WO2017155248A1 - 가상현실 체험장치 - Google Patents
가상현실 체험장치 Download PDFInfo
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- WO2017155248A1 WO2017155248A1 PCT/KR2017/002329 KR2017002329W WO2017155248A1 WO 2017155248 A1 WO2017155248 A1 WO 2017155248A1 KR 2017002329 W KR2017002329 W KR 2017002329W WO 2017155248 A1 WO2017155248 A1 WO 2017155248A1
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- image
- experience
- time stamp
- movement
- virtual reality
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- 230000033001 locomotion Effects 0.000 claims abstract description 159
- 238000005096 rolling process Methods 0.000 claims abstract description 12
- 230000007246 mechanism Effects 0.000 claims description 112
- 238000000034 method Methods 0.000 claims description 75
- 238000007654 immersion Methods 0.000 abstract description 5
- 230000000638 stimulation Effects 0.000 abstract description 3
- 238000003384 imaging method Methods 0.000 description 37
- 230000008569 process Effects 0.000 description 26
- 230000000007 visual effect Effects 0.000 description 21
- 238000001514 detection method Methods 0.000 description 17
- 238000010586 diagram Methods 0.000 description 7
- 230000001133 acceleration Effects 0.000 description 3
- 230000008859 change Effects 0.000 description 3
- 239000011295 pitch Substances 0.000 description 3
- 230000001360 synchronised effect Effects 0.000 description 3
- 230000002093 peripheral effect Effects 0.000 description 2
- 201000009482 yaws Diseases 0.000 description 2
- 230000005540 biological transmission Effects 0.000 description 1
- 239000003638 chemical reducing agent Substances 0.000 description 1
- 230000007423 decrease Effects 0.000 description 1
- 230000003203 everyday effect Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 230000002265 prevention Effects 0.000 description 1
- 238000000926 separation method Methods 0.000 description 1
- 230000007306 turnover Effects 0.000 description 1
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- 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
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T19/00—Manipulating 3D models or images for computer graphics
Definitions
- the present invention relates to a virtual reality experience apparatus, and more particularly, to a virtual reality experience apparatus capable of providing images and physical movements.
- VR virtual reality
- Such virtual reality is also called artificial reality, cyber space, virtual world, virtual environment, synthetic environment, artificial environment.
- the purpose of using virtual reality is to allow people to see and manipulate the environment as if they are entering the environment without experiencing the environment that is difficult to experience everyday. Recently, it has been applied to the fields of education, advanced programming, and remote operation. .
- Republic of Korea Utility Model Registration No. 0342223 discloses a conventional virtual reality experience device.
- an object of the present invention is to provide a virtual reality experience device that can improve the sense of reality.
- an image device for providing an image to the experienced person; And a riding device providing movement to the experienced person, wherein the riding device comprises: a boarding unit providing a space in which the experienced person can ride; And a gyro mechanism for generating at least one of pitching, yawing, rolling, and reciprocating motion in the boarding unit.
- the gyro mechanism comprises: a first mechanism for generating yawing on the boarding portion; A second mechanism for generating pitching to the boarding portion; And a third mechanism for generating rolling in the vehicle.
- the first mechanism is formed to be rotatable and reciprocating relative to a structure supporting the gyro mechanism, and the second mechanism is supported by the first mechanism and rotates about an axis perpendicular to the axis of rotation of the first mechanism.
- the third mechanism is supported by the second mechanism, rotatably formed with respect to the axis perpendicular to the axis of rotation of the second mechanism, the ride may be fixedly coupled to the third mechanism.
- a first actuator is formed between the structure and the first mechanism to generate a driving force necessary for the rotational movement of the first mechanism, and a driving force necessary for the rotational movement of the second mechanism between the first mechanism and the second mechanism.
- a third actuator may be formed, and a fourth actuator may be formed between the second mechanism and the third mechanism to generate a driving force necessary for the rotational movement of the third mechanism.
- the first mechanism may be formed to further generate a reciprocating motion in the vehicle.
- the first mechanism may be formed to reciprocate relative to the structure.
- a second actuator may be formed between the structure and the first mechanism to generate a driving force necessary for the reciprocating motion of the first mechanism.
- the first mechanism may be formed to reciprocate in a direction in which a portion supporting the second mechanism moves away from and close to the structure.
- the first mechanism may be provided with a second actuator required for reciprocating movement of the portion supporting the second mechanism.
- the virtual reality experience apparatus includes an image device for providing an image to an experienced person and a vehicle for providing physical movement to the experienced person, wherein the riding device comprises: a boarding unit for providing a space in which the experienced person can ride; And a gyro mechanism that generates at least one of pitching, yawing, rolling, and reciprocating motion in the boarding unit, the stimulus sensed through the visual sense and the stimulus sensed through physical movement may coincide with each other. This prevents the experiencer from feeling heterogeneous, improves immersion, and consequently improves realism.
- FIG. 1 is a perspective view showing a virtual reality experience device according to an embodiment of the present invention
- FIG. 2 is a perspective view illustrating images and movements provided by the virtual reality experience device of FIG. 1;
- FIG. 2 is a perspective view illustrating images and movements provided by the virtual reality experience device of FIG. 1;
- FIG. 3 is a schematic diagram showing components of the virtual reality experience device of FIG. 1;
- FIG. 4 is a flowchart illustrating a part of a first control method for the virtual reality experience device of FIG. 1;
- FIG. 5 is a flowchart illustrating another part of the first control method of FIG. 4;
- FIG. 6 is a diagram illustrating a concept of the field of view calculation of FIG. 5;
- FIG. 11 is a flowchart illustrating a part of a second control method for the virtual reality experience device of FIG. 1;
- FIG. 12 is a flowchart illustrating a part of a third control method for the virtual reality experience device of FIG. 1;
- 13 to 19 are flowcharts illustrating another part of the third control method of FIG. 12, respectively.
- FIG. 20 is a schematic diagram showing components of a virtual reality experience device according to another embodiment of the present invention.
- FIG. 21 is a flowchart illustrating a part of a control method for the virtual reality experience device of FIG. 20;
- 22 to 24 are flowcharts showing another part of the control method of FIG. 21, respectively.
- 25 is a perspective view of a virtual reality experience device according to another embodiment of the present invention.
- 26 to 29 are plan views illustrating movements provided by the virtual reality experience apparatus of FIG. 25, respectively.
- FIG. 30 is a perspective view showing a virtual reality experience apparatus according to another embodiment of the present invention.
- 31 to 34 are perspective views illustrating a movement provided by the virtual reality experience apparatus of FIG. 30.
- FIG. 1 is a perspective view showing a virtual reality experience device according to an embodiment of the present invention
- Figure 2 is a perspective view showing the image and movement provided by the virtual reality experience device of Figure 1
- Figure 3 is a virtual view of FIG.
- It is a schematic diagram showing the components of the reality experience device.
- 4 is a flowchart showing a part of a first control method for the virtual reality experience apparatus of FIG. 1
- FIG. 5 is a flowchart showing another part of the first control method of FIG. 4
- FIG. 6 is a view showing FIG. 5.
- This is a diagram illustrating the concept of visual field calculation. The diagram shows the difference depending on whether the visual field is corrected when the experienced person is moved upward in the downward direction.
- FIGS. 7 to 10 are respectively shown in FIG.
- a flowchart showing still another part of the control method. 11 is a flowchart illustrating a part of a second control method for the virtual reality experience apparatus of FIG. 1.
- 12 to 19 are flowcharts illustrating a part of a third control method for the virtual reality experience apparatus of FIG. 1, respectively.
- the virtual reality experience apparatus includes an image device 100 for providing a virtual reality image to an experienced person, and a boarding device 200 for providing physical movement to an experienced person. And a control device (not shown) for controlling the imaging device 100 and the vehicle 200.
- the virtual reality image provided to the experiencer will be referred to as the experience image
- the physical movement provided to the experiencer will be referred to as the experience movement.
- the imaging apparatus 100 is for enabling an experienced person to visually experience virtual reality, and includes an image display unit 110 for displaying the experience image and an image controller 120 for controlling the image display unit 110. Can be.
- the image controller 120 is included in the imaging apparatus 100, but may be included in the control apparatus (not shown).
- the imaging apparatus 100 includes an image (hereinafter, referred to as an omnidirectional image) that surrounds the experiencer so that the experiencer may view an image as if the experiencer is in a real environment. ) May be formed in a manner (hereinafter, referred to as a field corresponding image providing method) provided as an image (hereinafter, referred to as a field corresponding image) VPk corresponding to the field of view of the experienced person. That is, the experience image is formed as the omnidirectional image FPk, and the visual field corresponding image VPk corresponding to a specific portion (a portion to which the subject's eyes are directed) of the omnidirectional image FPk is displayed on the image display unit 110. It can be shaped to be seen.
- the imaging apparatus 100 is formed of, for example, a head mounted display (HMD) mounted on the head of the experienced person, and the first detection unit 130 that detects the movement of the imaging apparatus 100. ) May be further included.
- the first detector 130 may be formed of, for example, a gyro sensor or an acceleration sensor.
- the imaging apparatus 100 includes an image of the omnidirectional image FPk stored in the image controller 120 and measured by the first detector 130 (the first detector 130 is detected). Movement of the device 100 is periodically transmitted to the image control unit 120, and the image control unit 120 calculates the field of view of the experienced person based on the measured value of the first detection unit 130, and the image control unit The image 120 transmits an image corresponding to the field of view of the experienced person among the omnidirectional images FPk to the image display unit 110, and the image display unit 110 reproduces the image received from the image control unit 120. It can be formed to.
- the movement of the imaging apparatus 100 detected by the first detector 130 may be affected by the movement (experimental movement) of the vehicle 200 as well as the change of the gaze of the experienced person. For example, even when the vehicle 200 moves upward but the experiencer keeps the gaze forward, the first detector 130 may detect that the imaging device 100 has moved upward. . As a result, when the experienced person changes the gaze while the vehicle 200 is not moving, the movement of the imaging device 100 detected by the first detector 130 is changed by the gaze of the experienced person. In accordance with the movement of 100, the field of view of the experience person calculated from the measured value of the first detection unit 130 and the field of view of the actual experience person may coincide.
- the movement of the imaging apparatus 100 detected through the first detector 130 does not coincide with the movement of the imaging apparatus 100 due to the change of the gaze of the experienced person.
- the field of view of the experienced person calculated from the measured value of the first detector 130 may not coincide with the field of view of the actual person.
- the imaging apparatus 100 excludes the movement of the imaging apparatus 100 due to the movement (experimental movement) of the vehicle 200 when calculating the visual field of the experienced person (hereinafter, referred to as the following). , Visual field correction method). That is, the vehicle 200 includes a second detector 240 that detects the movement (experimental movement) of the vehicle 200, and the image controller 120 of the imaging apparatus 100 is configured as the first controller.
- the measured value of the detection unit 130 is subtracted from the measured value of the second detection unit 240 (movement of the image unit according to the movement of the boarding device 200), and the subtracted value ⁇ 1- ⁇ 2 (change of the subject's field of view) It can be formed to calculate the field of view of the experience from the movement of the image unit according to).
- the angle from the reference vector for example, the vector toward the experiencer at the start of the experience
- ⁇ the angle from the reference vector
- the angle from the reference vector ⁇ to the vector ⁇ facing the front of the experienced person normal vector of the backrest of the chair 212 included in the boarding unit 210 to be described later
- ⁇ at the point of time to be detected from the reference vector ⁇
- the first detector 130 detects the first angle ⁇ 1 and sends it to the image controller 120
- the second detector 240 transmits the second angle ⁇ 2.
- the image control unit 120 detects and sends the image control unit 120 to the image control unit 120.
- the image control unit 120 subtracts the second angle ⁇ 2 from the first angle ⁇ 1, and the visual field of the experience person from the subtracted value ⁇ 1- ⁇ 2. Can be calculated. As a result, as shown in FIG. 6, an image corresponding to the field of view of the actual user may be provided.
- the second detection unit 240 is formed of a gyro sensor, an acceleration sensor, or the like installed in the boarding unit 210 to be described later, or by sensing each joint movement of the robot arm 221 to be described later the boarding unit 210 It may be formed by a Robot Sensor Interface (RSI) method that can calculate the movement of the.
- RSSI Robot Sensor Interface
- the boarding device 200 is for allowing the experienced person to experience the virtual reality through physical movements, the boarding unit 210 providing a space in which the experienced person can ride, the linear movement or rotational movement of the boarding unit 210.
- the driving unit 220 may provide the experience movement, and the driving controller 230 may control the driving unit 220.
- the driving control unit 230 is included in the vehicle 200 in the present embodiment, it may be included in the control device (not shown).
- the boarding unit 210 is a chair 212 that can be seated by an experienced person, a seat belt 214 that prevents the experienced person from being separated from the chair 212, and a handle 216 that can be gripped by an experienced person to psychologically stabilize the experienced person. It may include.
- the boarding unit 210 prevents the cradle (not shown) from which the imaging device 100 is detachably mounted, and the imaging device 100 is further away from a predetermined distance from the cradle (not shown).
- a separation prevention means (not shown), a power cable (not shown) for supplying power from the holder (not shown) to the imaging device 100 side may be further included.
- the driving unit 220 may be formed to provide a physical movement to the experienced person as if the experienced person rides on a real device while being relatively limited in space. That is, the operation displayed in the experience image may not be provided through the actual mechanism, but may be provided by the driving unit 220 that operates in a predetermined limited space narrower than the space in which the actual apparatus is operated.
- the driving unit 220 may be formed in a variety of configurations to enable the moving unit 210 to move in three dimensions, in the case of this embodiment a plurality of degrees of freedom including a plurality of arms (Arms) and joints (eg For example, it may be formed of a robot arm 221 capable of moving with six degrees of freedom.
- the boarding unit 210 may be detachably coupled to the free end of the robot arm 221.
- the number of the vehicle 210 and the number of the driving unit 220 may be appropriately adjusted. That is, one driving unit 210 may be coupled to one driving unit 220 to provide a virtual reality experience to one experienced person at a time. Alternatively, a plurality of boarding units 210 may be coupled to one driving unit 220 to improve the turnover rate by providing a virtual reality experience to a plurality of experienced people at once. Alternatively, a plurality of driving units 220 may be provided to further improve the rotation rate, and at least one riding unit 210 may be coupled to each driving unit 220. That is, a plurality of virtual reality experience devices may be provided. In this case, the plurality of virtual reality experience apparatuses may independently provide experience images and experience movements, and may simultaneously provide a plurality of types of virtual reality.
- the control device (not shown) is formed of a server or a computer electrically connected to the imaging device 100 and the vehicle 200, and includes at least a portion of the editing unit 310 to be described later and the controller C to be described later ( In the present embodiment, it may include an integrated control unit 320 to be described later.
- the virtual reality experience apparatus may further include a common screen 400 that provides a virtual reality image to a non-experienced person to promote and attract an experienced person.
- the image controller 120 may be formed to control the image display unit 110 and the common screen 400.
- the virtual reality experience apparatus may be formed to be operable by the first control method illustrated in FIGS. 4 to 10.
- the virtual reality experience apparatus is formed such that the experience image is provided in the view corresponding image providing method and the view correction method, and is provided every minute of the experience time from the experience start time to the experience end time.
- the experience video and the experience motion to be preset may be preset, the preset experience video and the experience motion may be sequentially provided, and the experience video and the experience motion may be synchronized with each other.
- the synchronization means that the visual movement (visual movement) shown in the experience image and the experience movement (physical movement) coincide.
- the experience image and the experience movement are not synchronized with each other, for example, when the descending image is provided in the imaging apparatus 100, the ascent movement is provided in the vehicle 200, the experience Self-heterogeneity, immersion is lowered, the reality may be a problem that decreases.
- the virtual reality experience apparatus synchronizes the experience image and the experience movement before the experience through the editing unit 310 that forms (prescribes) the experience image and the experience movement
- the imaging apparatus 100 more precisely, the image display unit 110
- the vehicle 200 more precisely, the driving unit 220
- the controller C may be configured to synchronize the experience image with the experience movement during the experience.
- the editing unit 310 is software provided in the control device (not shown), and includes a plurality of time points included in the experience time from the experience start time to the experience end time.
- First to nth images FP1 to FPn which are experience videos to form time stamp codes TC defined by Stamps T1 to Tn, and to be reproduced on the first to nth time stamps T1 to Tn, respectively.
- 2 Database DB2 can be formed.
- the time stamp code TC is stored in the integrated control unit 320 to be described later
- the first database DB1 is stored in the image control unit 120
- the second database DB2 It may be stored in the driving controller 230.
- the controller C may include an image controller 120, the drive controller 230, an integrated controller 320 for controlling the image controller 120 and the drive controller 230.
- the integrated control unit 320 may be provided in the control device (not shown).
- the integrated control unit 320 based on the time stamp code TC, when the experience is started, the first to n th time stamps T1 to Tn at intervals of a predetermined time (for example, 10 ms).
- the image control unit 120 and the driving control unit 230 may be configured to send sequentially.
- the integrated control unit 320 for synchronization during the experience, the image control unit 120 and the driving control unit 230 to the arbitrary time stamp (Tk) of the first to n-th time stamp (T1 to Tn). Can be configured to ship simultaneously.
- the image control unit 120 substitutes the time stamp Tk received from the integrated control unit 320 into the first database DB1 to receive the time stamp received among the first to nth images FP1 to FPn.
- the image FPk corresponding to the Tk may be selected, and the visual field corresponding image VPk of the selected image FPk may be sent to the image display unit 110.
- the image controller 120 may be configured to send the image VPk sent to the image display unit 110 to the common screen 400 as well.
- the image controller 120 may be configured to compare and match the target image with the actual image at a predetermined frequency (for example, 60 Hz) interval for synchronization during execution.
- a predetermined frequency for example, 60 Hz
- the image controller 120 is a target that is a time stamp Tk received from the integrated control unit 320 with an actual time stamp Tk ', which is a time stamp corresponding to an image sent to the image display unit 110. It may be formed to compare with the time stamp Tk.
- the burden applied to the image control unit 120 may be reduced, and the processing speed of the image control unit 120 may be improved.
- the image controller 120 corresponds to the actual time stamp Tk'.
- An instruction between the image and the image corresponding to the target time stamp Tk may be instructed to reproduce the image at a faster playback speed than a predetermined playback speed.
- the image controller 120 corresponds to the actual time stamp Tk'. It is possible to instruct the images after the image to be played at a playback speed slower than the predetermined playback speed.
- the image controller 120 corresponds to the actual time stamp Tk'.
- the instruction may be instructed to play the image repeatedly.
- the driving controller 230 substitutes the time stamp Tk received from the integrated controller 320 into the second database DB2 to receive the time stamp received during the first to nth movements M1 to Mn.
- a motion Mk corresponding to the Tk may be selected and the selected motion Mk may be sent to the driving unit 220.
- the driving controller 230 may be configured to compare and match the target movement with the actual movement at a predetermined time interval (for example, 12 ms) for synchronization during the experience.
- the driving controller 230 is a time stamp Tk received from the integrated control unit 320 with an actual time stamp Tk ′′, which is a time stamp corresponding to the actual movement performed by the driving unit 220. It may be configured to compare with the target time stamp Tk.
- the burden applied to the driving controller 230 can be reduced, and the processing speed of the driving controller 230 can be improved.
- the driving controller 230 corresponds to the actual time stamp Tk ′′. Instructions may be instructed to shift the movements between the movements corresponding to the target time stamp Tk to the driving speed faster than the predetermined driving speed.
- the driving controller 230 corresponds to the actual time stamp Tk ′′. It can be instructed to shift the movements after the movement to a driving speed slower than the predetermined driving speed.
- the driving controller 230 may be formed to calculate the actual time stamp Tk ′′ using the second database DB2. Specifically, the measured value of the second detection unit 240 detected at a predetermined time interval (for example, 12 ms) is also transmitted to the drive control unit 230, the drive control unit 230 is the second detection unit The measured value of 240 may be substituted into the second database DB2 to calculate a time stamp corresponding to the measured value of the second detector 240 as the actual time stamp Tk ′′. . In this case, the burden applied to the driving controller 230 is slightly increased, but the cost can be reduced since a separate device for calculating the actual time stamp Tk ′′ need not be added.
- a predetermined time interval for example, 12 ms
- the driving controller 230 includes a timer (not shown) for counting the time when the driving unit 220 is operated, and the timer (not shown) extracted at a predetermined time interval (for example, 12 ms). ) May be calculated as the actual time stamp Tk ".
- a predetermined time interval for example, 12 ms.
- the cost increases slightly as a separate device (timer (not shown)) for calculating the actual time stamp Tk ′′ is added, but the burden applied to the driving controller 230 may be reduced. have.
- the first control method may include an editing step of editing the experience video and the experience movement before the experience, and an execution step of executing the experience.
- the time stamp code TC, the first database DB1 and the second database DB2 are formed in the editing unit 310, and the time stamp code TC is integrated.
- the first database DB1 may be stored in the controller 320
- the image controller 120 may be stored in the controller 320
- the second database DB2 may be stored in the driving controller 230.
- the experience when the experiencer rides on the vehicle 200 and mounts the imaging device 100 to the head of the experiencer, the experience may begin.
- the integrated control unit 320 may store the first time stamp T1, which is the first time stamp, as the target time stamp Tk.
- the integrated control unit 320 may simultaneously send the target time stamp Tk stored in the integrated control unit 320 to the image control unit 120 and the driving control unit 230. have.
- step 3-1-1 the image controller 120 substitutes the target time stamp Tk received through the second step S2 into the first database DB1.
- the image corresponding to the target time stamp Tk among the first to nth images (the omnidirectional image) FP1 to FPn may be selected.
- step 3-1-2 the first detector 130 sends the measured value of the first detector 130 to the image controller 120, and the second detector 240. ) May send the measured value of the second detection unit 240 to the image control unit 120.
- step 3-1-3 the image controller 120 adjusts the visual field of the experienced person based on the measured value of the first detector 130 and the measured value of the second detector 240. Can be calculated.
- step 3-1-4 the image control unit 120 performs step 3-1- of the image (front-directional image) FPk selected in step 3-1-1 (S311).
- the image (field-corresponding image) VPk corresponding to the visual field of the experience person may be selected and sent to the image display unit 110 and the common screen 400.
- step 3-1-5 the image display unit 110 and the common screen 400 respectively display the image VPk received through the step 3-1-4 (S314). Can play.
- the common screen 400 is formed to provide a non-experimental person with the same image as the image VPk shown in the image display unit 110 for simplicity of logic, but is not limited thereto.
- the image is different from the image VPk shown in the image display unit 110
- the common screen 400 itself may be omitted to reduce the time and cost required to operate the common screen 400.
- the drive control unit 230 substitutes the target time stamp (Tk) received through the second step (S2) to the second database (DB2).
- the movement Mk corresponding to the target time stamp Tk among the first to nth movements M1 to Mn may be selected, and the selected movement Mk may be sent to the driving unit 220.
- step 3-2-2 the driver 220 may perform the movement received through the third-2-1 step (S321).
- the integrated control unit 320 is terminated the experience Can be determined. That is, the integrated control unit 320 may determine whether the target time stamp Tk stored in the integrated control unit 320 matches the nth time stamp Tn which is the final time stamp.
- step S4 If it is determined in the fourth step S4 that the experience has ended (when the target time stamp Tk coincides with the nth time stamp Tn), the experience ends and it is determined that the experience is in progress. If the target time stamp Tk is inconsistent with the n th time stamp Tn, the process may proceed to a fifth step S5 to be described later.
- the integrated controller 320 may determine whether a predetermined time (interval between time stamps) has elapsed since the target time stamp Tk is sent in the second step S2. have.
- step S5 when it is determined that the predetermined time has elapsed, the process proceeds to the sixth step S6, which will be described later, and when it is determined that the predetermined time has not elapsed, the following 7-1
- the process may proceed simultaneously to step -1 (S711) and step 7-2-1 (S721) to be described later.
- the integrated control unit 320 may store the next time stamp of the time stamp previously stored as the target time stamp Tk as a new target time stamp Tk. For example, when the time stamp previously stored as the target time stamp Tk is the first time stamp T1, the second time stamp T2 may be stored as a new target time stamp Tk. have.
- the second step S2 may be returned.
- the image controller 120 may calculate the actual time stamp Tk ′.
- the image control unit 120 assigns the actual time stamp Tk 'calculated in operation 7-1-1 (S711) to the second operation S2. ), It may be determined whether it matches the received target time stamp Tk.
- step 7-1-2 when it is determined that the target time stamp Tk and the actual time stamp Tk 'coincide with each other, the process returns to step 3-1-2 S312. If it is determined that the target time stamp Tk and the actual time stamp Tk 'are inconsistent, the process may proceed to step 7-1-3 (S713), which will be described later.
- the image controller 120 may determine whether the actual time stamp Tk ′ is earlier than the target time stamp Tk.
- step S713 If it is determined that the actual time stamp Tk 'is earlier than the target time stamp Tk in the 7-1-3 step S713, the process proceeds to the 7-1-4 step S714 to be described later. If it is determined that the actual time stamp Tk 'is later than the target time stamp Tk, the process may proceed to step 7-1-5 (S715) to be described later.
- the image controller 120 determines images between the image corresponding to the actual time stamp Tk 'and the image corresponding to the target time stamp Tk in advance.
- the video display unit 110 may be instructed to reproduce at a faster playback speed than the playback speed.
- step 7715 the image control unit 120 reproduces the images after the image corresponding to the actual time stamp Tk 'at a playback speed slower than a predetermined playback speed.
- Instruction 110 may be given.
- the image controller 120 may instruct the image display unit 110 to repeatedly play an image corresponding to the actual time stamp Tk '.
- step 7-1-5 When the step 7-1-5 is completed (S715), it may return to step 3-1-2 (S312).
- the steps 7-1-1 to 7-1-5 may be performed at predetermined frequency intervals (for example, 60 Hz).
- step 7-1-2 When it is determined that the target time stamp Tk and the actual time stamp Tk 'coincide in step 7-1-2 (S712), or the step 7714-4 ends (S714).
- step 7-1-5 is completed (S715), the return to the step 3-1-2 (S312) is to reflect the fluctuations in the visual field of the experienced person.
- step 7-2-1 the second detection unit 240 sends the measured value (actual movement of the driving unit 220) of the second detection unit 240 to the driving control unit 230. Can be.
- step 7-2-2 the driving controller 230 is actually based on the measured value of the second detection unit 240 received through the step 7-2-1 (S721).
- the time stamp Tk ′′ may be calculated and it may be determined whether the calculated actual time stamp Tk ′′ matches the target time stamp Tk received through the second step S2.
- step 7-2-2 If it is determined that the target time stamp Tk and the actual time stamp Tk '' coincide with each other in step 7-2-2 (S722), the process returns to the fifth step S5 and the target time stamp is returned. If it is determined that Tk and the actual time stamp Tk ′′ are inconsistent, the process may proceed to step 7723-3 (S723).
- the driving controller 230 may determine whether the actual time stamp Tk ′′ is earlier than the target time stamp Tk.
- step 7-2-3 If it is determined that the actual time stamp Tk ′′ is earlier than the target time stamp Tk in step 7-2-3 (S723), the method proceeds to step 7724 (S724) to be described later. If it is determined that the actual time stamp Tk ′′ is later than the target time stamp Tk, the process may proceed to step 7725-5 (S725).
- the driving controller 230 may advance the movements between the movement corresponding to the actual time stamp Tk ′′ and the movement corresponding to the target time stamp Tk in advance. Instructions may be given to the driving unit 220 to shift to a driving speed faster than the determined driving speed.
- the process may return to the fifth step S5.
- the driving controller 230 may cause the driving controller 230 to transfer the motions after the movement corresponding to the actual time stamp Tk ′′ to a driving speed slower than a predetermined driving speed. Instructions 220 may be given.
- the process may return to the fifth step S5.
- the steps 7-2-1 to 7-2-5 may be performed at a predetermined time interval (for example, 12 ms).
- the first to step S1 is executed once at the start of the experience, and the second to seventh to second-2-5 steps S2 until the image and the motion corresponding to the final time stamp are provided. To S725) may be repeated after repeated execution.
- the experiencer includes the imaging device 100 and the boarding device 200
- the stimulus that the experiencer senses through vision and the stimulation that is sensed through physical movement are included. Can match each other. This prevents the experiencer from feeling heterogeneous, improves immersion, and consequently improves realism.
- the stimulus sensed by the user through vision and the stimulus sensed through physical movement may be further matched.
- the experience image and the experience movement is performed step by step (before the experience, the start time of the experience, during the experience) and periodically during the experience, the experience is sensed through the stimulus and the physical movement that the experience detects through vision.
- the stimulus can be more effectively matched.
- the imaging apparatus 100 may be further configured to provide the view corresponding image VPk of the omnidirectional image FPk, thereby further improving realism.
- the imaging apparatus 100 is formed to exclude the movement of the vehicle 200 when the visual field of the experience is calculated, the actual visual field of the experience and the visual field of the image are inconsistent due to the movement of the vehicle 200. The case can be prevented beforehand.
- the driving unit 220 of the vehicle 200 is formed of a robot arm 221, while being relatively less space-limited, the experienced person to provide a movement as if the experienced person boarded a real machine. Can be.
- the virtual reality experience device may be formed to be operable in the second control method shown in FIG.
- the virtual reality experience apparatus is formed to be relatively simple compared to the case where the virtual reality experience apparatus is operable in the first control method, so that the image controller 120 does not perform a role of comparing and matching the target image with the actual image.
- the driving controller 230 may be configured not to perform the role of comparing and matching the target movement with the actual movement, and may be configured to perform synchronization only before the experience and only when the experience starts.
- the steps shown in FIG. 8 may be replaced with the steps shown in FIG. 11 and the steps shown in FIGS. 9 and 10 may be deleted, compared to the first control method. That is, the second control method may include the steps shown in FIGS. 4, 5, 7, and 11. Accordingly, when it is determined that the predetermined time has elapsed in the fifth step S5, the process proceeds to the sixth step S6, and when it is determined that the predetermined time has not elapsed, the third-first step is performed. The process may proceed simultaneously to the second step S312 and the fifth step S5.
- the second control method may include an editing step of editing the experience video and the experience movement and an execution step of executing the experience before the experience.
- the time stamp code TC, the first database DB1 and the second database DB2 are formed in the editing unit 310, and the time stamp code TC is integrated.
- the first database DB1 may be stored in the controller 320
- the image controller 120 may be stored in the controller 320
- the second database DB2 may be stored in the driving controller 230.
- the experience when the experiencer rides on the vehicle 200 and mounts the imaging device 100 to the head of the experiencer, the experience may begin.
- the integrated control unit 320 may store the first time stamp T1, which is the first time stamp, as the target time stamp Tk.
- the integrated control unit 320 may simultaneously send the target time stamp Tk stored in the integrated control unit 320 to the image control unit 120 and the driving control unit 230. have.
- step 3-1-1 the image controller 120 substitutes the target time stamp Tk received through the second step S2 into the first database DB1.
- the image corresponding to the target time stamp Tk among the first to nth images (the omnidirectional image) FP1 to FPn may be selected.
- step 3-1-2 the first detector 130 sends the measured value of the first detector 130 to the image controller 120, and the second detector 240. ) May send the measured value of the second detection unit 240 to the image control unit 120.
- step 3-1-3 the image controller 120 adjusts the visual field of the experienced person based on the measured value of the first detector 130 and the measured value of the second detector 240. Can be calculated.
- step 3-1-4 the image control unit 120 performs step 3-1- of the image (front-directional image) FPk selected in step 3-1-1 (S311).
- the image (field-corresponding image) VPk corresponding to the visual field of the experience person may be selected and sent to the image display unit 110 and the common screen 400.
- step 3-1-5 the image display unit 110 and the common screen 400 respectively display the image VPk received through the step 3-1-4 (S314). Can play.
- the common screen 400 is formed to provide a non-experimental person with the same image as the image VPk shown in the image display unit 110 for simplicity of logic, but is not limited thereto.
- the image is different from the image VPk shown in the image display unit 110
- the common screen 400 itself may be omitted to reduce the time and cost required to operate the common screen 400.
- the drive control unit 230 substitutes the target time stamp (Tk) received through the second step (S2) to the second database (DB2).
- the movement Mk corresponding to the target time stamp Tk among the first to nth movements M1 to Mn may be selected, and the selected movement Mk may be sent to the driving unit 220.
- step 3-2-2 the driver 220 may perform the movement received through the third-2-1 step (S321).
- the integrated control unit 320 is terminated the experience Can be determined. That is, the integrated control unit 320 may determine whether the target time stamp Tk stored in the integrated control unit 320 matches the nth time stamp Tn which is the final time stamp.
- step S4 If it is determined in the fourth step S4 that the experience has ended (when the target time stamp Tk coincides with the nth time stamp Tn), the experience ends and it is determined that the experience is in progress. If the target time stamp Tk is inconsistent with the n th time stamp Tn, the process may proceed to a fifth step S5 to be described later.
- the integrated controller 320 may determine whether a predetermined time (interval between time stamps) has elapsed since the target time stamp Tk is sent in the second step S2. have.
- step S5 when it is determined that the predetermined time has elapsed, the process proceeds to the sixth step S6, and when it is determined that the predetermined time has not elapsed, the third-1-2.
- the process may proceed simultaneously to step S312 and the fifth step S5.
- the integrated control unit 320 may store the next time stamp of the time stamp previously stored as the target time stamp Tk as a new target time stamp Tk. For example, when the time stamp previously stored as the target time stamp Tk is the first time stamp T1, the second time stamp T2 may be stored as a new target time stamp Tk. have.
- the second step S2 may be returned.
- the burden applied to the image control unit 120 and the driving control unit 230 is reduced, so that the processing speed of the image control unit 120 and the processing of the driving control unit 230 are reduced.
- the speed can be improved and the error occurrence rate can be reduced.
- the experience video can be formed in higher quality, and the experience movement can be formed more precisely.
- it is disadvantageous in terms of synchronization, it may not be a big problem since much of the synchronization is achieved in the editing unit 310.
- the virtual reality experience apparatus may be formed to be operable by the third control method illustrated in FIGS. 12 to 19.
- the virtual reality experience apparatus is formed to be relatively simple compared to the case where it is formed to be operated by the first control method, and the omnidirectional image which is a separate image from the experience image provided to the experienced person by the common screen 400 (
- the FPk may be configured to provide the non-experienced person with an image SPk viewed through a predetermined field of view.
- the editing unit 310 defines a third database DB3 which defines common images SP1 to SPn to be reproduced on the first to nth time stamps T1 to Tn on the common screen 400, respectively. ) Can be formed.
- the third database DB3 may be stored in the image controller 120.
- the image controller 120 substitutes the time stamp Tk received from the integrated controller 320 into the third database DB3 to receive the time stamp received from the common images SP1 to SPn.
- the common image SPk corresponding to Tk may be selected, and the selected common image SPk may be sent to the common screen 400.
- the image SPk sent to the common screen 400 may be an image viewed with a different field of view than the image VPk sent to the image display unit 110.
- the image controller 120 may be configured to compare and match the target public image and the actual public image at a predetermined frequency (for example, 60 Hz) interval on the same principle as the experience image. Detailed description thereof will be omitted for avoiding duplication.
- a predetermined frequency for example, 60 Hz
- the steps shown in FIGS. 3, 4, 6 and 10 may be replaced with the steps shown in FIGS. 12 to 19 as compared with the first control method. That is, the third control method may include the steps illustrated in FIGS. 12 to 19.
- the third database DB3 is further formed in the editing unit 310, and the third database DB3 is combined with the first database DB1 in the image control unit ( 120).
- step 3-1-4 the image controller 120 controls the third-first among the images (front-directional image FPk) selected in step 3-1-1 (S311).
- an image corresponding to the visual field of the experience person may be selected and sent to the image display unit 110.
- the image display unit 110 may play the image VPk received through operation 3314-4.
- the image controller 120 substitutes the target time stamp Tk received through the second operation S2 into the third database DB3.
- the common image SPk corresponding to the target time stamp Tk among the common images SP1 to SPk may be selected and sent to the common screen 400.
- step 3-3-2 the common screen 400 may play the shared image SPk received through step 3-3-1 (S331).
- the fourth step (S4) May be performed.
- step S5 when it is determined that a predetermined time has not elapsed, steps 7-1-1 (S711), 7-2-1 (S721), and 7th to be described later The process may proceed to step S731 at the same time.
- the image controller 120 may calculate an actual time stamp Tk ′ ′′, which is a time stamp corresponding to the shared image being played on the common screen 400. have.
- the image controller 120 determines that the actual time stamp Tk '' 'calculated in operation 7-3-1 (S731) is the second step. In operation S2, it may be determined whether the target time stamp Tk is received.
- step 7-3-2 When it is determined that the target time stamp Tk and the actual time stamp Tk '' 'coincide with each other in step 7-3-2 (S732), the process returns to the second step S2 and the target time is returned. If it is determined that the stamp Tk and the actual time stamp Tk '' 'are inconsistent, the process may proceed to step 7-3-3 (S733).
- the image controller 120 may determine whether the actual time stamp Tk '' 'is earlier than the target time stamp Tk.
- step S733 If it is determined that the actual time stamp Tk '' 'is earlier than the target time stamp Tk in the 7-3-3 step S733, the 7-3-4 step S734 will be described later. If it is determined that the actual time stamp Tk 'is later than the target time stamp Tk, the process may proceed to step 7735-5 (S735).
- the image controller 120 determines whether the common screen 400 corresponds to the common image corresponding to the actual time stamp Tk ′ ′′ and the target time stamp Tk.
- the common screen 400 may be instructed to play back public images between corresponding public images at a faster playback speed than a predetermined playback speed.
- the second step S73 may return to the second step S2.
- the image controller 120 pre-determines the public images after the public image in which the common screen 400 corresponds to the actual time stamp Tk ′ ′′.
- the common screen 400 may be instructed to play at a playback speed slower than the speed.
- the image controller 120 may instruct the public screen 400 to repeatedly play the public video corresponding to the actual time stamp Tk '' '.
- step S735 When the 7-3-5 step S735 is completed, the process may return to the second step S2.
- the steps 7-3-1 to 7-3-5 may be performed at predetermined frequency intervals (for example, 60 Hz).
- the virtual reality experience apparatus according to the above-described embodiment, the experience image and the experience movement in advance so as to experience the virtual reality experience as if watching a movie, in advance according to the passage of time irrespective of the will of the experience person in advance. It is formed to provide the determined image and movement.
- the virtual reality experience apparatus includes the experience image and the experience movement as images and movements corresponding to the intention of the experience person so that the experience person experiences the virtual reality as if playing a game. It may be configured to be provided.
- FIG. 20 is a schematic diagram illustrating components of a virtual reality experience apparatus according to another embodiment of the present invention.
- FIG. 21 is a flowchart illustrating a part of a control method for the virtual reality experience apparatus of FIG. 20, and
- FIGS. 22 to FIG. 24 is a flowchart showing another part of the control method of FIG.
- the imaging device 100, the vehicle 200, and the control device may be formed in much the same manner as the above-described embodiment.
- the experience image may be provided as an image corresponding to the will of the experiencer
- the experience movement may be provided as a movement corresponding to the will of the experiencer
- the virtual reality experience apparatus according to the present embodiment, the image device 100, the vehicle 200, the control device (not shown) and the common screen 400, the input data from the experienced person
- the apparatus 500 further includes a control device 500 for receiving a virtual reality image corresponding to the input data to the user, and the boarding device 200 performs a physical movement corresponding to the input data. It can be configured to provide to the experiencer.
- the manipulation device 500 may include, for example, a sensor for measuring gaze movement of a joystick, a haptic device, a button, and an experienced person so that the input data includes information about a position, directionality, speed, acceleration, and rotation. Detection unit 130).
- the experience image may be formed of game content based on the input data.
- the imaging device 100 and the vehicle 200 may be formed as a master device. That is, the imaging device 100 is configured to receive the input data from the operation device 500 and provide the experience image based on the input data, and the vehicle 200 also operates the operation device 500. And receive the input data from and provide the experience movement based on the input data.
- the capacity of the first database DB1 and the second database DB2 increases, and a considerable time and cost are required to form the first database DB1 and the second database DB2. This can take a while.
- the imaging device 100 may be formed as a master device, and the vehicle 200 may be formed as a slave device. That is, the imaging apparatus 100 is configured to receive the input data from the manipulation apparatus 500 and provide the experience image based on the input data, but the vehicle 200 is based on the experience image. It may be configured to provide the experience movement.
- the vehicle 200 may be formed as a master device, and the imaging device 100 may be formed as a slave device. However, since the imaging device 100 has a greater constraint than the vehicle 200, It may be preferable that the imaging device 100 is formed as a master device and the imaging device 100 is formed as a slave device.
- the editing unit 310 may form the first database DB1 to vary the experience image according to the input data, and to form the second database DB2 to vary according to the experience image.
- the first database DB1 is formed such that the input data is an input value and the experience image is an output value
- the second database DB2 turns the experience image as an input value and the experience movement is It can be formed to be an output value.
- the controller C stores the first database DB1 and the second database DB2, receives the input data from the operation apparatus 500, and receives the first database ( DB1), to control the imaging device 100 (more precisely, the image display unit 110) and the driving device (more precisely, the driver 220) based on the second database DB2 and the input data.
- the control unit C substitutes the input data received from the operation device 500 into the first database DB1, selects an experience video corresponding to the input data, and selects the selected experience image from the video. It may be sent to the display unit 110, and the selected experience image is inserted into the second database DB2 to select a motion corresponding to the image and send it to the driver 220.
- the controller C may be configured to compare and match the target motion with the actual motion at a predetermined time interval (for example, 12 ms) for synchronization during the experience.
- a predetermined time interval for example, 12 ms
- the measured value of the second detector 240 is transmitted to the controller C, and the controller C transmits the actual movement corresponding to the measured value of the second detector 240. It can be configured to compare with the target movement sent to.
- the controller C may instruct the driving unit 220 to shift to a driving speed faster than the predetermined driving speed.
- the virtual reality experience apparatus may be operated by the real time control method illustrated in FIGS. 21 to 24.
- the first database DB1 and the second database DB2 are formed in the editing unit 310, and the first database DB1 and the second database DB2 are formed. May be stored in the control unit (C).
- the experience may begin.
- the manipulation apparatus 500 may receive the input data from the experiencer.
- the manipulation device 500 may send the input data received through the first 'step S1' to the controller C.
- the controller C substitutes the input data received through the second 'step S2' into the first database DB1 and applies the input data to the input data.
- a corresponding image (the omnidirectional image) FPk may be selected.
- step 4-1-1 ' the first detection unit 130 sends the measured value of the first detection unit 130 to the control unit C, and the second detection unit ( The 240 may send the measured value of the second detector 240 to the controller C.
- the controller C may determine the visual field of the experienced person based on the measured value of the first detector 130 and the measured value of the second detector 240. Can be calculated.
- step S413' the controller C controls the 4-1-2 of the image (front-directional image) FPk selected in step 3 '.
- operation S412 an image (a field-corresponding image) VPk corresponding to the field of view of the experienced person may be selected and sent to the image display unit 110 and the common screen 400.
- step 4-1-4 '(S414') the image display unit 110 and the common screen 400 receive an image received through step 4-1-3 '(S413'). VPk) can be reproduced respectively.
- the controller C selects the motion Mk corresponding to the image (the omnidirectional image) FPk selected in the third 'step S3'.
- the selected motion Mk may be sent to the driver 220.
- the driving unit 220 may perform the movement Mk received through the 4-2-1 'step S421'.
- the controller (C) May determine whether the experience has ended. That is, the controller C may determine whether a separately set end-condition (eg, game over on game content) is satisfied.
- a separately set end-condition eg, game over on game content
- step (S5 ') if it is determined that the experience is finished (if the experience termination condition is satisfied), the experience ends, and if it is determined that the experience is in progress (experience of completion of the experience termination condition) If), it may proceed to the sixth step (S6 ') to be described later.
- the second detector 240 may send the measured value (actual movement of the driver 220) of the second detector 240 to the controller C.
- the controller C measures the measured value of the second detector 240 received through the sixth step S6' (actual movement of the driver 220). It may be determined whether Mk 'matches the target motion Mk of the driving unit 220.
- step S7 ' when it is determined that the actual motion Mk' of the driver 220 and the target motion Mk coincide with each other, the process returns to the first step S1 ', and the driver If it is determined that the actual movement Mk 'and the target movement Mk of the 220 are inconsistent, the process may proceed to an eighth step S8', which will be described later.
- the controller C may instruct the driving unit 220 to shift the driving unit 220 to a driving speed that is higher than a predetermined driving speed.
- the process may return to the first step S1'.
- the sixth step S6 'to the eighth step S8' may be executed at a predetermined time interval (for example, 12 ms).
- the driving unit 220 is formed of the robot arm 221, but as shown in FIGS. 25 and 29, the driving unit 220 is pitched to the boarding unit 210.
- gyro mechanism 222 for generating yawing, rolling and reciprocating motion.
- the reciprocating motion means that the boarding portion 210 is moved in a direction away from and closer to the structure 223 supporting the gyro mechanism 222.
- FIG. 25 is a perspective view illustrating a virtual reality experience apparatus according to another embodiment of the present invention
- FIGS. 26 to 29 are plan views illustrating movements provided by the virtual reality experience apparatus of FIG. 25, respectively.
- the gyro mechanism 222 generates a yawing in the boarding unit 210 as shown in FIG. 27 and a first mechanism 2221 for generating a reciprocating motion in the boarding unit 210 as shown in FIG. 29. 26, a second mechanism 2222 for generating pitching in the boarding unit 210 as shown in FIG. 26, and a third mechanism 2223 for generating rolling in the boarding unit 210 as shown in FIG. 28. It may include.
- the first mechanism 2221 may be formed to rotate and reciprocate relative to the structure 223.
- the structure 223 is formed with a first fastening groove (not shown) into which the first mechanism 2221 is inserted, and the first mechanism 2221 is inserted into the first fastening groove (not shown). And a base portion 2221a and an arm portion 2221b extending from the base portion 2221a to the opposite side of the structure 223 and supporting the second mechanism 2222.
- the base portion 2221a is rotatably formed in the depth direction of the first fastening groove (not shown) as the rotation axis in the state inserted into the first fastening groove (not shown), and the first fastening groove (not shown). It can be formed so as to reciprocate in the depth direction of.
- a first actuator (not shown) is generated between the structure 223 and the first mechanism 2221 (more precisely, the base portion 2221a) to generate a driving force necessary for the rotational movement of the first mechanism 2221.
- a second actuator (not shown) for generating a driving force necessary for the reciprocating motion of the first mechanism 2221.
- the first actuator (not shown) and the second actuator (not shown) may each include a motor, a reducer, and a power transmission mechanism (for example, a pulley, a sprocket, a belt, a chain).
- a power transmission mechanism for example, a pulley, a sprocket, a belt, a chain.
- the first mechanism 2221 is rotatable with respect to the structure 223, and a direction in which a portion supporting the second mechanism 2222 moves away from and close to the structure 223. It may be formed to be reciprocating. That is, the arm portion 2221b is reciprocally coupled to the first arm portion 2221ba while supporting the first arm portion 2221ba and the second mechanism 2222 fixedly coupled to the base portion 2221a. It includes a second arm portion 2221bb, the base portion 2221a is inserted into the first fastening groove (not shown) only the rotational movement of the depth of the first fastening groove (not shown) as the rotation axis It can be formed possibly.
- the first actuator (not shown) is formed between the structure 223 and the first mechanism 2221, and the second arm 2221ba and the second arm 2221bb are disposed between the second arm portion 2221bb.
- a second actuator (not shown) for generating a driving force necessary for the reciprocating motion of the arm portion 2221bb may be formed.
- the second mechanism 2222 is supported by the first mechanism 2221 (more precisely, the arm portion 2221b) and may be rotatably formed in a direction perpendicular to the rotation axis of the first mechanism 2221.
- the arm portion 2221b of the first mechanism 2221 is formed in a second fastening groove (not shown) extending in a direction perpendicular to the depth direction of the first fastening groove (not shown), and the second The mechanism 2222 is a hinge portion (not shown) inserted into the second fastening groove (not shown) and an annular portion 2222b extending in an annular shape from the hinge portion (not shown) and supporting the third mechanism 2223. ) May be included.
- the hinge portion (not shown) may be formed to extend in the radial direction of the annular portion 2222b from the outer peripheral portion of the annular portion 2222b.
- the hinge part (not shown) may be rotatably formed in the depth direction of the second fastening groove (not shown) in the state of being inserted into the second fastening groove (not shown).
- the driving force required for the rotational movement of the second mechanism 2222 is generated between the arm portion 2221b of the first mechanism 2221 and the second mechanism 2222 (more precisely, a hinge portion (not shown)).
- a third actuator (not shown) may be formed.
- the third actuator (not shown) may be formed similarly to the first actuator (not shown).
- the third mechanism 2223 is supported by the second mechanism 2222 (more precisely, the annular portion 2222b) and is perpendicular to the rotation axis of the first mechanism 2221 and the rotation axis of the second mechanism 2222. It may be formed to be rotatable in one direction. In this case, the boarding unit 210 may be fixedly coupled to the third mechanism 2223.
- the third mechanism 2223 is formed in an annular shape concentric with the second mechanism 2222 (more precisely, the annular portion 2222b), the outer peripheral surface of the third mechanism 2223 is the second It can be rotatably coupled to the inner circumferential surface of the instrument 2222 (more precisely, annular portion 2222b).
- a fourth actuator (not shown) may be formed between the inner circumferential surface of the second mechanism 2222 and the outer circumferential surface of the third mechanism 2223 to generate a driving force necessary for the rotational movement of the third mechanism 2223.
- the third mechanism 2223 has a circumferential direction with respect to the inner circumferential surface of the second mechanism 2222 with the entire outer circumferential surface of the third mechanism 2223 facing the entire inner circumferential surface of the second mechanism 2222. It can be slidably coupled.
- the virtual reality device including the gyro mechanism 222 may provide the experience movement to the experienced person even in a narrower space than the virtual reality device including the robot arm 221.
- the gyro mechanism 222 is formed to be capable of providing both pitching, yawing, rolling and reciprocating motion, the gyro mechanism 222 is pitching, yawing, rolling and reciprocating Only part of the exercise may be formed to be provided.
- the driving unit 220 may be configured to include the robot arm 221 and the gyro mechanism 222.
- the vehicle 210 may be coupled to the third mechanism 2223 of the gyro mechanism 222, and the gyro mechanism 222 may be coupled to the free end of the robot arm 221.
- FIGS. 31 to 34 are perspective views illustrating movements provided by the virtual reality experience apparatus of FIG. 30, respectively.
- the robot arm 221 may provide a motion that cannot be implemented.
- the gyro mechanism 222 pitches the boarding unit 210 in a state where the robot arm 221 has positioned the boarding unit 210 at an upper maximum position.
- the experienced person can take various positions even in the upper maximum position.
- the gyro mechanism 222 pitches, yaws, and rolls the vehicle 210 with the robot arm 221 positioned at the front of the vehicle 210.
- the experienced person can take various positions even at the forward maximum position.
- the gyro mechanism 222 pitches and yaws the boarding unit 210 while the robot arm 221 idles the boarding unit 210 with respect to the ground.
- the experienced person may be rotated while being idle, and may take various positions.
- the limit of movement provided by the driving unit 220 is reduced, thereby increasing the degree of freedom in image production, and as a result, it is possible to reduce the constraint of virtual reality.
- the present invention relates to a virtual reality experience apparatus, and more particularly, to a virtual reality experience apparatus capable of providing images and physical movements.
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Abstract
Description
Claims (10)
- 체험자에게 영상을 제공하는 영상장치; 및체험자에게 움직임을 제공하는 탑승장치;를 포함하고,상기 탑승장치는,체험자에게 탑승 가능한 공간을 제공하는 탑승부; 및상기 탑승부에 피칭, 요잉, 롤링 및 왕복 운동 중 적어도 하나를 발생시키는 자이로 기구;를 포함하는 가상현실 체험장치.
- 제1항에 있어서,상기 자이로 기구는,상기 탑승부에 요잉을 발생시키는 제1 기구;상기 탑승부에 피칭을 발생시키는 제2 기구; 및상기 탑승부에 롤링을 발생시키는 제3 기구;를 포함하는 가상현실 체험장치.
- 제2항에 있어서,상기 제1 기구는 상기 자이로 기구를 지지하는 구조물을 기준으로 회전 가능하게 형성되고,상기 제2 기구는 상기 제1 기구에 지지되고, 상기 제1 기구의 회전축에 수직한 축을 기준으로 회전 가능하게 형성되고,상기 제3 기구는 상기 제2 기구에 지지되고, 상기 제2 기구의 회전축에 수직한 축을 기준으로 회전 가능하게 형성되는 가상현실 체험장치.
- 제3항에 있어서,상기 탑승부는 상기 제3 기구에 고정 결합되는 것을 특징으로 하는 가상현실 체험장치.
- 제3항에 있어서,상기 구조물과 상기 제1 기구 사이에는 상기 제1 기구의 회전 운동에 필요한 구동력을 발생시키는 제1 액추에이터가 형성되고,상기 제1 기구와 상기 제2 기구 사이에는 상기 제2 기구의 회전 운동에 필요한 구동력을 발생시키는 제3 액추에이터가 형성되고,상기 제2 기구와 상기 제3 기구 사이에는 상기 제3 기구의 회전 운동에 필요한 구동력을 발생시키는 제4 액추에이터가 형성되는 가상현실 체험장치.
- 제3항에 있어서,상기 제1 기구는 상기 탑승부에 왕복 운동을 더 발생시키도록 형성되는 가상현실 체험장치.
- 제6항에 있어서,상기 제1 기구는 상기 구조물을 기준으로 왕복 운동 가능하게 형성되는 가상현실 체험장치.
- 제7항에 있어서,상기 구조물과 상기 제1 기구 사이에는 상기 제1 기구의 왕복 운동에 필요한 구동력을 발생시키는 제2 액추에이터가 형성되는 가상현실 체험장치.
- 제6항에 있어서,상기 제1 기구는 상기 제2 기구를 지지하는 부위가 상기 구조물로부터 멀어지고 가까워지는 방향으로 왕복 운동 가능하게 형성되는 가상현실 체험장치.
- 제9항에 있어서,상기 제1 기구에는 상기 제2 기구를 지지하는 부위의 왕복 운동에 필요한 제2 액추에이터가 형성되는 가상현실 체험장치.
Priority Applications (7)
Application Number | Priority Date | Filing Date | Title |
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EP17745961.7A EP3318958B1 (en) | 2016-03-11 | 2017-03-03 | Virtual reality experience device |
US15/551,979 US10593115B2 (en) | 2016-03-11 | 2017-03-03 | Virtual reality experience apparatus for providing virtual reality image and physical motion to experiencing user |
CN201780001093.1A CN107533377B (zh) | 2016-03-11 | 2017-03-03 | 虚拟现实体验装置 |
JP2018512213A JP6698825B2 (ja) | 2016-03-11 | 2017-03-03 | 仮想現実体験装置 |
SG11201709253YA SG11201709253YA (en) | 2016-03-11 | 2017-03-03 | Virtual reality experience device |
US16/700,244 US20200105069A1 (en) | 2016-03-11 | 2019-12-02 | Virtual reality experience apparatus |
US16/868,006 US10832490B2 (en) | 2016-03-11 | 2020-05-06 | Virtual reality experience apparatus capable of providing experiencing user with virtual reality image and physical motion |
Applications Claiming Priority (4)
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KR10-2016-0029466 | 2016-03-11 | ||
KR20160029466 | 2016-03-11 | ||
KR1020160123261A KR101885128B1 (ko) | 2016-03-11 | 2016-09-26 | 가상현실 체험장치 |
KR10-2016-0123261 | 2016-09-26 |
Related Child Applications (2)
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US15/551,979 A-371-Of-International US10593115B2 (en) | 2016-03-11 | 2017-03-03 | Virtual reality experience apparatus for providing virtual reality image and physical motion to experiencing user |
US16/700,244 Continuation US20200105069A1 (en) | 2016-03-11 | 2019-12-02 | Virtual reality experience apparatus |
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