WO2018135781A1 - Dispositif d'expérience virtuelle pour mouvement infini anti-gravité - Google Patents

Dispositif d'expérience virtuelle pour mouvement infini anti-gravité Download PDF

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Publication number
WO2018135781A1
WO2018135781A1 PCT/KR2018/000146 KR2018000146W WO2018135781A1 WO 2018135781 A1 WO2018135781 A1 WO 2018135781A1 KR 2018000146 W KR2018000146 W KR 2018000146W WO 2018135781 A1 WO2018135781 A1 WO 2018135781A1
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WO
WIPO (PCT)
Prior art keywords
virtual
treadmill
virtual experience
experienced person
speed
Prior art date
Application number
PCT/KR2018/000146
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English (en)
Korean (ko)
Inventor
권오흥
김진영
김사엽
Original Assignee
한국생산기술연구원
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
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Application filed by 한국생산기술연구원 filed Critical 한국생산기술연구원
Publication of WO2018135781A1 publication Critical patent/WO2018135781A1/fr

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    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B22/00—Exercising apparatus specially adapted for conditioning the cardio-vascular system, for training agility or co-ordination of movements
    • A63B22/02—Exercising apparatus specially adapted for conditioning the cardio-vascular system, for training agility or co-ordination of movements with movable endless bands, e.g. treadmills
    • G—PHYSICS
    • G02—OPTICS
    • G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
    • G02B27/00—Optical systems or apparatus not provided for by any of the groups G02B1/00 - G02B26/00, G02B30/00
    • G02B27/01—Head-up displays
    • G—PHYSICS
    • G02—OPTICS
    • G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
    • G02B27/00—Optical systems or apparatus not provided for by any of the groups G02B1/00 - G02B26/00, G02B30/00
    • G02B27/01—Head-up displays
    • G02B27/017—Head mounted
    • G—PHYSICS
    • G09—EDUCATION; CRYPTOGRAPHY; DISPLAY; ADVERTISING; SEALS
    • G09B—EDUCATIONAL OR DEMONSTRATION APPLIANCES; APPLIANCES FOR TEACHING, OR COMMUNICATING WITH, THE BLIND, DEAF OR MUTE; MODELS; PLANETARIA; GLOBES; MAPS; DIAGRAMS
    • G09B9/00—Simulators for teaching or training purposes

Definitions

  • the present invention relates to a virtual experience device, and more particularly to a virtual experience device for infinite movement.
  • Virtual reality refers to an interface between a human and a computer that creates a certain environment or situation with a computer and makes the user interact with the surrounding environment and environment.
  • virtual reality technology has been applied to various industrial fields. For example, research on virtual experience devices or systems that can be applied to rehabilitation or space training is actively conducted by experiencing infinite movement in antigravity in the virtual reality world. .
  • the conventional virtual experience device for infinite movement is a method of forcibly controlling the rotational speed of the treadmill on which the pedestrian lands on the basis of the recognition of the pedestrian motion and controlling the image speed.
  • the mechanical design of the entire virtual experience apparatus becomes large or complicated in implementing anti-gravity in addition to the limitations of this forced control method for the treadmill.
  • An object of the present invention is to provide an anti-gravity infinite movement virtual experience device that can simplify the device and induce the natural walk of the virtual experience.
  • the object of the present invention although not directly specified, includes other objects that can be derived from the configuration of the present invention.
  • the present inventors in the course of researching and developing a virtual experience device for infinite movement related to the above problem, instead of the method of forcibly controlling the rotational speed of the treadmill based on the conventional human motion, the landing force of the virtual experience person while walking
  • the present invention devises a way to control the image speed in conjunction with the rotational speed of the non-powered treadmill, and as a means for lifting the virtual experience upward to realize a microgravity state near zero gravity.
  • the present invention has been realized in the knowledge that the device can be simplified through a support assembly comprising a wire of.
  • the gist of the present invention based on the recognition and conception of the above-mentioned problem is as follows.
  • the support assembly comprises a group of wires for lifting the virtual experience upwards, anti-gravity infinite virtual experience device.
  • the support assembly comprises a harness mounted to the virtual experienced person; And a rotating frame, one end of which is fixed to the wire and the other end of which is fixed to the harness, wherein the upper end of the rotating frame is located directly above the virtual experienced person so as to be coatably connected to the wire.
  • the antigravity infinite virtual experience device (1) the antigravity infinite virtual experience device.
  • the anti-gravity infinite movement virtual experience device of (1) characterized in that it further comprises a reducer provided in the treadmill.
  • the treadmill comprises a support frame; A pair of main rollers pivotably fixed at both ends of the support frame; A plurality of sub-rollers pivotably fixed to the support frame between a pair of main rollers; And an endless track provided to accommodate the main roller and the subroller therein, wherein the center of the upper surface of the endless track supported by the main roller and the subroller is curved concave.
  • (7) further comprising a length detecting unit for detecting a change in the length of the group of wires, correcting the moving speed of the virtual experienced person by the amount of change in the length of the wire detected by the length detecting unit, to display an image on the head-up mount display
  • a length detecting unit for detecting a change in the length of the group of wires, correcting the moving speed of the virtual experienced person by the amount of change in the length of the wire detected by the length detecting unit, to display an image on the head-up mount display
  • a harness mounted to the virtual experienced person A group of wires connected to the harness to prevent the fall of the virtual experienced person and limit movement;
  • a rotating frame having one end connected to the group of wires so as to cover the other end, and the other end fixed to the harness;
  • a non-powered treadmill provided to be rotatable and pivotable by a landing force during walking of a virtual experienced person;
  • a rotating motor for rotating the non-powered treadmill according to the walking direction of the virtual experienced person;
  • a head-up mount display for visually delivering a virtual reality image according to walking to a virtual experienced person, wherein the rotating frame is provided with a first encoder for detecting a rotating experience of the virtual experienced person, and the non-powered treadmill is rotated.
  • a second encoder for sensing the speed is provided to operate the rotary motor according to the rotation angle of the rotary frame sensed by the first encoder while the rotational speed of the non-powered treadmill monitored by the second encoder. And the video speed of the head-up mounted display is controlled according to the above.
  • the anti-gravity infinite movement virtual experience of (8) characterized in that the moving speed of the virtual experienced person is corrected by the change amount of the length of the wire detected by the length detecting unit, so that the image speed on the head-up mounted display is controlled.
  • the virtual experience device of the present invention by adopting a non-powered treadmill, it is not necessary to forcibly control the rotational speed of the treadmill can induce a natural walk of the virtual experience, the most experience device through a support assembly including a plurality of wires It is advantageous to simplify the structure of the whole.
  • the present invention also includes other effects that can be derived from the configuration of the present invention.
  • FIG. 1 is a conceptual diagram of the configuration of a virtual experience apparatus according to an embodiment of the present invention.
  • FIG. 2 is a conceptual view illustrating a direction control of a virtual reality image and a treadmill using the virtual experience apparatus of FIG. 1.
  • FIG. 2 is a conceptual view illustrating a direction control of a virtual reality image and a treadmill using the virtual experience apparatus of FIG. 1.
  • FIG. 1 shows a conceptual diagram of a virtual experience apparatus 10 according to an embodiment of the present invention, wherein the virtual experience apparatus 10 is basically a support assembly 100, a treadmill 200, a head-up mount display 300, HMD; Head-up Mount Display.
  • the virtual experience apparatus 10 is basically a support assembly 100, a treadmill 200, a head-up mount display 300, HMD; Head-up Mount Display.
  • the support assembly 100 serves to fix and support the virtual experiencer, and includes a wire 130 for controlling the virtual experiencer so that the virtual experiencer does not fall while lifting the virtual experiencer upward to implement microgravity. Accordingly, it is possible to simplify the apparatus 10 while easily implementing antigravity to microgravity.
  • the group of wires 130 may have elastic force and are fixed to an outer frame (not shown).
  • the support assembly 100 together with the group of wires 130, a harness 110 and one end of the textile material is mounted to the group of wires 130 and the other end is fixed to the group of wires mounted on the virtual experience It includes a rotating frame 120 fixed to 110.
  • the rotating frame 120 includes a frame body 122 and a connector 124 pivotally coupled to an upper end of the frame body 122, and the group of wires 130 are coupled to the connector 124.
  • the rotating frame 120 is pivotally fixed to the group of wires 130 via the connector 124.
  • the upper end of the rotating frame 120 to which the connector 124 is coupled by the cross-section 'c'-shaped structure of the frame body 122 is located directly above the head of the virtual experienced person, Since the rotation axis of the rotation frame 120 may be generally coincided, it is advantageous that the virtual experience may not lose its center even when the virtual user rotates the body while walking or at rest.
  • the top of the rotating frame 120 is provided with a rotation angle detector 500, such as a first encoder for detecting the rotation angle of the rotation frame 120, more specifically, the frame body 122.
  • the data on the rotation angle of the rotation frame 120 sensed by the rotation angle detecting unit 500 includes a rotation motor 400 for rotating the non-powered treadmill 200 to be described later according to the walking direction of the virtual experienced person, and on walking.
  • the head-mounted display 300 for visually transmitting the virtual reality image according to each other is transmitted.
  • the treadmill 200 is an element in which the virtual user walks in a landing state, and the present invention is characterized in that the treadmill 200 is configured as a treadmill without power, unlike the prior art. That is, the present invention adopts a method of naturally rotating by the landing force of the virtual experienced person using the non-powered treadmill 200, so that it is not necessary to forcibly control the rotational speed of the treadmill based on the motion of the conventional person. It is advantageous to induce walking.
  • the non-powered treadmill 200 is pivotally supported with respect to the base 800 of the virtual experience apparatus 10 via the rotating plate 900.
  • the orientation of the non-powered treadmill 200 is pivotally controlled in accordance with the frontal orientation of the virtual experienced person, and for this purpose, the rotary motor 400 geared to the peripheral side of the rotating plate 900 on which the non-powered treadmill 200 is mounted is further. Include. Accordingly, the rotary motor 400 operates according to the rotation angle of the rotation frame 120 transmitted from the rotation angle detecting unit 500 to rotate the rotating plate 900, thereby being mounted on the rotating plate 900.
  • the orientation of the non-powered treadmill 200 is pivotally controlled by interlocking the orientation of the virtual experienced person.
  • the rotation motor 400 may be provided with signal processing means (not shown) regarding data transmitted from the rotation angle detecting unit 500.
  • the non-powered treadmill 200 is mounted to the rotating plate 900, the support frame 210 consisting of a horizontal frame 214 and the vertical frame 212; A pair of main rollers 220 pivotally fixed at both ends of the support frame 210; A plurality of sub rollers 230 pivotally fixed to the support frame 210 between the pair of main rollers 220; And an endless track 240 installed to accommodate the main roller 220 and the sub roller 220 therein.
  • the horizontal frame 214 of the support frame 210 has a curved shape downward in the center thereof, and thus the endless track 240 supported by the sub-roller 230 on the upper surface of the horizontal frame 214.
  • the center of the upper surface of the) is also concavely curved to effectively prevent the virtual experienced person from deviating from the outer boundary of the upper surface of the caterpillar 240 or losing its center during forward and backward walking, and the boundary of the upper surface of the caterpillar 240 Through the inclined surface near the area, the landing force of the virtual user's forward and backward walking can be effectively transmitted to the caterpillar 240.
  • the forward and backward movement speed of the virtual reality image is controlled in conjunction with the rotational speed of the non-powered treadmill 200, for this purpose, such as a second encoder in the non-powered treadmill 200
  • the speed sensor 600 is provided, and data about the rotational speed of the non-powered treadmill 200 sensed by the speed sensor 600 is transmitted to the head-up mount display 300.
  • each end of each of the group of wires 130 may optionally further include length sensing units 650 and 650 ', such as a third encoder.
  • the third encoder may have a form provided in the motor attached to the winch to wind and unwind the wire 130. Data on the length variation of the wire 130 sensed by the length detectors 650 and 650 ′ is transmitted to the head-up mount display 300, for example, at the center of the treadmill from the length change of the wire 130.
  • the moving speed of the front and rear direction of the virtual suicide image of the virtual experienced person You can control closer to the actual speed of movement.
  • the moving distance back and forth from the center of the treadmill has a correction value of + for forward and-for retreat.
  • non-powered treadmill 200 may be optionally provided with a reducer 700.
  • the decelerator 700 may advantageously prevent the virtual experienced person from losing the center by mitigating the instantaneous rotational speed change of the endless track 240 even if the virtual experienced person changes the walking speed in a hurry.
  • the head-up mount display 300 is mounted on the head of the virtual experienced person to visually deliver the virtual reality image according to the walking to the virtual experienced person.
  • the head-up mount display 300 includes data regarding a rotation angle of the rotation frame 120 transmitted from the rotation detection unit 500 and a rotation speed of the non-powered treadmill 200 transmitted from the speed detection unit 600.
  • Signal processing means (not shown) for data may be provided.
  • FIG. 2 is a conceptual view illustrating an operation of controlling a direction of a treadmill and a virtual reality image using the virtual experience apparatus 10 of FIG. 1.
  • the virtual user wearing the head-up mount display 300 is supported in such a way as to be lifted upward by the support assembly 100 including the group of wires 130 and landed on the upper surface of the non-powered treadmill 200.
  • means (not shown) for adjusting the height of the support assembly according to the height of the virtual user may be provided separately.
  • the virtual experience person walks in the antigravity or microgravity state while checking the image information transmitted through the head-up mount display 300.
  • the elastic force of the group of wires 130 control the tension value of the wire to maintain the set microgravity value
  • the virtual experienced person is maintained in the antigravity to microgravity state, '' of the rotating frame 120
  • the virtual experienced person can easily maintain the center even while walking.
  • the curved top structure of the treadmill 200 the landing force according to the front and rear movement of the virtual subject is transmitted through the inclined surface in the boundary area of the upper surface of the treadmill 200 to induce a natural rotational motion of the treadmill 200.
  • the speed reducer 700 selectively provided in the virtual experience apparatus 10 mitigates the change in the instantaneous rotational speed of the endless track 240 even if the virtual experience person changes the walking speed abruptly.
  • the rotational speed is sensed by the speed sensing unit 600 exemplified by the second encoder is provided in the head-up mount display 300 Through the processing means (not shown) to control the front and rear movement speed of the virtual reality image.
  • the degree of departure of the virtual experienced person from the center of the non-powered treadmill 200 is sensed by the length detectors 650 and 650 'illustrated as the third encoder and transmitted to the head-up mount display 300, using this value.
  • the forward and backward movement speed of the virtual suicide image may be controlled to be closer to the actual movement speed of the virtual experienced person.
  • the rotation angle of the rotating frame 120 is Signal processing means (not shown) provided in the head-mounted display 300 and sensed by the rotation angle detector 500 illustrated as one encoder and signal processing means (not shown) provided in the rotating motor 400. Each of which is transmitted to, to control the direction of the virtual reality image and the front orientation of the treadmill.
  • the signal transmission for the sensed data from the speed sensor 600 or the rotation angle sensor 500 to the head-up display 300 or the rotary motor 400 may be made of wired or wireless, and the rotary motor 400 And the signal processing means exemplified in the head-up mount display 300 may be provided in a separate computing device (not shown).
  • the virtual experience apparatus 10 of the present invention it is not necessary to control the rotation speed of the treadmill by adopting the non-powered treadmill 200 to induce a natural walk of the virtual experience, a plurality of wires ( It is advantageous to simplify the overall structure of the most experienced device 10 through the support assembly 100, including 130.

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  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Theoretical Computer Science (AREA)
  • Health & Medical Sciences (AREA)
  • General Physics & Mathematics (AREA)
  • Cardiology (AREA)
  • Vascular Medicine (AREA)
  • General Health & Medical Sciences (AREA)
  • Physical Education & Sports Medicine (AREA)
  • Optics & Photonics (AREA)
  • Business, Economics & Management (AREA)
  • Educational Administration (AREA)
  • Educational Technology (AREA)
  • Rehabilitation Tools (AREA)
  • Processing Or Creating Images (AREA)

Abstract

La présente invention concerne un dispositif d'expérience virtuelle pour un mouvement infini. Au lieu du procédé classique de commande forcée de la vitesse de rotation d'un tapis roulant sur la base du mouvement d'une personne, la présente invention utilise : un tapis roulant non motorisé qui tourne spontanément par la force d'atterrissage appliquée pendant la marche d'une personne participant à une expérience virtuelle ; une configuration dans laquelle la vitesse d'image est commandée conjointement avec la vitesse de rotation du tapis roulant non motorisé ; une structure dans laquelle un ensemble de support comprend une pluralité de fils en tant que moyen pour soulever une personne participant à une expérience virtuelle afin d'obtenir une condition de microgravité proche de la gravité nulle. Par conséquent, la structure globale du dispositif d'expérience virtuelle peut être simplifiée, et la marche naturelle d'une personne participant à une expérience virtuelle peut être efficacement induite.
PCT/KR2018/000146 2017-01-19 2018-01-04 Dispositif d'expérience virtuelle pour mouvement infini anti-gravité WO2018135781A1 (fr)

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KR1020170009386A KR101939301B1 (ko) 2017-01-19 2017-01-19 반중력 무한이동 가상체험장치
KR10-2017-0009386 2017-01-19

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Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2018069050A (ja) * 2016-10-07 2018-05-10 ヘ−ヨン・チョイ 非動力化全方位歩行システム装置
CN111840001A (zh) * 2020-08-10 2020-10-30 哈尔滨永泓科技有限公司 一种ar眼镜
CN113712404A (zh) * 2021-08-25 2021-11-30 河南经贸职业学院 一种艺术设计用的vr式多媒体展示装置
CN114870339A (zh) * 2022-05-12 2022-08-09 南京航空航天大学 一种微重力环境下航天员背部骨肌对抗训练方法

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KR102102555B1 (ko) * 2019-04-12 2020-04-20 김정우 헬스케어 시스템
KR102370313B1 (ko) * 2020-03-25 2022-03-04 최인범 가상 현실 기반 재활훈련 시스템
CN112164266B (zh) * 2020-09-27 2022-03-04 临沂职业学院 一种虚拟现实体验装置
KR102623701B1 (ko) * 2021-09-29 2024-01-12 (주)리앤팍스 재활 치료용 바지 및 그를 포함하는 재활 치료 시스템

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KR101151054B1 (ko) 2008-03-26 2012-06-01 에스케이플래닛 주식회사 가상 현실 세계에서의 이동 체험 서비스 시스템 및 방법
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JP2000516829A (ja) * 1996-08-27 2000-12-19 イー イー カーメイン，デイヴィッド 全方向性トレッドミル
KR101453482B1 (ko) * 2013-04-26 2014-10-23 사단법인 전북대학교자동차부품금형기술혁신센터 압력 피드백이 적용된 하니스 및 이를 이용한 보행 재활훈련장치
WO2016005367A1 (fr) * 2014-07-09 2016-01-14 Hocoma Ag Appareil pour l'entraînement à la marche
KR20160144268A (ko) * 2015-06-08 2016-12-16 이재억 Hmd용 보행 시뮬레이션 장치
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Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2018069050A (ja) * 2016-10-07 2018-05-10 ヘ−ヨン・チョイ 非動力化全方位歩行システム装置
CN111840001A (zh) * 2020-08-10 2020-10-30 哈尔滨永泓科技有限公司 一种ar眼镜
CN111840001B (zh) * 2020-08-10 2022-04-19 江苏洪旭德生科技有限公司 一种基于ar眼镜的辅助运动装置
CN113712404A (zh) * 2021-08-25 2021-11-30 河南经贸职业学院 一种艺术设计用的vr式多媒体展示装置
CN114870339A (zh) * 2022-05-12 2022-08-09 南京航空航天大学 一种微重力环境下航天员背部骨肌对抗训练方法

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