WO2019225831A1

WO2019225831A1 - Virtual reality-based levitation simulation system

Info

Publication number: WO2019225831A1
Application number: PCT/KR2019/000883
Authority: WO
Inventors: 강원철; 송가영
Original assignee: Kang Won Chul; Song Ga Young
Priority date: 2018-05-21
Filing date: 2019-01-22
Publication date: 2019-11-28
Also published as: KR101934233B1

Abstract

A virtual reality-based levitation simulation system is disclosed. The virtual reality-based levitation simulation system according to the present invention comprises: a body supported by a stand and having a saddle on which a user sits; an elevation-driving body generating a driving force through a foot-tapping action of the user by means of pedals that can be elevated on both sides of the body, thereby driving the elevation of the body; a head mount display mounted on a head part of the user, and comprising a display unit for displaying a virtual reality image to the user; and a controller for differentially providing the virtual reality image to the user on the basis of the elevation-driving of the elevation-driving body.

Description

VR based levitation simulation system

The present invention relates to a virtual reality-based sliding and flotation simulation system using a head mounted display, which raises or lowers a body by stepping on a pedal provided in the body while the user is on a body fixed to the ground through a stand. Although, but it is possible to provide a virtual reality-based media suitable for the lifting operation through the head-mounted display device worn by the user relates to a lift simulation system that can perform a realistic virtual downhill and flotation simulation.

Recently, the development of VR technology has provided the foundation for various experiences in virtual reality using VR headsets and VR devices that users can ride or install in large stores or entertainment facilities. Occupies a place in various forms.

In particular, in the case of a VR device, a type such as clothes or devices that are worn or carried by a user, and a type that is installed in a large size and used in a space where a user boards or a VR device is used. This exists.

In addition, as a way to experience downhill, apart from VR, the downhill and flotation experience is generally made by installing a sturdy wire between two trees or props, and fastening the trolley connected to the passenger on the wire. For example, the report goes to. Such downhill and flotation experiences are constructed within the scope of not damaging the natural environment, and do not require a separate power device, so they are eco-friendly from installation to operation, and they fly in the air while drinking fresh air in nature. As a program to breathe in harmony, the popularity is increasing recently.

However, the above-described experience facility requires at least 50m of installation space, and therefore, there is a problem that cannot be installed in an indoor site, an area with a small installation space, and an outdoor site with many obstacles that are a risk factor for experience. In addition, the downhill and flotation experiences are carried out from a high position, so those who experience complaints of fear of heights or who are concerned about equipment safety issues are practically unable to board. As a result, both children and their parents did not have a satisfactory haptic effect.

In addition, safety accidents are frequently generated due to lack of skill of the experienced person or failure of experience equipment, and it is difficult to promptly handle a safety accident.

In order to solve these problems, there is no actual downhill or flotation, but some companies have developed and utilized the linkage technology with VR that can virtually experience the downhill and flotation. It can only be used, it has a disadvantage that it is difficult for the user to use such a system directly at home.

In order to solve this problem, there is a Republic of Korea Patent No. 10-1829285 'Virtual reality-based downhill experience system'. However, since the prior art experience service providing system known through the prior art can still be used in a state where the system equipment for experience is installed at a high level, there is a problem that general users have a system to utilize.

Another prior art is the Republic of Korea Patent No. 10-1731513 'fall training simulation system'. However, in the case of the simulation system known through the prior art, the configuration is remarkably simple, and the configuration is simplified enough to be provided by general users, but due to the characteristics of the device, the simulation related to the rise other than the fall is not performed. There is a problem that the use is limited because of the difficulty.

Therefore, the user can lift or lower the body by stepping on the pedal provided in the body while the user is on the body fixed to the ground through the stand, but the user can wear the head-mounted display device based on virtual reality By providing media, there is a need to develop a lift simulation system that can perform realistic virtual downhill and flotation simulation.

SUMMARY OF THE INVENTION The present invention has been made to overcome the problems of the above technology, and a main object of the present invention is to provide a system capable of simulating levitation through the user's rolling action through the device and the head-mounted display that the user can climb It is done.

Another object of the present invention is that the levitation simulation is driven through the user's rolling action, it is possible to continuously exercise a variety of leg areas such as thighs and calves, giving an effective exercise induction effect to adult patients such as lack of exercise or diabetes To provide configurations.

Another object of the present invention is to provide auxiliary components that can maintain a sense of lift even when the main body reaches the maximum height.

Another object of the present invention is to provide a structure that can provide an auxiliary means for warning the safety of the user after reaching the maximum height.

In order to achieve the above object, the virtual reality-based levitation simulation system according to the present invention, the body is provided with a saddle seated by the user as supported by the stand; An elevating driving body for elevating and driving the body by generating a driving force through a user's foot rolling operation via a pedal provided to be capable of elevating both sides of the body; A head mounted display mounted to a head of a user, the head mounted display including a display unit configured to display a virtual reality image to the user; And a controller configured to differentially provide the virtual reality image to the user based on the lift driving of the lift driver.

Furthermore, the elevating drive body is to generate a driving force through the pedal provided to the user to step, including a support plate provided on the lower portion of the pedal, and a spring for elastically supporting the support plate and the pedal. A drive unit, a link for transmitting a driving force generated through lifting and lowering of the pedal, a rotation converting unit for rotating the pinion by converting the driving force transmitted through the link into a rotary motion through a crank arm, and being engaged with the pinion and being lifted. It characterized in that it comprises a lifting unit for elevating the body in the vertical direction in a state provided with a rack on one side.

In addition, the elevating drive unit is to generate a driving force through the pedal provided to the user to step, the drive unit having a pedal shaft for supporting the pedal to be driven rotationally, and generated through the rotation of the pedal In the state provided with a link for transmitting the driven force, and a rotation conversion unit for rotating the pinion by converting the driving force transmitted through the link to the rotary motion through the crank arm, and the rack engaged with the pinion on one side It characterized in that it comprises a lifting unit for lifting the body in the vertical direction.

In addition, the body, which is provided in the direction facing the user seated on the saddle, a handle, a handle box to which the handle is rotatably mounted, and the handle in a state in which the handle box is supported from the main body. A handle assembly including a support for moving the box from the initial position to the front, rear, left, and right sides is provided, and the controller is provided with a direction applying module for varying the direction of the virtual reality image based on the manipulation of the handle. do.

According to the virtual reality-based levitation simulation system according to the present invention,

1) It can provide a system that can simulate the levitation through the user's rolling motion through the device and the head mounted display that the user can ride,

2) Since the levitation simulation is driven by the user's foot rolling motion, it is possible to continuously exercise various leg parts such as the thigh or calf so that it can give effective exercise induction effect to adult patients such as lack of exercise or diabetes. Not only provide them,

3) It is possible to provide a configuration that can provide auxiliary components that can continue to maintain a sense of lift even when the body reaches the maximum height,

4) It has the effect of providing a reinforced structure that can provide an auxiliary means to warn the user of safety after reaching the maximum height.

1 is a perspective view showing a schematic structure of the levitation simulation system of the present invention.

Figure 2 is a conceptual diagram showing an embodiment of the pedal drive for lifting the body of the present invention.

Figure 3a is a conceptual diagram showing another embodiment of the pedal drive for lifting the body of the present invention.

Figure 3b is a conceptual diagram showing an extended embodiment of the pedal drive for lifting the body of the present invention.

4 is a perspective view and an enlarged view showing one embodiment of the levitation simulation system of the present invention.

5 is a conceptual diagram illustrating an embodiment of the use of the additional configuration of the levitation simulation system of the present invention.

Figure 6 is an example of the screen shown through the display in the levitation simulation system of the present invention.

Figure 7 is another example of the screen shown through the display in the levitation simulation system of the present invention.

8 is an illustration showing an embodiment for obtaining a drive ratio of each roller in the present invention.

Explanation of Reference Numbers

100: body 110: saddle

120: handle assembly 121: handle

122: handle box 123: support portion

131: belt 132: roller

133: roller drive unit 134: belt piece

135: wire 136: tension sensor

137: pressure sensor 140: fan assembly

141: fan 142: fan moving part

151: shock absorber 152: flywheel

200: lifting drive 210: driving unit

211: Pedal 212: Spring

213: support plate 214: pedal shaft

220: link 230: rotation converter

231: pinion 240: lift

241: rack 300: head mounted display

310: display 400: controller

510: Velcro 520: freewheel

Hereinafter, exemplary embodiments of the present invention will be described in detail with reference to the accompanying drawings. The accompanying drawings are not drawn to scale, and like reference numerals in each of the drawings refer to like elements.

The simulation system of the present invention is a head mounted display which is installed on the ground by a stand to allow a user to ride, and which is mounted on the head of a user and lifted by a user's operation, and which is worn on the user's head. It is configured to include (300) (Head Mount Display).

Here, the head mounted display 300 refers to a headset for providing a VR that can be easily checked in the surroundings, and includes a microprocessor inside the display 310 as a base or wirelessly or wired with an external processor device. It is connected to the device, and may include a variety of sensors and controllers 400 and the configuration such as a strap or hat that can be worn on the head.

Furthermore, the boarding device may further include a separate controller 400 for its own lift control or drive sensing, but preferably the controller 400 is provided on the head mounted display 300 equipped with a microprocessor. The head mounted display 300 may also be configured to allow overall control.

Looking at the configuration of a more detailed boarding device as follows.

First, the boarding device is a body 100 is provided with a saddle 110 that can be seated by the user, the input unit protruding to one side of the body 100 to roll the foot in the state of hanging the user's foot to generate a lift drive The body through the power transmission unit for transmitting the power generated through the input horizontally, the power converter for converting the direction of the horizontally transmitted power to the vertical motion and the cylinder to move up and down based on the converted power through the power converter ( An elevating drive body 200 including an elevating control unit for elevating 100, and a stand for fixing a structure in which the above-described body 100 and the elevating drive body 200 are coupled to the ground.

Body 100 is provided with a saddle 110 that can be mounted to the buttocks of the user, in the case of the body 100 is basically provided in a state spaced apart from the ground through the combination of the lifting drive 200 and the stand That is, it means a housing having a space therein so that the components of the lifting drive 200 can be provided therein.

When the user is seated on the saddle 110 in the state having the saddle 110 while being capable of elevating driving, the body 100 may be provided to have various shapes if there is no problem in driving. Of course, horses, unicorns, rockets, etc. can have a variety of shapes.

2 is a conceptual diagram showing an embodiment of driving the pedal 211 for raising the main body of the present invention, Figure 3a is a conceptual diagram showing another embodiment of driving the pedal 211 for raising the main body of the present invention, 3B is a conceptual diagram illustrating an extended embodiment of driving the pedal 211 for raising the main body of the present invention.

Furthermore, the elevating drive unit 200 serves as a kind of drive unit 210 that provides a driving force for elevating the body 100 in a state fixed to the ground via a stand.

In one embodiment of the elevating drive 200, a rotating frame having both ends exposed to the outside while passing through the side of the body 100, and the pedal provided to the user to step on both ends of the rotating frame A user control unit provided with a crank arm for generating a rotational driving force in the rotating frame through the elevating driving of 211, and a pinion 231 provided on one side of the rotating frame to rotate together with the rotating frame; The rack 241 is engaged with the pinion 231 and is vertically extended in a state in which the gear is provided on one side, and includes a lift controller having a lift frame for lifting the body 100 in a vertical direction. do.

In addition, by using the pedal 211 as a footrest, when the pedal 211 is pressed in the form of a seesaw, it is possible to generate a rotational force.

Basically, there is a crank arm that is rotatably mounted perpendicularly to the main axis, and a pedal 211 that is provided on the top of the crank arm to roll the foot. The pedal 211 is configured as an elongated board, and at least one pinion 231 is provided at left and right sides of the lower end of the pedal 211, and the rack 241 is positioned at a position corresponding to the pinion 231 on the crank arm. ) Is attached to the rack 241, the pinion 231 to generate a rotational force.

That is, when the user rolls up the pedal 211 and rolls both feet, the pedal 211 in the direction of applying the force to the foot descends while the pinion 231 rotates the rack 241 at the corresponding position. This will occur. The rotational driving force generated in this way rotates the rack 241 located at the center portion again, and when rotating in one direction through a lifting control unit having a pinion 231 lifting up and down by the rack 241, the pinion 231 is rotated. It has a structure that can be lifted by the length. However, since the pedal 211 can always promote safety when the user's foot is seated, the pedal 211 further forms a foot mounting part provided with a velcro 510 as shown in FIG. 3B, thereby providing a velcro 510. Of course, it may be equipped with a safety configuration to prevent the foot from being separated from the pedal 211 by tying the foot through.

In order to control the lowering, two types of racks 241 may be placed on the pedal 211 so that the user may operate through a separate button or manually change the position of the pedal 211 to change the direction of the entire driving force. Furthermore, a ratchet capable of temporarily releasing the coupling of the rack 241 and the pinion 231 is provided in the elevating control unit, and has a separate button for controlling the ratchet, and further, the rack 241 through the ratchet. ) And a pin shock absorber 151 (shock absorber) for preventing the descending at high speed when the release of the pinion 231 is further provided, as well as having a structure capable of rising as well as falling.

Furthermore, the embodiment as shown in FIG. 3B may be further applied as a configuration for more dynamic driving.

This is an embodiment modified in the manner of rotating the pedal 211, it is the same as having a drive unit 210 that can be driven to rotate the pedal 211 by the pedal shaft 214, the drive unit 210 The configuration of the configuration to be able to rotate in a fixed state on one side of the body 100. Furthermore, a link 220 for transmitting the driving force of the pedal 211 may be provided. The link 220 has one bevel gear in cooperation with the pedal shaft 214 in a state in which two bevel gears are provided. Rotates the longitudinally extending shaft. At this time, the shaft is preferably provided in a rectangular column shape, the shaft is provided with two bevel gears, the bevel gear was fixed by drilling a rectangular groove in the bevel gear to receive or transmit the rotational force from the bevel gear. Furthermore, a separate bearing may be further provided around the groove of the bevel gear as shown in the drawing, and thus, the bearing may be configured to have a more easy structure of lifting and lowering of the square pillar-shaped shaft. It is preferable to have a separate support and fixing means so as to maintain a fixed height, and the shaft also has a lifting range such that the shaft is not excessively lifted so as not to escape from the bevel gear.) One bevel gear is connected to the crank to elevate the main body, where the crank portion replaces the existing lifting unit 240 configuration, the structure that can transmit the force in one direction to receive the rotational force through the bevel gear The freewheel 520 may be applied as a gear of. Therefore, when the crank rotates through the freewheel 520, the main body can be continuously raised and lowered, thereby providing a more dynamic driving effect than a conventional structure capable of only raising or lowering, and providing a structure capable of infinite rotation. Of course it is.

In addition, since the pedal 211 is fixed to the body 100, the actual lifting and lowering is performed based on the axis, thereby preventing the pedal 211 from being excessively far away, wherein the pedal 211 further includes a foot of the user. Consists of a plurality of velcro (510) structure to enable a stable fixation on the foot to raise the foot on the pedal 211 and to fill the velcro (510) structure that can be fixed to the foot without being significantly affected by the user's foot size Of course it can be equipped.

That is, it is possible to freely change the lifting configuration through the rotation through a simple structure change can be provided to change the structure in a modular form or to be used by changing to the desired structure by the user.

Once again the configuration, the lifting drive 200 is to generate a driving force through the pedal 211 provided so that the user can step, and the support plate 213 provided in the lower portion of the pedal 211 and , A driving unit 210 including a spring 212 elastically supporting the support plate 213 and the pedal 211, a link 220 for transmitting a driving force generated by lifting and lowering the pedal 211, and a link ( It is provided with a rotation conversion unit 230 for rotating the pinion 231 by converting the driving force transmitted through the 220 to the rotary motion through the crank arm, and a rack 241 to be engaged with the pinion 231 to be elevated. Of course, it can be understood to include the lifting unit 240 for elevating the body 100 in the vertical direction.

As another embodiment of the elevating drive 200, the elevating drive 200 is composed of two axes, the first axis extending to the left and right of the body 100 in a fixed state by the stand, and this first It consists of a 2nd axis orthogonally installed from the center of a 1st axis orthogonal to an axis. Here, the first axis may be referred to as a power transmission unit, and the second axis may be referred to as a power conversion unit.

One end of each of the power transmission units is provided with one input unit.

The input unit refers to the configuration of the pedal 211 that can be easily seen on a bicycle, etc., which serves to convert this into driving force when the user's foot is rolled in various ways. As is already known, it consists of a pedal 211 which provides an area where the foot can be rolled, and a crank arm on which the pedal 211 can rotate. The crank arm is mounted on the first axis and can be rotated or moved up and down, thereby generating a driving force through rotation or up and down movement.

In other words, the lifting driving unit 200 generates a driving force through the pedal 211 provided to be stepped on by the user, and supports the pedal shaft 214 supporting the pedal 211 so as to be rotationally driven. The drive unit 210 and the link 220, the link 220 for transmitting the driving force generated through the rotation of the pedal 211, and the drive force transmitted through the link 220 is converted to the rotational motion through the crank arm pinion 231 Rotation conversion unit 230 for rotating), and the lifting unit 240 for elevating the body 100 in the vertical direction in a state provided with a rack 241 to be elevated in engagement with the pinion 231 on one side. Can be.

Herein, a description will be given based on a configuration of generating a driving force by rotating the crank arm, which is described based on one example, and may be replaced with another configuration to be described below, and additional configurations may be further provided according to each configuration. Of course. Additional description thereof will be added according to the components required in the following description.

Furthermore, the power transmission unit will be described as forming the first shaft as follows. The power transmission unit includes a crank journal extending to the left and right sides of the body 100, and positioned on the center of the crank journal, at least one pair of crank webs which are formed in a droplet shape and protrude to one side with respect to the axis of the crank journal. It consists of a crank pin which connects a portion projecting from the axis of the crank journal in the crank web.

Here, the crank journal refers to a first axis having a large meaning. When the crank arm rotates by pressing the pedal 211, the crank journal serves to rotate together. At this time, the crank web provided in the central portion of the crank journal is also rotated, in particular, the crank pin connecting the crank web is equipped with a second shaft and a power converter, which will be described later, the second shaft as the crank journal rotates. You can move up and down. Here, it is a matter of course that it is easy to have a structure that is connected only through the crank web in a state where the crank journal penetrates between the crank webs so as to facilitate the vertical movement of the second axis.

In addition, a method of implementing a lift using a cylinder or an air injection method may be applied, and of course, this may be changed as needed.

However, the rack 241 is provided with a lifting guide that surrounds the rack 241 along the path in which the rack 241 is lifted (in this case, the pinion 231 can freely enter and exit the lift guide). It should also have a configuration.) Of course, it is possible to further secure the stability through the configuration to hold the position so that the rack 241 can move only in the elevated position.

In addition, since it is difficult for the user operation unit to continuously drive the pedal 211 of the levitation simulation system continuously, the user operation unit stores the rotational force when the rotational driving force is generated to assist the driving, and the rotational inertia by the stored rotational force A fly wheel 152 may be further provided to the pinion 231. The fly wheel 152 may use a known fly wheel 152, and thus detailed description thereof will be omitted.

Figure 4 is a perspective view and an enlarged view showing one embodiment of the levitation simulation system of the present invention, Figure 5 is a conceptual diagram showing an embodiment of the use with the addition of additional configuration of the levitation simulation system of the present invention, Figure 6 Is an example of a screen seen through the display in the levitation simulation system of the present invention, Figure 7 is another example of a screen seen through the display in the levitation simulation system of the present invention.

In addition, the body 100 may be provided with a handle assembly 120 in which the inclination changes according to the user's operation.

The handle assembly 120 includes the handle 121, the handle box 122 to which the handle 121 is rotatably mounted, and the handle box 122 to front, rear, left and right while supporting the handle box 122 from the main body. It may be composed of a support 123 to move, the handle 121 itself can be rotated only, but through this support 123 of the handle 121 can be moved forward, backward, left and right, of course. That is, the support 123 may pull the handle 121 forward or backward or move the handle 121 itself to a certain range in addition to the basic rotation function of the handle 121, such as the handle 121 attached to the fighter cockpit. It can provide a structure that can be.

In addition, the handle 121 may be provided with a separate operation button and a brake lever (in this case, a known brake configuration should be included.).

Accordingly, the controller 400 may include a tilt application module for tilting and providing a virtual reality image based on the driving of the handle 121. Accordingly, the user may twist the body or move the body by moving the handle 121. You can freely change directions in virtual reality without having to rotate it.

Furthermore, such a system can be utilized by a plurality of users to meet together in virtual reality, for this purpose, an avatar database for creating and storing a user's virtual reality avatar, and remotely connected to other simulation systems to other users in the virtual reality image. A multi-applicator for outputting a virtual reality avatar of the user; and an interaction determination unit for determining whether a collision of the avatar moved according to the displacement of the front, rear, left, and right directions of the pedal 211 and the handle 121 is inclined from the initial position; The multi-access module may include a collision application unit for moving the virtual reality avatar away from the virtual reality image according to the driving speed of the pedal 211 when determining the interaction.

As a kind of online game, various users who use the simulation system inside the virtual reality meet to meet each other and feel like flying together. In addition, it is possible to determine the impact of the interaction with the other avatars in the virtual reality image through the movement of each of the connected avatars, the pedal 211 moving the virtual reality avatar in order to give an effect by the actual reaction reaction According to the driving speed of the handle 121 and the front, rear, left, and right of the change of the moving direction of the virtual avatar and the direction of the bouncing during the collision and the force can be calculated, accordingly, the virtual reality image to fall back to get a feeling of falling with the avatar hit It is possible to provide a realistic image by outputting the image to be pushed out, and at the same time having a configuration that changes the virtual reality avatar to be blown to the opposite side.

Furthermore, the controller 400 includes a height sensor for measuring the height of the body 100, a pedal 211 driving determination sensor for determining whether the pedal 211 is driven, and a maximum height determination of the body 100. When the pedal 211 is driven, a sensory maintenance module may be provided to control the rising speed of the virtual reality image.

That is, when the body 100 is raised to the maximum, even if the pedal 211 is further manipulated, it is no longer possible to feel physically elevated. Therefore, in this case, if the user wants to further increase, the user may need to control the virtual reality image provided through the head mounted display 300 worn by the user so that the user can feel that he continues to rise.

Accordingly, when the pedal 211 is continuously driven when it is determined that the maximum height of the body 100 is reached, the rising speed of the virtual reality image is controlled so that the virtual reality image may be raised by the driving of the pedal 211. Provides a device to follow.

In addition, the saddle 110 has a belt 131 fixed around the user's torso, and both sides are wound from one belt 131, and the belt 131 is rotated from the left and right sides of the user seated in the saddle 110. ) And a roller driving unit 133 for providing a rotational force to the roller 132.

Here, the belt 131 is to allow the user to freely move the body to a certain level by releasing a portion in a state where the user's body is fixed, and forcibly controlling the left and right unwinding of the belt 131 to tilt the user slightly. It can also be controlled to provide a sense of direction to the user or to provide effects such as wind pressure.

Furthermore, the sensory retention module has a configuration corresponding to the saddle 110 and the belt 131 controller for controlling the driving of the roller driver 133 when the maximum lifting height of the body 100 is reached, and guide information to be displayed in the virtual reality image. A guide database may be stored, and a guide display unit for synthesizing and displaying guide information in a virtual reality image according to driving of the roller driver 133 may be provided.

That is, before reaching the maximum height, the user can feel a sufficient lift just by lifting the body 100 itself without having to control the saddle 110, but after the body 100 reaches the maximum height. There is a problem that there is no configuration that can receive a separate physical feeling.

Therefore, to solve this problem is to use the belt 131.

In addition, controlling the unwinding of the belt 131 may provide a user with a rising sense of realism, and may further display additional guidance information on the virtual reality image to provide a more lively rising feeling through this guidance information. Of course.

Here, the guide information may include a phrase or an image to be provided to the user, and further, one of the background elements such as a cloud or a bird may be provided as the guide information. In other words, the guide information acts as a kind of object, and as the guide information is synthesized and displayed on the virtual reality image, the user can feel a more vivid realism.

At this time, the belt control part controls the rotation of the roller drive part 133 using the following formula (1).

Equation 1.

here,

Is the driving value of the roller drive unit 133 located on the left side,

In the x, y coordinates having the x-axis in the left and right directions and the y-axis in the front-rear direction when the drive value of the roller drive unit 133 located on the right side and the cross section of the handle 121 are referred to, A denotes the y-axis based on the y-axis. The distance the handle 121 is moved from the initial position, B is the distance the handle 121 is moved from the initial position relative to the x-axis, a is a roller between 1 and 10 in consideration of the specifications of the roller 132 ( 132) the correction constant,

Is the number of revolutions of the roller 132 located on the left per minute,

Is the rotational speed of the roller 132 located on the right per minute, b means the rotational constant.

The initial position means an initial state of the handle 121 and a non-driven state in which the handle 121 is not touched, that is, a position in which the handle 121 stands directly in the handle box 122 without tilting.

In this initial position, the handle 121 forms three-dimensional virtual coordinates so that the left and right, depending on how much the handle 121 is tilted in the range in which the handle 121 (the handle box 122) can be moved. The distance can be derived in the forward and backward directions. By varying the degree of rotation of the rollers 132 located on the left and right through these displacements, the rollers on the opposite side where the body is pulled when the user's body is pulled (ie, the user's body is pulled as the belt 131 is pulled out). (132) can be wound more to prevent torso deflection, and in some cases, it can be used to induce torso deflection, on the contrary, this control can provide the user with more realistic control. Of course.

However, as can be seen from Equation 1, the driving of the roller drive unit 133 can be differentially controlled by utilizing the x and y coordinates, which consist of two axes having the x axis in the left and right directions and the y axis in the front and rear directions. Of course it can.

8 is an illustration showing an embodiment for obtaining a drive ratio of each of the rollers 132 in the present invention.

Referring to Figure 8 will be described how to obtain the driving ratio of each of the rollers 132. (This equation is when the body tilt occurs, the roller 132 located on the opposite side to prevent the body tilt It is based on the configuration, and in order to give the opposite effect, the equation expressed differently according to the range of A value in Equation 1 can be reversed.)

First, the coordinate system we need to find is left and right and front and back. This means a range of movement of the handle 121 that may occur when the handle 121 is operated. As mentioned above, the handle 121 moves left and right from the handle box 122 to control the direction or pull up and down by pulling back and forth. As a result, when the user moves the handle 121, the position change of the handle 121 occurs at the two coordinates described above.

Therefore, the basic coordinates form an x, y coordinate system with the initial position of the handle 121 as (0,0) and the center of the handle 121 as the origin when the handle 121 is viewed from above. , y is a virtual line that can be divided into left and right coordinate system, and the x-axis is a virtual line that is a standard that can divide x, y coordinate system back and forth. In this x, y coordinate system, the position where the handle 121 is moved from the initial position of the handle 121 is displayed, where A is the position where the handle 121 is moved based on the initial position of the handle 121, It can be understood as an x value indicating how far the space has been moved with respect to the y-axis dividing the left and right, that is, how much the space has been moved left or right with respect to the initial position.

In addition, B represents a y value that can determine how much the handle 121 has moved from the initial position based on the x-axis dividing the x, y coordinate system back and forth, that is, how far forward or rearward the base position has been moved. (At this time, the unit of distance to be used can be arbitrarily designated.) Therefore, if A and B are used, it is possible to derive by considering the vector value actually moved.

In summary, the area may be divided left and right through the y-axis and the area may be divided back and forth through the x-axis, and thus, the driving ratio of the roller 132 may be calculated in consideration of how much the two-dimensional coordinates move up, down, left, and right.

Therefore, as shown in the drawing, A is moved by 5 to the right (+) from the initial position, and B is assumed to be moved by 3 to the front (+).

You can apply the formula of.

At this time, it should be considered that since the inclination of the user to the right by 5 is currently moving by 5 to the right, the roller driving unit 133 located on the left side is actually driven enough to pull 5 roller 132. Pulling in will induce the user to move to the original center position. Here, a is a roller 132 correction constant between 0 and 1 in consideration of the specifications of the roller 132, where the specifications of the roller 132 is the torque of the drive unit 210 for driving the roller 132 or the roller 132 Of course, the value considering the friction coefficient between the band and the like can be applied. In this example, the description is limited to the case where the value a is 5.

therefore

Silver 3 / (3 + 1) = 0.75,

3 / (3 + 2.5) = 0.38 is derived.

Accordingly, the driving value

and

By multiplying b by the same rotation constant, respectively, the actual rotation speed of the roller 132 per minute can be obtained.

In other words, b is a constant for converting the driving value derived in advance so that the actual rotation speed of the roller 132 per minute may appear, which may be specified through a user setting or a basic setting of the device. For example, if you set b to 30,

Is 22.5 rpm,

11.4 rpm is derived. Here, as the b value changes, since the rotation speed of the roller 132 may be actually changed per minute, the actual rpm may be adjusted by adjusting the b value.

Therefore, it is possible to support the user by driving the roller 132 through the control of the roller 132 in the above-described manner. (This is because the body is pulled to the right when rotating to the right. By further winding it induces the user to return to the original position, in the conventional state, the user is less likely to tilt to the left due to the influence of gravity (the feeling of falling from the device), but in this case the belt ( 131 continues to hold the user, so that the user can be more aggressively leaning to the left while pursuing safety.) Also, not only driving one roller 132, Since the roller 132 on the side controls the rotation of the roller 132 in proportion to the actual user's body tilt, only one roller 132 moves unilaterally. Compared it wo can provide a configuration that can achieve a more realistic feedback left.

Furthermore, the guide display unit may control the perspective of the guide information to be displayed on the virtual reality image using Equation 2 below.

Equation 2,

Where Q is an area increased or decreased for perspective control of the guide information, D is a perspective constant between 1 and 10,

Indicates the initial area of the guide information.

That is, when synthesizing the guide information into the virtual reality image, the virtual reality image is not a simple 2D image, and thus such perspective display is required in addition to the direction information that the user observes. In particular, even if a 3D image is provided, it can actually provide perspective by changing to 2D using height and width and giving an additional depth value to provide a sense of distance or depth, but the actual height in this perspective If the and width do not change, there is a problem that only small dots appear to move.

In addition, when an object needs to be largely expressed temporarily when changing left and right by a user's manipulation (it is necessary to hurriedly inform that it is dangerous if the direction is oriented too far), simply controlling the depth value makes the object excessively fast. This has to be dealt with as an upcoming problem, which is not natural when the user actually looks at it. In other words, even if it is assumed that the depth value is basically moved, the width and height should be changed, and in the case of virtual space, similar results can be derived by simply enlarging the displayed 2D image. In other words, by increasing the height and width of the image, the image is temporarily grown to provide the effect that the perspective appears to be controlled.

In addition, by setting a perspective constant called D, it is possible to specify which level to set the magnification higher than the user's setting, where the value of D uses a value between 1 and 10. Will be greater.

Especially here

The absolute difference value of is used, which basically means the degree of inclination of the user in the seat plate through the driving ratio of the inner roller driving unit 133, and thus, in addition to the head mounted display 300, the inclined external tilt is additionally considered. To determine the inclination of the image through this inclination (because it is the difference between left and right inclination) when controlling perspective according to the actual inclination inclination. Of course you can adjust.

Following the example of Equation 1 above,

Is 10 and D is 10, Q is 10 (0.37) * (20tan (0.19)) = 3.7 * (3.85) = 14.25.

Therefore, in this case, the guide information has an area of 14.25, which is increased from 10, which was the original area, and this area is enlarged based on the center of the initial area so that the information is enlarged more than the existing area even if the z value does not change. As it can be seen, it causes visual illusion and enables the application of perspective through the change of area.

In addition, the belt 131 is provided at one side of the belt piece 134 divided into at least three, and the two wire 135 and each wire 135 located between the belt piece 134 as a stretchable material. It may be provided with a tension sensor 136 to measure the first tension and the second tension. That is, when the belt piece 134 is divided into three, the wire 135 and the tension sensor 136 located between each can measure the tension on the left and right sides (in the first tension and the second tension), respectively.

Accordingly, the sensory retention module is provided with a tilt control unit which tilts the virtual reality image to the left and right according to the height of the tension, thereby enabling control through tension.

In addition, the saddle 110, a plurality of pressure sensors 137 for detecting the pressure of the buttocks of the user is preferably provided at equal intervals in the left and right direction of the saddle 110, further, the sensory maintenance module, A risk database storing risk information to be displayed in the virtual reality image, an information synthesizing unit synthesizing risk information into the virtual reality image when the pressure measured by the pressure sensor 137 is lower than a predetermined reference pressure, and a height of the pressure As such, it may be provided with a display control unit for controlling the frequency of displaying the risk information and the speed at which the risk information is moved.

According to the above configuration, after the maximum height of the body 100 is reached, the belt 131 is further unwinded or further wound to provide a sense of lift. If you imagine the appearance of the user while riding a bicycle, the user may speed up or When tilted to one side, the saddle 110 is often seen dropping the buttocks continue running.

However, such a posture may be effective to feel a sense of reality, but there may be a safety problem. Therefore, a configuration for guiding the user to be constantly seated on the saddle 110 may be required, and this is a display controller.

Furthermore, a fan assembly 140 including a fan 141 for generating wind and a fan moving part 142 to which the fan 141 is rotatably mounted is provided around the saddle 110 in the body 100. The sensor holding module also controls the fan moving unit 142 according to the change of the front, rear, left, and right angular displacements, the height of the first and second tension differences, and the height of the pressure. It may further include a rotation control unit for controlling the inclination of the fan 141.

That is, as described above, when the body 100 is moved to the maximum height, in order to continue to provide a sense of lift, the fan assembly 140 for generating a wind around the user so as to increase the realism, and also change the direction In addition, the fan assembly 140 can be rotated so that the fan assembly 140 can be rotated so as to give an effect in response to the situation indicated in the speed change and the virtual reality image.

At this time, the display control unit controls the frequency of the risk information is displayed using the following equation (3),

Equation 3,

Where J is the frequency at which risk information is displayed per minute,

Silver first tension,

Silver second tension,

Is the first tension measured at the initial state,

Is the second tension measured in the initial state, G is the distance from the initial position of the fan 141 relative to the center of the body 100, H is from the initial position of the fan 141 to the current position of the fan 141 Means changed distance.

The risk information is needed when providing a lift through other configurations, after reaching the maximum height of the body 100 as mentioned above. In particular, after the control of the belt 131, there is a possibility that the user's body is excessively oriented to one side, and the user may be excessively leaned to one side even by his own will. In this case, tension is generated. In this case, the tension may be kg, but it is usually expressed by dividing the measured kg value into a certain range by dividing it into steps such as 1,2,3,4, ..., 10. It is common.

Furthermore, in the case of the inclination of the fan 141, the inclination of the fan 141 changes according to a change in the direction of the user's operation. Therefore, the inclination of the fan 141 may determine whether the user is performing a dangerous operation in which the user can be pulled to one side. In particular, the ratio of the position changed from the initial position of the fan 141 based on the three-dimensional coordinates

As a result, this ratio represents a value between 0 and 1. Therefore, the information can be used to control the frequency of displaying the risk information.

For example, if the first tension is 15 kg (for example, the system is configured to mark up the tension level every 3 kg, this is 5 levels), the second tension is 12 kg (4 levels) The first tension and the second tension are 3 kg (one step), respectively, and the distance to the initial position of the fan 141 is 3 (this is a three-dimensional coordinate with the center of the body 100 as (0,0,0)). In this case, the distance from the center of the body 100 to the position of the fan 141 is measured.) Assuming that the distance changed to the current position of the fan 141 is 2, D is (2/3). ) * ((5 + 4) / (1 + 1)) = 0.6 * 4.5 = 2.7 or (2/3) * ((15 + 12) / (3 + 3)) = 0.6 * 4.5 = 2.7 do. Although the same frequency is derived from the example, the two values may be different, so it is necessary to decide in advance whether to use the step or the tension value according to the intended use. Therefore, the frequency of displaying risk information per minute is 2.7, which can be displayed three times per minute when rounded.

Furthermore, the speed at which the risk information is moved can be controlled using Equation 4.

Equation 4,

here,

Is the speed at which the hazard information moves, E is the pressure measured by the pressure sensor 137 (

Is

F is the mean of E from the initial state to the present, t is the time from the time when the initial hazard information was displayed,

Is the distance changed from the initial hazard information to the current hazard information,

Means the speed of initial risk information movement.

In particular, the risk information itself can be configured to be moved within the virtual reality image. This is not to place the risk information on one side, but to allow the risk information to continuously move to attract the user's attention. Like the effects used in the opening of the risk information, this risk information can provide the effect of passing by water, which can help the user's perception.

For example, the pressure measured by the pressure sensor 137 is 60kgf, the user does not remove the buttocks from the initial state to the present, the average degree is 60kgf, the changed distance is 100m, the moving speed of the initial danger information is 15km / h, the initial danger Assuming that the last time is 30 minutes from the time when the information is displayed, the speed at which the risk information moves is as follows.

60 (0.1) / (60 * 0.5) +15 = 15.2 km / h

However, the user removes the buttocks

this

If the value is 15km / h, this value is 30km / h, which is twice the speed of the existing, so that the danger information can be displayed at a very high speed, of course, to guide the danger.

In other words, by using the pressure of the saddle 110, when the user actually removes the buttocks, the risk information is first moved to a speed at which the risk information is moved. When the buttocks are removed, the dangerous information is displayed to pass quickly on the screen, so that the user can prevent a dangerous posture through recognition of the dangerous information.

As described so far, the configuration and operation of the virtual reality-based levitation simulation system according to the present invention has been described in the above description and drawings, but this is merely described as an example and the spirit of the present invention is not limited to the above description and the drawings. And, of course, various changes and modifications are possible within the scope without departing from the spirit of the present invention.

Claims

In virtual reality-based levitation simulation system,

A body having a saddle seated by the user as supported by the stand;

An elevating driving body for elevating and driving the body by generating a driving force through a user's foot rolling operation via a pedal provided to be capable of elevating both sides of the body;

A head mounted display mounted to a head of a user, the head mounted display including a display unit configured to display a virtual reality image to the user;

As provided in the direction of the user seated on the saddle in the body, the handle box, the handle box to which the handle is rotatably mounted, and the handle box in the state supporting the handle box to the body initially A handle assembly including a support for moving back, forth, left and right from a position;

As to differentially provide the virtual reality image to the user based on the lifting drive of the lifting drive,

A direction application module configured to variably process a direction of the virtual reality image based on the manipulation of the handle;

When the height of the body is determined to reach the maximum height in the state including a height sensor for measuring the height of the body and a pedal drive determination sensor for determining whether the pedal is driven or not, the virtual reality image is raised through A virtual reality-based levitation simulation system comprising a; controller having a sensory maintenance module for controlling the speed.
The method of claim 1,

The lifting drive body,

A driving unit for generating a driving force through the pedal provided to be stepped on by a user, including a support plate provided below the pedal, and a spring for elastically supporting the support plate and the pedal;

A link for transmitting a driving force generated through lifting and lowering of the pedal,

A rotation converter converting the driving force transmitted through the link into a rotational motion through a crank arm to rotate the pinion;

Virtual lift-based levitation simulation system, characterized in that it comprises a lifting unit for elevating the body in the vertical direction in a state having a rack that is engaged with the pinion is elevated.
The method of claim 1,

The lifting drive body,

A driving unit for generating a driving force through the pedal provided to be stepped on by a user, the driving unit having a pedal shaft for supporting the pedal to be driven in rotation;

A link for transmitting a driving force generated through the rotation of the pedal,

A rotation converter converting the driving force transmitted through the link into a rotational motion through a crank arm to rotate the pinion;

Virtual lift-based levitation simulation system, characterized in that it comprises a lifting unit for elevating the body in the vertical direction in a state having a rack that is engaged with the pinion is elevated.
The method of claim 1,

The controller,

An avatar database for creating and storing the virtual reality avatar of the user;

A multi applicator remotely connected to the other simulation system and outputting a virtual reality avatar of another user to the virtual reality image;

An interaction determination unit for determining whether the avatar is collided according to the driving speed of the pedal and the displacement of the front, rear, left, and right sides of the steering wheel from the initial position;

Virtual reality-based levitation simulation, characterized in that it comprises a multi-access module including a collision application unit for moving the virtual reality avatar away from the virtual reality image according to the high and low driving speed of the pedal when determining the interaction. system.
The method of claim 1,

The saddle is

A belt that wraps around your body,

A roller which is wound on both sides of one belt, the roller being provided to pull out the belt through rotation on the left and right sides of the user seated on the saddle;

It is provided with a roller drive unit for providing a rotational force to the roller,

The sensory maintaining module,

A belt control unit for driving the roller driving unit when the maximum lifting height of the body is reached;

A guide database in which guide information to be displayed on the virtual reality image is stored;

Virtual reality-based levitation simulation system characterized in that it comprises a guide display unit for synthesizing the guide information to the virtual reality image in accordance with the driving of the roller drive unit to give a perspective.
The method of claim 5,

The belt control unit,

Deriving a driving ratio which is a ratio of driving values of the left roller driving unit and the right roller driving unit through the driving value derived from Equation 1 below, differentially controlling the driving of the roller driving unit according to the height of the driving ratio,

Equation 1.

(here,
Is the driving value of the roller drive unit located on the left side,
In the x, y coordinates having the x-axis in the left-right direction and the y-axis in the front-rear direction when the reference is made to the driving value of the roller drive unit located on the right side and the cross section of the handle, A is the handle from the initial position relative to the y-axis. The distance moved, B is the distance the handle is moved from the initial position relative to the x axis, a means a roller correction constant between 1 and 10 in consideration of the specifications of the roller,
Is the number of revolutions of the roller on the left per minute,
Is the rotational speed of the roller located on the right side per minute, b is the rotational constant.)

The guide display unit,

Virtual reality-based levitation simulation system, characterized in that to give a perspective by increasing or decreasing the area of the guide information using the following equation (2).

Equation 2,

Where Q is the area increased or decreased for perspective control of the guide information, D is the perspective constant between 1 and 10,
Indicates the initial area of the guide information.)
The method of claim 6,

The belt,

A belt piece divided into at least three, two wires positioned between the belt pieces as an elastic material, and a tension sensor provided on one side of each of the wires to measure a first tension and a second tension, respectively,

The sensory maintaining module,

Virtual reality-based levitation simulation system, characterized in that the tilt control is provided to tilt the virtual reality image to the left and right according to the height of the first and second tension difference.
The method of claim 7, wherein

In the saddle,

A plurality of pressure sensors for detecting the pressure of the buttocks of the user is provided with a plurality,

The sensory maintaining module,

A risk database storing risk information to be displayed on the virtual reality image;

An information synthesizing unit synthesizing the risk information on the virtual reality image when the pressure measured by the pressure sensor is lower than a predetermined reference pressure;

And a display controller for controlling the frequency of displaying the dangerous information and the speed at which the dangerous information is moved based on the height of the pressure.
The method of claim 8,

Around the saddle in the body,

Fan to generate wind,

Is provided with a fan assembly including a fan moving part to which the fan is rotatably mounted,

The sensory maintaining module,

A rotation control unit for controlling the tilt of the fan by controlling the fan moving part according to the change of the front, rear, left, right, and right displacement of the handle and the height of the first and second tension differences and the height of the pressure according to the passage of time. Virtual reality-based levitation simulation system, characterized in that it comprises.
The method of claim 9,

The display control unit,

Using the following equation (3) to control the frequency of the risk information is displayed via the tension,

Equation 3,

(Where J is the frequency at which risk information is displayed per minute,
Silver first tension,
Silver second tension,
Is the first tension measured at the initial state,
Is the second tension measured in the initial state, G is the distance from the initial position of the fan relative to the center of the body, and H is the changed distance from the initial position of the fan to the current position of the fan.)

Virtual reality-based levitation simulation system, characterized in that for controlling the speed at which the risk information moves using the following equation (4).

Equation 4,

(here,
Is the speed at which the hazard information moves, E is the pressure measured by the pressure sensor (
Is
F is the mean of E from the initial state to the present, t is the time from the time when the initial hazard information is displayed,
Is the distance changed from the initial hazard information to the current hazard information,
Means the speed of initial risk information movement.)