WO2022173257A1

WO2022173257A1 - Mobile operating device and operation method of mobile operating device

Info

Publication number: WO2022173257A1
Application number: PCT/KR2022/002099
Authority: WO
Inventors: 신재중; 윤은석
Original assignee: (주)피엔아이컴퍼니
Priority date: 2021-02-15
Filing date: 2022-02-11
Publication date: 2022-08-18
Also published as: KR102634983B1; KR20220116750A

Abstract

Provided are a mobile operating device and an operation method of the mobile operating device, the mobile operating device comprising: an input unit which generates a digital signal corresponding to a rotation angle of 0 degrees to 360 degrees; a control unit which matches the digital signal to values of -1 to 0 and 0 to 1 corresponding to the rotation angle and controls a movement direction on the basis of matched values; and a driving unit which switches the movement direction according to the control by the control unit.

Description

Mobile operating device and operating method of mobile operating device

Embodiments disclosed herein relate to a mobile manipulation device capable of accurately detecting a moving direction in a virtual space, and a manipulation method of the mobile manipulation device.

Recently, technologies such as virtual reality block the user's view created by a computer rather than a physical space, and create a virtual space that is a completely virtual world. Various devices for implementing or utilizing such virtual reality are being developed.

Among these devices, in order to more realistically enjoy spatial movement in virtual space, various types of mobile operation devices have been developed in which a user can ride and actually move and operate.

In a mobile operation device, a movement direction including a forward direction according to walking, driving, and movement in a virtual space according to a user operation must be accurately set. However, there is a problem in that a specific method for processing an input signal according to a user operation in order to operate the mobile operation device does not exist.

On the other hand, the above-mentioned background art is technical information that the inventor possessed for the derivation of the present invention or acquired in the process of derivation of the present invention, and it cannot be said that it is necessarily a known technique disclosed to the general public before the filing of the present invention. .

SUMMARY Embodiments disclosed herein are intended to provide a mobile manipulation device for accurately detecting a moving direction in a virtual space and an operating method of the mobile manipulation device.

SUMMARY Embodiments disclosed in the present specification are intended to provide a mobile manipulation device capable of accurately recognizing an input of a user manipulation device in various operating systems and an operating method of the mobile manipulation device.

SUMMARY Embodiments disclosed herein provide a mobile manipulation device capable of receiving a signal generated from a user manipulation device according to a standard data communication protocol, and an operating method of the mobile manipulation device.

As a technical means for achieving the above technical problem, according to an embodiment, the mobile operation device includes an input unit for generating a digital signal corresponding to a rotation angle of 0 degrees to 360 degrees, and a digital signal corresponding to the rotation angle; It matches values of 1 to 0 and 0 to 1, and includes a control unit that controls a movement direction based on the matched value, and a driving unit that changes the movement direction according to the control of the control unit.

According to another embodiment, a method of operating a mobile operation device includes generating a digital signal corresponding to a rotation angle of 0 degrees to 360 degrees, and converting the digital signal to -1 to 0 and 0 to 1 corresponding to the rotation angle. matching with a value of , and switching a direction of movement based on the matched value.

According to any one of the above-described problem solving means, it is possible to accurately sense the direction of movement in the virtual space.

According to any one of the above-described problem solving means, it is possible to accurately recognize the input of the user manipulation device in various operating systems.

According to any one of the above-described problem solving means, it is possible to receive a signal generated from a user manipulation device in accordance with a standard data communication protocol.

The effects obtainable in the present invention are not limited to the above-mentioned effects, and other effects not mentioned may be clearly understood by those of ordinary skill in the art from the following description. will be.

1 is a block diagram illustrating a mobile operation device according to an exemplary embodiment.

2 is a block diagram illustrating an input unit of a mobile operation device according to an exemplary embodiment.

3 is a block diagram illustrating a driving unit of a mobile operation device according to an exemplary embodiment.

4 is a block diagram illustrating a sensor unit of a mobile operation device according to an exemplary embodiment.

5 is a view illustrating an external appearance of a mobile operation device according to an exemplary embodiment.

6 is a diagram illustrating a relationship between a rotation angle and a matching value according to an exemplary embodiment.

7 is a view illustrating a rotation direction of the mobile manipulation device according to an exemplary embodiment.

8 is a diagram illustrating an operation according to a footrest input of the mobile manipulation device according to an exemplary embodiment.

9 is a diagram illustrating a recognition screen of a mobile operation device according to an exemplary embodiment.

10 is a flowchart illustrating a method of operating a mobile operating device according to an exemplary embodiment.

Hereinafter, various embodiments will be described in detail with reference to the accompanying drawings. The embodiments described below may be modified and implemented in various different forms. In order to more clearly describe the characteristics of the embodiments, detailed descriptions of matters widely known to those of ordinary skill in the art to which the following embodiments belong are omitted. And, in the drawings, parts not related to the description of the embodiments are omitted, and similar reference numerals are attached to similar parts throughout the specification.

Throughout the specification, when a component is said to be "connected" with another component, it includes not only a case of 'directly connected' but also a case of 'connected with another component interposed therebetween'. In addition, when a component "includes" a component, it means that other components may be further included, rather than excluding other components, unless otherwise stated.

Hereinafter, embodiments will be described in detail with reference to the accompanying drawings.

In this specification, although a mobile operation device that provides contents related to virtual reality together is described as a reference, contents related to augmented reality, mixed reality, and extended reality are included together. It can also be applied to mobile operation devices provided.

1 is a block diagram illustrating a mobile operation device according to an embodiment, FIG. 2 is a block diagram illustrating an input unit of the movable operation device according to an embodiment, and FIG. 3 is a block diagram of the movable operation device according to an embodiment It is a block diagram illustrating a driving unit, and FIG. 4 is a block diagram illustrating a sensor unit of a mobile operation device according to an exemplary embodiment.

Accordingly, the structure of the mobile operating device will be described in detail below with reference to FIGS. 1 to 4 .

Referring to FIG. 1 , the mobile operation device 10 includes an input unit 110 , a driving unit 120 , a sensor unit 130 , a communication unit 140 , an output unit 150 , a power supply unit 160 , a control unit 170 , and a seat unit 180 .

The input unit 110 may generate signals corresponding to various user inputs for manipulating the mobile manipulation device 10 from the user. The input unit 110 includes a user input for driving the mobile manipulation device from the user, a user input for controlling an operation for selection and use of virtual reality content, and a user input for managing or setting the mobile manipulation device 10 . and may generate signals corresponding to various other user inputs. A signal generated through the input unit 110 may be provided to the control unit 170 .

As shown in FIG. 2 , the input unit 110 may include a joystick 210 and a footrest 220 . The joystick 210 may provide a stick or a button for controlling a direction, and may include an additional button for other user input in addition to the direction control. The footrest 220 may include a support on which the user's foot can be placed, and may be implemented as a pair of footrests corresponding to each of the left foot and the right foot.

Although not shown, the input unit 110 may further include other various types of input devices such as a game controller, a keyboard, a touchpad, a button, a microphone, and a mouse.

The driving unit 120 may move the movable manipulation device 10 . The driving unit 120 may change the moving direction or rotate according to the control of the control unit 170 . As such, the driving unit 120 may be used to move the mobile robot device 100 .

3 , the driving unit 120 may include a motor 310 and a wheel 320 . The motor 310 may provide power for the movement of the wheel 320 , and may also control the direction of the wheel 320 . The wheel 320 may be connected to a motor to move the movable manipulation device 10 .

The sensor unit 130 may sense various values in various parts of the mobile manipulation device 10 to check the operation state and control the operation of the mobile manipulation device 10 . The sensor unit 130 may provide the sensed values to the control unit 170 in order to use the sensed values to control the operation of the mobile manipulation device 10 .

4 , the sensor unit 130 may include a rotation detection sensor 410 , a stopper 420 , and a belt wearing detection sensor 430 .

The rotation detection sensor 410 may detect a rotation direction according to the movement of the movable manipulation device 10 . The rotation detection sensor 410 may be implemented as a Hall element or a photointerrupt, and may sense the front direction of the movable manipulation device 10 (ie, the front direction of the body of the user seated in the seat). The stopper 420 may be attached to a part of the main body of the mobile operation device 10 to detect obstacles located in the vicinity. The belt wearing detection sensor 430 may detect whether the seat belt is worn.

Although not shown, the sensor unit 130 may further include various other sensors such as a speed sensor for detecting the speed of the mobile manipulation device 10 .

The communication unit 140 may perform wired/wireless communication with other devices or networks. To this end, the communication unit 140 may include a communication module that supports at least one of various wired and wireless communication methods. For example, the communication module may be implemented in the form of a chipset.

The wireless communication supported by the communication unit 140 may be, for example, Wireless Fidelity (Wi-Fi), Wi-Fi Direct, Bluetooth, Ultra Wide Band (UWB), or Near Field Communication (NFC). In addition, the wired communication supported by the communication unit 140 may be, for example, USB or High Definition Multimedia Interface (HDMI).

The communication unit 140 may transmit/receive data for providing virtual reality content from the outside. Meanwhile, the communication unit 140 may perform communication for connection between the devices in the input unit 110 or the output unit 150 and the control unit 170 .

The output unit 150 may provide virtual reality content and the like, and may include virtual reality (VR)/augmented reality (AR) glasses and the like.

The power supply unit 160 may supply power to each module of the mobile manipulation device 10 for operation of the mobile manipulation device 10 . The power supply unit 160 may include a battery to supply power, and the battery may be implemented in a detachable form. Also, the power supply unit 160 may charge the battery using a wired/wireless charging method.

The controller 170 controls the overall operation of the mobile operation device 10 and may include a processor such as a CPU. The controller 170 may control other components included in the mobile manipulation device 10 to perform an operation corresponding to a user input received through the input unit 110 .

The controller 170 may execute a program stored in a storage unit (not shown), read data stored in the storage unit, or store new data in the storage unit.

The seat unit 180 may be implemented in a shape in which a user can sit.

According to an embodiment, the control unit 170 may receive a digital signal for controlling the movement direction from the input unit 110 . In this case, the input unit 110 may generate a digital signal corresponding to a rotation angle of 0 degrees to 360 degrees by a user manipulation.

The controller 170 may match the digital signal with values of -1 to 0 and 0 to 1 corresponding to a rotation angle of 0 to 360 degrees. For example, the controller 170 may match 0 degrees of the rotation angle indicated by the digital signal to -1, 180 degrees to 0, and 1 to 360 degrees. Here, the matching value 0 (rotation angle of 180 degrees) represents neutrality, and when the matching value 0 is calculated, the controller may recognize that the moving direction represents the forward direction. In addition, in the case of a matching value of -1 (0 degrees), the control unit 170 indicates the end direction of the left turn, and in the case of a matching value of 1 (360 degrees), the control unit 170 can recognize that it indicates the end direction of the right rotation. have.

The controller 170 may use a joystick 210 to which a photo sensor capable of detecting a rotation angle is applied in recognizing a rotation angle of 0 degrees to 360 degrees. The controller 170 may recognize the joystick by converting it into values corresponding to -1 to 0 and 0 to 1, which are input values of the joystick, even if an existing joystick using a potentiometer is not used. In this case, the controller 170 may convert the digital signal into a value corresponding to the analog input of about 0.0001 unit. For example, when the matching value changes by about 0.0055, the controller 170 may recognize that the movement direction by about 1 degree is changed.

The control unit 170 tracks the front of the mobile operation device 10, that is, the front of the user seated in the seat, in real time based on the rotation direction sensed using the rotation detection sensor 410 of the sensor unit 130 in real time. can recognize Through this, the control unit 170 aligns the recognized front surface of the movable operation device 10 with 0 (forward direction) matching the rotation angle of 180 degrees input through the joystick 210 to move the movable operation device 10 . You can control the direction.

Through this, the mobile manipulation device 10 can accurately sense the moving direction in the virtual space, and can accurately detect the moving direction in which the user is currently moving even when the user's gaze moves and move. In addition, since the mobile manipulation device 10 matches and uses the signal input from the user manipulation device of the input unit 110 as a universal value (-1 to 0 to 1) for direction recognition, the input of the user manipulation device in various operating systems is used. can be recognized accurately, and operation can be controlled in accordance with standard data communication protocols.

When an obstacle is detected from the stopper 420 , the controller 170 may deactivate the operation of the driving unit 120 or change the moving direction to a direction different from the current moving direction.

When the wearing of the belt is not detected by the belt wearing detection sensor 430 , the controller 170 may deactivate the operation of the driving unit 120 .

In addition, when the value received by the rotation detection sensor 410 is used, the controller 170 compares the movement direction requested by the digital signal input from the input unit for the operation of the mobile operation device 10 to the movement direction of the movable operation device 10 . ) can be determined whether it is operating normally. Through this, when an abnormal operation of the mobile operation device 10 is detected, the control unit 170 may deactivate the operation of the driving unit 120 or guide the user using an alarm sound or the like.

Through this, the mobile operation device 10 can safely protect a user who utilizes the content provided in the virtual space from various unexpected situations.

Referring to FIG. 5 , most modules of the mobile operation device 10 may be located inside the housing 11 , and the housing 11 may protect the modules located therein.

In the movable manipulation device 10 , the seat unit 180 may be positioned at the upper end of the housing 11 . In addition, in the mobile operation device 10 , a pair of

footrests

220R and 220L on which the user's feet are placed may be located at the lower front of the seat unit 180 .

Referring to FIG. 6 , as shown in the table 600, the mobile operation device 100 matches -1 to the input rotation angle of 0 degrees, matches -0.5 to 90 degrees, matches 0 to 180 degrees, and , 0.5 can match 270 degrees, and 1 can match 360 degrees.

By matching in units of about 0.0001, a value of about 0.0055 may be matched to another angle, for example, a rotation angle of 1 degree, and a value of about 0.110 may be matched to a rotation angle of 2 degrees.

Referring to FIG. 7 , the movable manipulation device 10 may set the forward direction 710 based on 180 degrees.

In this case, the movable manipulation device 10 may control the moving direction by aligning a matching value matching the rotation angle input from the joystick or the like based on the forward direction 710 .

In addition, the movable operation device 10 can adjust the movement direction based on the first arrow 720 in the left direction for 0 degrees to 180 degrees (matching value -1 to 0), and 180 degrees to 360 degrees (matching value) 0 to 1) may be moved based on the second arrow 730 in the right direction.

Referring to FIG. 8 , the method of operating the scaffold according to the present invention is exemplified. Referring to this, when both the left and

right scaffolds

220L and 220R are pressed forward as in the tracked vehicle driving method, the object in the virtual space (Object of manipulation of the virtual space by the user) moves forward, on the contrary, if both the left and

right footrests

220L and 220R are pressed backward, the object moves backward, and if only the right footrest 220R is pressed to the right, it moves to the right , if only the left footrest (220L) is rotated to the left, it moves to the left.

In addition, if only the left footrest 220L is rotated forward or backward, it rotates in place clockwise or counterclockwise around the right foot. Conversely, if only the right footrest 220R is rotated forward or backward, the left foot will rotate in place.

If you press the left and

right foot pedals

220L and 220R at the same time to the outside, you jump in place, and if you press the left and

right foot pedals

220L and 220R at the same time to the left or right, you jump in that direction, and left And when the right foot plate (220L) (220R) is pressed inward at the same time, it sits in place. In addition, when the left and

right footrests

220L and 220R are pressed together in front and outside at the same time, they jump while running.

When the front or rear of the right footrest 220R is pressed while pressing the outside of the left footrest 220L, it rotates greatly while walking sideways to the left. While rotating forward, when the right foot pedal 220R is rotated backward, it rotates right in place, and on the other hand, when the left and

right foot pedals

220L and 220R are manipulated, it rotates left in place.

If the outside of the left footrest (220L) is continuously pressed at short time intervals, it moves to the left quickly, and if the outside of the right footrest (220R) is continuously pressed at short time intervals, it moves to the right rapidly. In addition, the right footrest 220R is used as an accelerator (accelerator), and the left footrest 220L is used as a brake to adjust or stop the moving speed of the object.

As described above, the operation footboard in the present invention has a characteristic to move in the pressing direction, and when it is pressed in the middle between the front and the side of the footrest using this characteristic, it moves to the middle of both directions, and various The number of cases can be manipulated.

In this way, when the forward and backward rotation and the left and right rotation of the left footrest 220L and the right footrest 220R are properly combined, it becomes possible to implement a wide variety of motion motions of objects in virtual space, and to operate them easily with both feet of the user. Because it is possible to play virtual reality content (for example, games, etc.) more easily, it is possible to enjoy realistic pleasure.

Referring to FIG. 9 , a screen 900 for recognizing the mobile operation device on the operating system is shown.

The mobile operating device 10 includes a steering area 911 that is used when steering or aiming is required in the context of an axis 910 . In addition, in the item of the axis 910 , the Z-axis region 912 represents left and right steps, and if the length of the bar graph decreases, it represents the left side, and if the length of the bar graph increases, it represents the right side. The X rotation region 913 indicates forward and backward, if the length of the bar graph decreases, it indicates backward, and if the length of the histogram increases, it indicates forward. The Y rotation region 914 represents the device rotation angle, that is, the rotation angle of the mobile operating device 10 . When the length of the bar graph decreases, it indicates a left rotation, and when the length of the bar graph increases, it indicates a right rotation. Here, the device rotation angle may be displayed by rotating the motor irrespective of the content when the footrest input is rotated left and right, and the position of the device is divided by a red bar to match 0 degrees to 360 degrees. At this time, the interlocking operation of the motor is essentially performed in the mobile operation device 10 .

In addition, since the movable manipulation device 10 moves in a virtual space in the Z-axis region 912 and the X-rotation region 913 , a smooth movement operation may be implemented by adjusting the movement speed to be relaxed. Meanwhile, the mobile operation device 10 may set the dead point to 0 in the Y rotation region 914 to prevent data from stopping in the neutral section of the bar graph. The mobile operation device 10 may set the sensitivity in the Y rotation region 914 to a predetermined sensitivity that may not cause motion sickness or the like of the user. Alternatively, the mobile operation device 10 may allow the user to adjust the sensitivity in the Y rotation region 914 .

An item of the button 920 is a key button matching the input of the footrest. For example, the 9th button 921 is a key button input when the outside of both footrests is pressed in the mobile operation device 10 and the jump function is turned on.

The field of view adjustment button 930 item may be used to adjust the field of view in the mobile operation device 10 .

Referring to FIG. 10 , the mobile manipulation device 10 may receive a digital value corresponding to a rotation angle of 0 degrees to 360 degrees by a user input ( S1010 ).

The mobile operation device 10 may match digital values corresponding to 0 degrees to 180 degrees and 180 degrees to 360 degrees to values corresponding to -1 to 0 and 0 to 1 ( S1020 ).

The mobile operation device 10 determines whether the matched value has changed by more than a threshold value (S1030). For example, the threshold value may be set based on, for example, a matching value (about 0.0055) corresponding to a unit of about 1 degree.

As a result of the determination in step S1030, if the matched value does not change beyond the threshold value, the mobile operation device 10 proceeds to step S1010.

As a result of the determination in step S1030, when the matched value is changed to be greater than or equal to the threshold value, the mobile operation device 10 proceeds to step S1040.

The mobile manipulation device 10 may control the moving direction of the mobile manipulation device based on the matching value (S1040). Also, the mobile manipulation device 10 may control the virtual space and the moving direction of the mobile manipulation device together. Meanwhile, the mobile manipulation device 10 may control only the moving direction in the virtual space based on the matching value.

The mobile operation device 10 determines whether to end the above-described operation (S1050). As a result of the determination in step S1050 , if the mobile operation device 10 does not terminate the above-described operation, the operation may proceed to step S1010 and continue to receive the digital value according to the user input. However, as a result of the determination in step S1050 , when the mobile operation device 10 ends the above-described operation, the operation may be terminated.

The term '~ unit' used in the above embodiments means software or hardware components such as field programmable gate array (FPGA) or ASIC, and '~ unit' performs certain roles. However, '-part' is not limited to software or hardware. '~unit' may be configured to reside on an addressable storage medium or may be configured to refresh one or more processors. Thus, as an example, '~' refers to components such as software components, object-oriented software components, class components, and task components, and processes, functions, properties, and procedures. , subroutines, segments of program patent code, drivers, firmware, microcode, circuitry, data, databases, data structures, tables, arrays, and variables.

Functions provided in components and '~ units' may be combined into a smaller number of components and '~ units' or separated from additional components and '~ units'.

In addition, components and '~ units' may be implemented to play one or more CPUs in a device or secure multimedia card.

The above-described embodiments are for illustration, and those of ordinary skill in the art to which the above-described embodiments pertain can easily transform into other specific forms without changing the technical idea or essential features of the above-described embodiments. You will understand. Therefore, it should be understood that the above-described embodiments are illustrative in all respects and not restrictive. For example, each component described as a single type may be implemented in a distributed manner, and likewise components described as distributed may also be implemented in a combined form.

The scope to be protected through this specification is indicated by the claims described below rather than the above detailed description, and should be construed to include all changes or modifications derived from the meaning and scope of the claims and their equivalents. .

The mobile manipulation device and manipulation method according to the present invention can accurately sense the direction of movement in a virtual space, accurately recognize the input of the manipulation device in various operating systems, and convert the signal generated from the user manipulation device into a standard data protocol. can be entered according to

Therefore, the present invention may be widely used in various devices implementing virtual reality, augmented reality, and the like.

Claims

an input unit for generating a digital signal corresponding to a rotation angle of 0 degrees to 360 degrees;

a control unit matching the digital signal with values of -1 to 0 and 0 to 1 corresponding to the rotation angle, and controlling a movement direction based on the matched value; and

and a driving unit for changing a moving direction according to the control of the control unit.
The method of claim 1,

The control unit is

A mobile operation device for matching a rotation angle of 0 degrees to 180 degrees with a value of -1 to 0 among the digital signals, and matching a rotation angle of 180 degrees to 360 degrees with a value of 0 to 1.
3. The method of claim 2,

The control unit is

A mobile operation device for setting 0 as a forward direction, -1 as an end direction of a left rotation, and setting 1 as an end direction of a right rotation.
3. The method of claim 2,

The control unit is

When the rotation angle of the digital signal changes by about 1 degree, the mobile operation device matches the changed value by about 0.0055.
The method of claim 1,

The input unit,

A mobile operating device comprising a joystick and one of a pair of footrests.
The method of claim 1,

Further comprising a sensor unit,

The sensor unit,

a rotation detection sensor for detecting a rotation direction of the mobile operation device;

a stopper that detects contact with an obstacle located nearby; and

A mobile operation device further comprising a belt wearing detection sensor for detecting the wearing state of the seat belt mounted on the user's seat.
7. The method of claim 6,

The control unit is

A mobile operation device for tracking the user's front face in real time based on the rotation direction sensed by the rotation detection sensor, and aligning the tracked front face with a matching value corresponding to the forward direction.
7. The method of claim 6,

The control unit is

When an obstacle is detected from the stopper, the movable operation device controls to block movement in a direction in which the stopper is located or to change a direction to a direction different from the direction in which the stopper is located.
7. The method of claim 6,

The control unit is

When the wearing state of the seat belt is sensed by the belt wearing detection sensor, the movable operation device activates the movement operation of the movable operation device only in the worn state.
The method of claim 1,

The mobile operating device is

a power supply unit for supplying power for operation of the mobile operation device; and

A mobile operation device further comprising a seat portion on which a user can be seated.
A method of operating a mobile operating device, comprising:

(a) generating a digital signal corresponding to a rotation angle of 0 degrees to 360 degrees;

(b) matching the digital signal with values of -1 to 0 and 0 to 1 corresponding to the rotation angle; and

(c) switching the direction of movement based on the matched value.
12. The method of claim 11,

Step (c) is,

(c1) matching a rotation angle of 0 degrees to 180 degrees with a value of -1 to 0 in the digital signal, and matching a rotation angle of 180 degrees to 360 degrees with a value of 0-1.
13. The method of claim 12,

Step (c1) is,

The method further comprising the step of setting 0 to the forward direction, -1 to set the left-turn end direction, and 1 to set the right-turn end direction.
3. The method of claim 2,

Step (c1) is,

and when the rotation angle of the digital signal changes by about 1 degree, matching the digital signal with a value changed by about 0.0055.
12. The method of claim 11,

Further comprising the step of detecting the rotation direction of the mobile operation device,

The method further comprising the step of tracking the user's front face in real time based on the sensed rotation direction, and aligning the tracked front face with a matching value corresponding to the forward direction.