendering module 112, BF [P] is a cube coordinate stored for P time based on the buffer time.

Here, the haptic rendering is a rendering technique for showing the realistic interaction between the physical world and the virtual environment. The haptic rendering measures the distance between the object in the 3D virtual environment and the pointer indicating the location of the hapting device. It is a rendering technique that is calculated through.

Meanwhile, the rendering module 112 may perform haptic rendering based on the haptic pointer coordinate packet received from the haptic data transmission device 100-n through the haptic input module 104.

Such a haptic data transmission device according to an embodiment of the present invention has a great advantage of improving an error caused by jitter or loss.

In addition, the haptic data transmission device has an advantage that can be efficiently synchronized between each haptic data transmission device through the buffer time received from the haptic data management device.

2 is a block diagram illustrating a packet structure for transmitting and receiving between a haptic data management device and a haptic data transmission device according to an embodiment of the present invention.

As shown in FIG. 2, the packet 300 according to an embodiment of the present invention is applied to both a haptic pointer coordinate packet and a cube coordinate packet, and includes a packet type 302 indicating a packet type, and a packet generation time. Or a time stamp 304 including a transmission time, a packet sequence sequence 306 which is a packet-specific sequence number, a position number 308 indicating a packet position, and a packet order. It includes a rotation number (Rotation Number) 310 indicating.

3 is a data flow diagram illustrating a haptic data transmission method of a haptic data transmission system according to an embodiment of the present invention.

As shown in FIG. 3, in the haptic data transmission method according to an embodiment of the present invention, the haptic data transmission apparatuses 100-1 and 100-n receive haptic pointer coordinates from a haptic device (not shown).

In this case, the haptic device is a physical device for transmitting a tactile sense, and can input 3D coordinates through manipulation of the haptic device and provide force feedback to provide a tactile feel.

The haptic data transmission apparatus 100-1 or 100-n receives the haptic pointer coordinates from the haptic device (omitted) (S100), and generates a haptic pointer coordinate packet by converting the received haptic pointer coordinates into a preset packet format. The haptic data management device 200 transmits (S102).

The haptic data management apparatus 200 receives the haptic pointer coordinate packets from the haptic data transmission apparatuses 100-1 and 100-n, and performs packet loss prediction and jitter prediction on the received packets (S104).

At this time, the haptic data management apparatus 200 checks a packet that is fixedly received 1000 times in 1 second, which is a rendering time of the haptic data transmission apparatuses 100-1 and 100-n, and a new packet does not arrive. If not, it is regarded as a loss and predicts the lost packet to produce the predicted packet. In addition, the haptic data management apparatus 200 checks whether or not the sequence number of the last arrived packet is larger than the recently received sequence number, and discards it if it is larger than jitter.

In addition, the haptic data management apparatus 200 generates cube coordinates corresponding to the haptic pointer coordinates based on a preset rendering rate (S106), and generates haptic data from a cube coordinate packet by packetizing the generated cube coordinates into a preset format. The transmission apparatus 100-1 transmits the data to the 100-n (S110).

The haptic data transmission apparatus 100-1 or 100-n stores the received cube coordinate packet (S112), and performs packet loss prediction and jitter prediction on the received packet (S114).

In this case, the haptic data transmission apparatus 100-1 or 100-n checks the packet stored in the storage module 110, considers it as a loss when there is a packet that has not arrived, and predicts the lost packet to predict the packet. Create

In addition, the prediction module 108 checks whether or not the sequence number of the last arrived packet is greater than the recently received sequence number, and discards it if it is larger than jitter.

The haptic data transmission apparatuses 100-1 and 100-n calculate the delay time based on the received packet, and then transmit the calculated delay time to the haptic data management apparatus 200.

Thereafter, the haptic data transmission apparatuses 100-1 and 100-n perform haptic rendering based on the pre-stored buffer time (S120).

The haptic data management device 200 receives the delay times received from the haptic data transmission devices 100-1 and 100-n every 5 seconds, and calculates a buffer time based on the received delay time (S122).

The haptic data management device 200 transmits the calculated buffer time to the haptic data transmission devices 100-1 and 100-n (S124).

The haptic data transmission devices 100-1 and 100-n reset the buffer time in the haptic data transmission device based on the buffer time received from the haptic data management device 200 (S126).

The embodiments of the present invention described above are not only implemented through the apparatus and the method, but may also be implemented through a program for realizing a function corresponding to the configuration of the embodiment of the present invention or a recording medium on which the program is recorded. Implementations can be easily implemented by those skilled in the art from the description of the above-described embodiments.

Although the embodiments of the present invention have been described in detail above, the scope of the present invention is not limited thereto, and various modifications and improvements of those skilled in the art using the basic concepts of the present invention defined in the following claims are also provided. It belongs to the scope of rights.

By the above-described configuration, the haptic data transmission system can anticipate the lost data, and thus can expect an effect of efficiently improving the error caused by jitter or loss that may occur when transmitting and receiving pointer coordinate packets.

 In addition, it is possible to expect an effect that can effectively synchronize the synchronization of the client by solving the asynchronous with delay.

Claims (10)

In the method for transmitting the haptic data to the management device for managing the client, Receiving haptic pointer coordinates from the haptic device; Transmitting a haptic pointer coordinate packet to which the haptic pointer coordinates are packetized in a preset format to the management device; A first coordinate packet corresponding to the haptic pointer coordinate packet from the management device based on a preset period, wherein the first coordinate packet is based on a preset rendering rate at which object coordinates corresponding to the haptic pointer coordinate are stored; A packet generated corresponding to the pointer coordinate packet; receiving and storing; Predicting packet loss for the received first coordinate packet; When a packet loss occurs according to the prediction, generating a lost packet based on a previously received first coordinate packet; And Performing haptic rendering on the first coordinate packet based on a previously stored first buffer time Haptic data transmission method comprising a. The method of claim 1, After receiving and storing the first coordinate packet, Calculating a delay time based on the stored first coordinate packet and transmitting the delay time to the management device; Receiving a second buffer time corresponding to the delay time from the management device; And Resetting the first buffer time based on the second buffer time Haptic data transmission method further comprising. The method according to claim 1 or 2, Predicting the packet loss, Determining whether jitter has occurred with respect to the stored first coordinate packet; And Discarding the jittered packet when the jitter occurs Haptic data transmission method comprising a. The method of claim 3, The haptic pointer coordinate packet and the first coordinate packet includes a time stamp, a sequence number, a position number including a packet type, a packet generation time, or a transmission time. In the haptic data transmission method of the management device for transmitting and receiving the haptic data with a plurality of haptic data transmission device, Receiving haptic pointer coordinates from the haptic data transmission device; Generating first coordinates corresponding to the received haptic pointer coordinates based on a preset rendering rate at which object coordinates corresponding to the haptic pointer coordinates are stored; Transmitting the first coordinates to the haptic data transmission device; Receiving a delay time corresponding to the first coordinate transmission from the haptic data transmission device; And Calculating a buffer time based on the received delay time and transmitting the buffer time to the haptic data transmission device; Haptic data transmission method comprising a. The method of claim 5, Receiving haptic pointer coordinates from the haptic data transmission device, Predicting packet loss for the received haptic pointer coordinate packet; And In the case where packet loss occurs according to the prediction, generating lost haptic pointer coordinates based on previously received haptic pointer coordinates Haptic data transmission method comprising a. The method according to claim 5 or 6, Calculating the buffer time and transmitting it to the haptic data transmission device, Haptic data transmission method for calculating the buffer time based on the delay time of the plurality of haptic data transmission devices A management device generating a first coordinate corresponding to the haptic pointer coordinates based on a preset rendering rate at which object coordinates corresponding to the haptic pointer coordinates are stored, and calculating a buffering time based on delay times received from the plurality of transmission devices; And Receiving the haptic pointer coordinates from the haptic device and transmitting the packetized haptic pointer coordinate packets to the management apparatus, obtaining the delay time corresponding to the reception of the first packet including the first coordinates, and transmitting the packet to the management apparatus. And a transmission device receiving the buffer time corresponding to the delay time and performing haptic rendering of the first packet based on the buffer time. Haptic data transmission system comprising a. The method of claim 8, The transmission device, Receiving the first packet to determine whether the packet loss and jitter occurs, and in the case of packet loss, generates a lost packet based on the previous packet, and when the jitter occurs, the packet is generated jitter Haptic data transfer system to discard. The method according to claim 8 or 9, The management device, The haptic pointer coordinate packet is received to determine whether packet loss and jitter occur. When packet loss occurs, a lost packet is generated based on a previous packet, and when jitter occurs, a packet in which jitter occurs Haptic data transmission system to discard.
KR1020070034025A 2007-03-14 2007-04-06 Haptic data transferring system for networked collaboration and method thereof KR20090001411A (en)

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN111949135A (en) * 2020-08-31 2020-11-17 福州大学 Touch communication fault-tolerant method and system based on hybrid prediction

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN111949135A (en) * 2020-08-31 2020-11-17 福州大学 Touch communication fault-tolerant method and system based on hybrid prediction
CN111949135B (en) * 2020-08-31 2022-06-17 福州大学 Touch communication fault tolerance method and system based on hybrid prediction

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