WO2022173257A1 - Dispositif de commande mobile et procédé de fonctionnement d'un dispositif de commande mobile - Google Patents

Dispositif de commande mobile et procédé de fonctionnement d'un dispositif de commande mobile Download PDF

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Publication number
WO2022173257A1
WO2022173257A1 PCT/KR2022/002099 KR2022002099W WO2022173257A1 WO 2022173257 A1 WO2022173257 A1 WO 2022173257A1 KR 2022002099 W KR2022002099 W KR 2022002099W WO 2022173257 A1 WO2022173257 A1 WO 2022173257A1
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WO
WIPO (PCT)
Prior art keywords
degrees
operation device
mobile
rotation angle
rotation
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Application number
PCT/KR2022/002099
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English (en)
Korean (ko)
Inventor
신재중
윤은석
Original Assignee
(주)피엔아이컴퍼니
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Publication of WO2022173257A1 publication Critical patent/WO2022173257A1/fr

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    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05G—CONTROL DEVICES OR SYSTEMS INSOFAR AS CHARACTERISED BY MECHANICAL FEATURES ONLY
    • G05G5/00—Means for preventing, limiting or returning the movements of parts of a control mechanism, e.g. locking controlling member
    • G05G5/03—Means for enhancing the operator's awareness of arrival of the controlling member at a command or datum position; Providing feel, e.g. means for creating a counterforce
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05G—CONTROL DEVICES OR SYSTEMS INSOFAR AS CHARACTERISED BY MECHANICAL FEATURES ONLY
    • G05G1/00—Controlling members, e.g. knobs or handles; Assemblies or arrangements thereof; Indicating position of controlling members
    • G05G1/30—Controlling members actuated by foot
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05G—CONTROL DEVICES OR SYSTEMS INSOFAR AS CHARACTERISED BY MECHANICAL FEATURES ONLY
    • G05G9/00—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously
    • G05G9/02—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only
    • G05G9/04—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously
    • G05G9/047—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously the controlling member being movable by hand about orthogonal axes, e.g. joysticks
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
    • G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
    • G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
    • G06F3/011—Arrangements for interaction with the human body, e.g. for user immersion in virtual reality

Definitions

  • 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.
  • 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.
  • a specific method for processing an input signal according to a user operation in order to operate the mobile operation device does not exist.
  • 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.
  • 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.
  • 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.
  • FIG. 1 is a block diagram illustrating a mobile operation device according to an exemplary embodiment.
  • FIG. 2 is a block diagram illustrating an input unit of a mobile operation device according to an exemplary embodiment.
  • FIG. 3 is a block diagram illustrating a driving unit of a mobile operation device according to an exemplary embodiment.
  • FIG. 4 is a block diagram illustrating a sensor unit of a mobile operation device according to an exemplary embodiment.
  • FIG. 5 is a view illustrating an external appearance of a mobile operation device according to an exemplary embodiment.
  • FIG. 6 is a diagram illustrating a relationship between a rotation angle and a matching value according to an exemplary embodiment.
  • FIG. 7 is a view illustrating a rotation direction of the mobile manipulation device according to an exemplary embodiment.
  • FIG. 8 is a diagram illustrating an operation according to a footrest input of the mobile manipulation device according to an exemplary embodiment.
  • FIG. 9 is a diagram illustrating a recognition screen of a mobile operation device according to an exemplary embodiment.
  • FIG. 10 is a flowchart illustrating a method of operating a mobile operating device according to an exemplary embodiment.
  • FIG. 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
  • FIG. 3 is a block diagram of the movable operation device according to an embodiment It is a block diagram illustrating a driving unit
  • FIG. 4 is a block diagram illustrating a sensor unit of a mobile operation device according to an exemplary embodiment.
  • 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 .
  • 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.
  • 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.
  • 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 .
  • 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 .
  • 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.
  • 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.
  • the communication unit 140 may include a communication module that supports at least one of various wired and wireless communication methods.
  • 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).
  • 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.
  • VR virtual reality
  • AR augmented reality
  • 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.
  • control unit 170 may receive a digital signal for controlling the movement direction from the input unit 110 .
  • 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.
  • 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.
  • the control unit 170 indicates the end direction of the left turn
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • the controller 170 may deactivate the operation of the driving unit 120 .
  • 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.
  • the mobile operation device 10 can safely protect a user who utilizes the content provided in the virtual space from various unexpected situations.
  • FIG. 5 is a view illustrating an external appearance of a mobile operation device according to an exemplary embodiment.
  • 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.
  • the seat unit 180 may be positioned at the upper end of the housing 11 .
  • 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 .
  • FIG. 6 is a diagram illustrating a relationship between a rotation angle and a matching value according to an exemplary embodiment.
  • 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.
  • 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.
  • FIG. 7 is a view illustrating a rotation direction of the mobile manipulation device according to an exemplary embodiment.
  • the movable manipulation device 10 may set the forward direction 710 based on 180 degrees.
  • 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 .
  • 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.
  • FIG. 8 is a diagram illustrating an operation according to a footrest input of the mobile manipulation device according to an exemplary embodiment.
  • the method of operating the scaffold according to the present invention is exemplified.
  • the object in the virtual space Object of manipulation of the virtual space by the user
  • the object in the virtual space 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.
  • 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.
  • 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.
  • FIG. 9 is a diagram illustrating a recognition screen of a mobile operation device according to an exemplary embodiment.
  • 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 .
  • 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 .
  • 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 .
  • 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.
  • 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.
  • 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 .
  • FIG. 10 is a flowchart illustrating a method of operating a mobile operating device according to an exemplary embodiment.
  • 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).
  • the threshold value may be set based on, for example, a matching value (about 0.0055) corresponding to a unit of about 1 degree.
  • step S1030 if the matched value does not change beyond the threshold value, the mobile operation device 10 proceeds to step S1010.
  • 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.
  • ' ⁇ 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.
  • '-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.
  • ' ⁇ ' 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.
  • components and ' ⁇ units' may be implemented to play one or more CPUs in a device or secure multimedia card.
  • 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
  • the present invention may be widely used in various devices implementing virtual reality, augmented reality, and the like.

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  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • General Engineering & Computer Science (AREA)
  • Theoretical Computer Science (AREA)
  • Human Computer Interaction (AREA)
  • Position Input By Displaying (AREA)

Abstract

Sont prévus un dispositif de commande mobile et un procédé de fonctionnement du dispositif de commande mobile, le dispositif de commande mobile comprenant : une unité d'entrée qui génère un signal numérique correspondant à un angle de rotation de 0 degrés à 360 degrés ; une unité de commande qui met en correspondance le signal numérique avec des valeurs de -1 à 0 et de 0 à 1 correspondant à l'angle de rotation et commande une direction de déplacement sur la base de valeurs correspondantes ; et une unité d'entraînement qui commute la direction de déplacement en fonction de la commande par l'unité de commande.
PCT/KR2022/002099 2021-02-15 2022-02-11 Dispositif de commande mobile et procédé de fonctionnement d'un dispositif de commande mobile WO2022173257A1 (fr)

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KR1020210019983A KR102634983B1 (ko) 2021-02-15 2021-02-15 이동형 조작 장치 및 이동형 조작 장치의 조작 방법
KR10-2021-0019983 2021-02-15

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Citations (5)

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Publication number Priority date Publication date Assignee Title
KR20100058586A (ko) * 2007-08-24 2010-06-03 지모트, 엘엘씨 플랫폼 독립적인 통신 프로토콜
JP4518598B2 (ja) * 1999-09-22 2010-08-04 富士重工業株式会社 自走式ロボットの操縦装置
KR20180083670A (ko) * 2017-01-13 2018-07-23 최종웅 2개의 수평 이동용 추진기와 1개의 수직 이동용 추진기를 갖는 rov 제어 방법
KR102170332B1 (ko) * 2019-03-06 2020-10-26 주식회사 피엔아이컴퍼니 시뮬레이션 장치용 조향시스템
KR20200135113A (ko) * 2019-05-24 2020-12-02 주식회사 리얼디자인테크 자전거 시뮬레이터 및 이를 이용하는 블록체인 네트워크 시스템

Family Cites Families (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR100211691B1 (ko) * 1995-12-23 1999-08-02 정몽규 차량용 가속 페달

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP4518598B2 (ja) * 1999-09-22 2010-08-04 富士重工業株式会社 自走式ロボットの操縦装置
KR20100058586A (ko) * 2007-08-24 2010-06-03 지모트, 엘엘씨 플랫폼 독립적인 통신 프로토콜
KR20180083670A (ko) * 2017-01-13 2018-07-23 최종웅 2개의 수평 이동용 추진기와 1개의 수직 이동용 추진기를 갖는 rov 제어 방법
KR102170332B1 (ko) * 2019-03-06 2020-10-26 주식회사 피엔아이컴퍼니 시뮬레이션 장치용 조향시스템
KR20200135113A (ko) * 2019-05-24 2020-12-02 주식회사 리얼디자인테크 자전거 시뮬레이터 및 이를 이용하는 블록체인 네트워크 시스템

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