KR102103431B1 - Walking simulator - Google Patents

Abstract

The present invention relates to a walking simulator, and more particularly to a walking simulator for safe and free movement when walking. The waling simulator of the present invention comprises: a foothold unit formed for a user to step on an upper surface thereof; an x-axis moving unit coupled to an lower portion of the foothold unit and extending in the length direction of the foothold unit; a y-axis moving unit coupled to a lower portion of the x-axis moving unit and extending in the width direction of the foothold unit; and a rotation unit coupled to a lower portion of the y-axis moving unit and provided to be rotatable in one direction and the other direction, wherein the foothold unit is provided to move to a position corresponding to the position of the foot by the x-axis moving unit, the y-axis moving unit, and the rotation unit.

Description

Walking simulator {WALKING SIMULATOR}

The present invention relates to a walking simulator, and more particularly, to a walking simulator for safe and free movement when walking.

Virtual reality refers to an interface between a human and a computer that makes a specific environment or situation desired by a computer and makes a user feel as if they are interacting with the actual surrounding situation and environment.

In order for the user to feel reality through virtual reality, information obtained through the user's five senses, such as vision, hearing, and tactile sense, must be provided. In particular, the most demanding information among the user's senses is the vision, and recently, research and development of the head mounted display (HMD) has been actively conducted.

In addition, along with the development of the HMD, the development of a walking simulator grafted to it has been made. A walking simulator is a device that allows a pedestrian to wear an HMD and feel as if he is actually moving in a virtual reality space.

However, in the related art, since the walking simulator is simply provided in the form of a treadmill, the direction change is not free, and there is a problem in that responsiveness is poor because the inertia of the equipment itself is large.

In particular, since the conventional walking simulator was a treadmill type using a slippery slope, a lot of safety devices were required, movement was very limited, and safety was poor.

There is a need for a walking simulator that is safe during walking and is free to move due to easy direction change and speed change.

Korean Registered Patent No. 1882765

An object of the present invention for solving the above problems is to provide a walking simulator for safe and free movement when walking.

The technical problems to be achieved by the present invention are not limited to the technical problems mentioned above, and other technical problems not mentioned can be clearly understood by those skilled in the art from the following description. There will be.

The configuration of the present invention for achieving the above object is a scaffolding unit having a pair of scaffolds formed to tread the foot on the upper surface; And it is provided in combination with the scaffolding unit, and includes a flat moving module for moving the scaffolding portion so that the center of the footrest portion is located in the same position on the plane and the center of the foot corresponding to the scaffolding portion, the flat moving module is a person The center of gravity of the pair and the pair of scaffolding parts coincide originally, so that one of the pair of scaffolding parts moves diagonally, and the other scaffolding part is the same. When moving in the direction, it provides a walking simulator that is configured to rotate a pair of the scaffold to correspond to the moving direction of the scaffold.

In an embodiment of the present invention, the planar moving module is coupled to the lower portion of the scaffolding unit, the scaffolding unit is an x-axis moving unit extending in the longitudinal direction; A y-axis moving unit coupled to a lower portion of the x-axis moving unit and extending in a width direction of the scaffolding unit; And it is coupled to the lower portion of the y-axis movement unit, and includes a rotation unit provided to be rotatable in one direction and the other direction, the scaffolding unit, the x-axis movement unit, the y-axis movement unit and the rotation unit by the It may be characterized in that provided to move to a position corresponding to the position of the foot.

In an embodiment of the present invention, the pair of scaffolding parts, a scaffolding body formed to step on the upper surface; And it is coupled to the lower portion of the footrest body, and includes a footrest coupling body provided to be slidable along the longitudinal direction of the x-axis moving unit, the footrest portion corresponding to the moving foot of the pair of footrest portions move the moving foot It is provided to move along, and the footrest portion corresponding to the opposite foot may be provided to move symmetrically with the footrest portion corresponding to the moving foot.

In an embodiment of the present invention, the x-axis moving unit includes a pair of x-axis moving parts provided in parallel to each other, and the pair of x-axis moving parts is formed by extending in the longitudinal direction of the scaffolding unit. Body; And an x-axis actuator provided to slide the scaffolding unit along the longitudinal direction of the x-axis moving body.

In an embodiment of the present invention, the y-axis moving unit includes a pair of y-axis moving parts formed under a pair of the x-axis moving parts, and the pair of y-axis moving parts moves the x-axis. A y-axis coupling body coupled to the lower portion of the body; A y-axis moving body formed through the y-axis coupling body and extending in the width direction of the scaffolding unit; And it may be characterized in that it comprises a y-axis actuator provided to move the y-axis coupling body along the longitudinal direction of the y-axis moving body.

In an embodiment of the present invention, the rotating unit, a disk portion coupled to the lower portion of the y-axis coupling; And it is coupled to the disc portion, and includes a rotating motor boot provided to rotate the disc portion in one direction and the other direction, the rotating motor portion, the disk portion in one direction and the other direction to rotate the scaffolding unit in one direction and the other direction It may be characterized in that provided to rotate.

In an embodiment of the present invention, the planar moving module is coupled to the x-axis moving unit, supports the x-axis moving unit to maintain a parallel state to each other, and is provided to support a load applied to the scaffolding unit. It may be characterized in that it further comprises a reinforcing unit.

In an embodiment of the present invention, the reinforcing unit is provided on the lower portion of the x-axis moving body, the first reinforcing body portion formed in the width direction of the scaffolding unit; A second reinforcing body part provided in parallel with the first reinforcing body part and spaced apart from the first reinforcing body part; And a third reinforcing body portion coupled to both ends of the first reinforcing body portion and the second reinforcing body portion, wherein the third reinforcing body portion is connected to the first reinforcing body portion and the second reinforcing body portion to be integrated. It may be characterized by being provided to let.

In the exemplary embodiment of the present invention, the x-axis moving unit further includes an x-axis coupling body formed under the x-axis moving body, and the x-axis coupling body includes the x-axis moving body in a direction perpendicular to the x-axis moving body. The first reinforcing body portion and the second reinforcing body portion may be characterized in that through holes are formed to be coupled through.

In an embodiment of the present invention, further comprising a foot position sensor unit provided on the scaffolding unit, the foot position sensor unit is provided on each footrest portion constituting the footrest unit, the position of the foot corresponding to the footrest unit It may be characterized by having a pair of foot position sensor unit provided to recognize.

In an embodiment of the present invention, it is formed on the x-axis moving unit, and further comprises a scaffolding position detecting unit provided to recognize the position of the scaffolding unit, and the scaffolding position detecting unit comprises each It may be characterized by having a pair of footrest position detection unit provided to recognize the position of the footrest.

In an embodiment of the present invention, the scaffolding portion may be characterized in that the height and inclination are provided to be adjustable.

In an embodiment of the present invention, the scaffolding portion may be characterized in that it is provided to be vibrating.

The effect of the present invention according to the above configuration, the pedestrian unit is not restricted during walking because the footing unit moves according to the movement of the foot during walking.

In addition, according to the present invention, since the scaffold portion moving along the moving foot and the scaffold portion of the opposite foot move symmetrically with each other, various walking motions are possible in place.

And, according to the present invention, since the inertia of the scaffolding unit is lower than that of a conventional treadmill, the responsiveness to the moving speed is high, a separate safety device is not required, and the direction change is easy.

It should be understood that the effects of the present invention are not limited to the above-described effects, and include all effects that can be deduced from the configuration of the invention described in the detailed description or claims of the present invention.

1 is an exemplary view showing a foot position recognition method of a walking simulator according to an embodiment of the present invention.
2 is an exemplary view showing a control method of a plane movement module when walking in a straight line according to an embodiment of the present invention.
3 is an exemplary view showing a method of controlling a plane moving module when walking in a direction change according to an embodiment of the present invention.
4 is a perspective view of a walking simulator according to an embodiment of the present invention.
5 is a top view of a walking simulator according to an embodiment of the present invention.
6 is a side view of the scaffolding unit and the x-axis moving unit according to an embodiment of the present invention.

Hereinafter, the present invention will be described with reference to the accompanying drawings. However, the present invention may be implemented in various different forms, and thus is not limited to the embodiments described herein. In addition, in order to clearly describe the present invention in the drawings, parts irrelevant to the description are omitted, and like reference numerals are assigned to similar parts throughout the specification.

Throughout the specification, when a part is "connected (connected, contacted, coupled)" to another part, this is not only when it is "directly connected", but also "indirectly" with another member in between. "It also includes the case where it is. Also, when a part is said to “include” a certain component, this means that other components may be further provided instead of excluding the other component unless otherwise stated.

The terms used in this specification are only used to describe specific embodiments, and are not intended to limit the present invention. Singular expressions include plural expressions unless the context clearly indicates otherwise. In this specification, terms such as “include” or “have” are intended to indicate that a feature, number, step, operation, component, part, or combination thereof described in the specification exists, and that one or more other features are present. It should be understood that the existence or addition possibilities of fields or numbers, steps, operations, components, parts or combinations thereof are not excluded in advance.

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

1 is an exemplary view showing a method of recognizing a foot position of a walking simulator according to an embodiment of the present invention, and FIG. 2 is an exemplary view showing a control method of a plane movement module when walking in a straight line according to an embodiment of the present invention, 3 is an exemplary view showing a method of controlling a plane moving module when walking in a direction change according to an embodiment of the present invention.

1 to 3, the control method of the plane moving module according to an embodiment of the present invention will be described.

First, the flat surface moving module of the present invention can be controlled such that the center of the first footrest part 1110 and the second footrest part 1120 of the footrest unit 1100 (see FIG. 4) and the center of the foot are located at the same position on the plane. have. To this end, the present invention is based on the difference between the foot position sensor unit (1500, see Fig. 4) and the foot position detection unit (1600, see Fig. 4), and the relative position of the foot compared to the foot position. The first scaffolding portion 1110 and the second scaffolding portion 1120 may be provided to move.

Particularly, according to the present invention, as shown in FIG. 1 through the position of the foot and the position of the foot, the absolute position of the foot, which is a linear position from the origin to the center of the foot, is calculated, and the walking speed and gait according to the change in the absolute position of the foot It may be provided to determine the direction.

Continuing with reference to Figure 2 to describe the control method of the plane movement module when walking in a straight line.

First, when in a stopped state, as shown in (a), the first scaffolding portion 1110 and the second scaffolding portion 1120 are positioned side by side. However, as shown in (b), when the right foot moves forward, the center of the right foot deviates from the center of the second footrest 1120.

Therefore, as shown in (c), the flat moving module of the present invention moves the second scaffolding unit 1120 so that the center of the second scaffolding unit 1120 is located at the same position on the plane as the center of the foot. I can do it. At this time, the first scaffolding portion 1110 may move forward while the second scaffolding portion 1120 moves forward and at the same time as the origin of the second scaffolding portion 1120.

And, as shown in (d), when the right foot touches the second scaffold 1120, the movement of the first scaffold 1110 and the second scaffold 1120 is stopped.

Thereafter, as shown in (e) and (f), when the center of the left foot deviates from the center of the first footrest unit 1110 while the left foot moves forward, the first footrest unit 1110 as in the algorithm described above. Is moved so that the center coincides with the center of the left foot on a plane, and the second scaffolding part 1120 is moved back symmetrically with the first scaffolding part 1110.

Next, with reference to Figure 3 will be described a control method of the plane movement module when walking in a direction change.

First, when in a stopped state, as shown in (a), the first scaffolding portion 1110 and the second scaffolding portion 1120 are positioned side by side. However, as shown in (b), when the right foot is moved diagonally forward to change the walking direction, the center of the right foot deviates from the center of the second footrest 1120.

Accordingly, as shown in (c), the flat moving module of the present invention diagonally positions the second scaffolding part 1120 such that the center of the second scaffolding part 1120 is located at the same position on the plane as the center of the foot. You can move it forward. At this time, the first scaffolding portion 1110 may move the second scaffolding portion 1120 diagonally forward and at the same time as the origin of the second scaffolding portion 1120 and move diagonally backward.

And, as shown in (d), when the center of the left foot moves out of the center of the first footrest unit 1110 while the left foot moves in the same direction as the walking direction of the right foot, the planar movement module has the intention to switch directions. Can judge that.

Thus, as shown in (e), the planar movement module rotates the planar movement module according to the walking direction of the left foot, and at the same time, the fomermer shown in (f) and the first scaffolding unit 1110 are left foot. , And the second scaffolding part 1120 may be moved symmetrically with the first scaffolding part 1110.

As such, the rotation of the plane movement module according to the present invention may be characterized in that it is performed when the walking direction of both feet is changed.

Specifically, since it is difficult to recognize whether the user's intention is simply to spread legs or to switch directions only by moving one foot, the walking direction of one foot moves in a direction not equal to the moving direction of the flat movement module Even if the translation module does not rotate. However, if the opposite foot moves in a direction similar to or similar to the walking direction of one foot, the flat moving module determines that the user has a willingness to change the walking direction, and rotates the flat moving module according to the walking direction of the opposite foot, thereby allowing the first footrest The portion 1110 and the second scaffolding portion 1120 may be matched with the walking direction.

That is, in the planar movement module, when any one of the pair of scaffolding parts moves in a diagonal direction, and the other scaffolding part moves in the same direction, the pair of scaffolding parts correspond to the moving direction of the scaffolding part. It may be characterized in that provided to rotate.

4 is a perspective view of a walking simulator according to an embodiment of the present invention, FIG. 5 is a top view of a walking simulator according to an embodiment of the present invention, and FIG. 6 is a scaffolding unit and x according to an embodiment of the present invention It is a side view of the axial movement unit.

4 to 6, the walking simulator 1000 according to an embodiment of the present invention, the footrest unit 1100, the foot position sensor unit 1500, the footrest position detection unit 1600 and the plane movement module It may include.

In addition, the planar movement module may include an x-axis movement unit 1200, a y-axis movement unit 1300, a rotation unit 1400, and a reinforcement unit 1700.

The scaffolding unit 1100 is formed to tread the foot on the upper surface, and is moved to a position corresponding to the position of the foot by the x-axis moving unit 1200, the y-axis moving unit 1300, and the rotating unit 1400. It can be characterized by being provided.

The scaffolding unit 1100 provided as described above may include a first scaffolding portion 1110 and a second scaffolding portion 1120 provided in parallel with each other.

The first scaffolding part 1110 may include a first scaffolding body 1111 and a first scaffolding assembly 1112.

The first scaffold body 1111 is provided flat so that the upper surface can step on the foot, and may be formed to extend long with the x-axis as the long axis.

The first scaffolding assembly 1112 is coupled to a lower portion of the first scaffolding body 1111, and may be provided to be slidable along the longitudinal direction of the x-axis moving unit 1200.

Specifically, the upper end of the first scaffolding assembly 1112 is fixedly coupled to the lower portion of the first scaffolding body 1111, and the lower end can be slidably coupled to the top of the x-axis moving unit 1200. .

In addition, the height of the first scaffolding assembly 1112 may be adjusted. That is, the first scaffolding assembly 1112 may be provided with a lifting actuator (not shown) that allows the length of the first scaffolding assembly 1112 to be extended or allows the first scaffolding assembly 1112 to be elevated. .

The second scaffolding part 1120 is provided on one side of the first scaffolding part 1110, provided in parallel with the first scaffolding part 1110, the second scaffolding body 1121 and the second scaffolding assembly 1122 ).

The second scaffold body 1121 is provided flat so that the upper surface can step on the foot, and may be formed to extend long with the x-axis as the long axis.

The second scaffolding assembly 1122 is coupled to the lower portion of the second scaffolding body 1121, and may be provided to be slidable along the longitudinal direction of the x-axis moving unit 1200.

Specifically, the upper end of the second scaffolding assembly 1122 is fixedly coupled to the lower portion of the second scaffolding body 1121, and the lower end can be slidably coupled to the top of the x-axis moving unit 1200. .

In addition, the height of the second scaffolding assembly 1122 may be adjusted. That is, the second scaffolding assembly 1122 may be provided with a lifting actuator (not shown) that allows the length of the second scaffolding assembly 1122 to be extended or allows the second scaffolding assembly 1122 to be elevated. .

Among the first footrest part 1110 and the second footrest part 1120 provided as described above, the footrest part corresponding to the moving foot is provided to move along the moving foot, and the footrest part corresponding to the opposite foot is the moving foot And it may be characterized in that provided to move symmetrically with the corresponding footrest.

For example, when the foot located on the first footrest 1110 moves, the first footrest 1110 follows the moving foot and moves. At this time, the second footrest portion 1120, where the foot supporting the body is located, is provided to be moved in a direction symmetrical to the first footrest portion 1110, thereby allowing the pedestrian to perform various operations in place.

The scaffolding unit 1100 described above may be inclined to have a predetermined angle, or may be provided to produce an effect such as vibration for ground effect.

In addition, protrusions for acupressure effects may be formed on the upper surface of the scaffolding unit 1100, or protrusions may be provided to be controlled to be able to be introduced and projected.

In one embodiment, the plane moving module includes the x-axis moving unit 1200 and the y-axis moving unit 1300, and may be driven in a rectangular coordinate system, a polar coordinate system, and a relative coordinate system.

The x-axis moving unit 1200 is coupled to the lower portion of the scaffolding unit 1100, the scaffolding unit 1100 may be provided to extend in the longitudinal direction.

The x-axis movement unit 1200 may include a first x-axis movement unit 1210 and a second x-axis movement unit 1220 provided in parallel with each other.

The first x-axis moving unit 1210 may include a first x-axis moving body 1211, a first x-axis actuator 1212, and a first x-axis coupling unit 1213.

The first x-axis moving body 1211 may be formed to extend in the longitudinal direction of the scaffolding unit 1100. Specifically, the first x-axis moving body 1211 is formed to extend in the longitudinal direction of the first footrest body 1111, the first footrest coupling body 1112 may be slidably coupled to the upper surface.

The first x-axis actuator 1212 may be provided to slide the scaffolding unit 1100 along the longitudinal direction of the first x-axis moving body 1211. Specifically, the first x-axis actuator 1212 may be provided to slide the first scaffolding assembly 1112 along the longitudinal direction of the first x-axis moving body 1211.

For example, a pair of walls spaced apart from each other is provided at an upper portion of the first x-axis moving body 1211 so that the first scaffolding assembly 1112 can be inserted inside, and the walls are provided in a gear form, respectively. It may be provided to rotate in one direction or the other direction. And, the lower end of the first scaffolding assembly 1112 is provided to mesh with the wall, so that the first x-axis actuator 1212 rotates the wall formed in the first x-axis moving body 1211. Depending on the direction, the first scaffolding assembly 1112 may be moved by sliding along the longitudinal direction of the first x-axis moving body 1211.

The first x-axis coupling body 1213 is formed under the first x-axis moving body 1211, and the first x-axis coupling body 1213 is perpendicular to the first x-axis moving body 1211. A through hole may be formed such that the first reinforcing body portion 1710 and the second reinforcing body portion 1720 of the reinforcing unit 1700 are coupled through in the direction. Specific features of the reinforcing unit 1700 will be described later.

The second x-axis moving unit 1220 may include a second x-axis moving body 1221, a second x-axis actuator 1222, and a second x-axis coupling unit 1223.

The second x-axis moving body 1221 may be formed to extend in the longitudinal direction of the scaffolding unit 1100. Specifically, the second x-axis moving body 1221 is formed to extend in the longitudinal direction of the second scaffold body 1121, the second scaffold coupling body 1122 may be slidably coupled to the upper surface.

The second x-axis actuator 1222 may be provided to slide the scaffolding unit 1100 along the longitudinal direction of the second x-axis moving body 1221. Specifically, the second x-axis actuator 1222 may be provided to slide the second scaffolding assembly 1122 along the longitudinal direction of the second x-axis moving body 1221.

For example, a pair of walls spaced apart from each other is provided at the upper portion of the second x-axis moving body 1221 so that the second scaffolding assembly 1122 can be inserted inside, and the walls are provided in a gear form, respectively. It may be provided to rotate in one direction or the other direction. And, the lower end of the second scaffolding assembly 1122 is provided to mesh with the wall, so that the second x-axis actuator 1222 rotates the wall formed in the second x-axis moving body 1221. Depending on the direction, the second scaffolding assembly 1122 may be moved by sliding along the longitudinal direction of the second x-axis moving body 1221.

The second x-axis coupling body 1223 is formed under the second x-axis moving body 1221, and the second x-axis coupling body 1223 is perpendicular to the second x-axis moving body 1221. A through hole may be formed such that the first reinforcing body portion 1710 and the second reinforcing body portion 1720 of the reinforcing unit 1700 are coupled through in the direction. Specific features of the reinforcing unit 1700 will be described later.

The y-axis moving unit 1300 is coupled to the lower portion of the x-axis moving unit 1200 and may be formed to extend in the width direction of the scaffolding unit 1100.

The y-axis moving unit 1300 is a first y-axis moving unit 1310 formed in the lower portion of the first x-axis moving unit 1210 and the second x-axis moving unit 1220 formed in the lower portion 2 y-axis moving unit 1320 may be included.

The first y-axis moving unit 1310 may include a first y-axis coupling body 1311, a first y-axis moving body 1312, and a first y-axis actuator 1313.

The first y-axis coupling body 1311 may be coupled to a lower portion of the first x-axis moving body 1211. Specifically, the first y-axis coupling body 1311 may be fixedly coupled to the lower portion of the first x-axis moving body 1211.

The first y-axis moving body 1312 is coupled through the first y-axis coupling body 1311 and may be formed to extend in the width direction of the scaffolding unit 1100.

The first y-axis actuator 1313 may be provided to move the first y-axis coupling body 1311 along the longitudinal direction of the first y-axis moving body 1312.

In this case, since the first y-axis coupling body 1311 is fixedly coupled to the lower portion of the first x-axis movement body 1211, the first y-axis coupling body 1311 is connected to the first y-axis movement body 1312. When moved along the longitudinal direction of, the first x-axis moving unit 1210 may also be moved.

The second y-axis moving unit 1320 may include a second y-axis coupling body 1321, a second y-axis moving body 1322, and a second y-axis actuator 1323.

The second y-axis coupling body 1321 may be coupled to a lower portion of the second x-axis moving body 1221. Specifically, the second y-axis coupling body 1321 may be fixedly coupled to the lower portion of the second x-axis moving body 1221.

The second y-axis moving body 1322 is through-coupled to the second y-axis coupling body 1321, it may be formed to extend in the width direction of the scaffolding unit (1100).

The second y-axis actuator 1323 may be provided to move the second y-axis coupling body 1321 along the longitudinal direction of the second y-axis moving body 1322.

At this time, since the second y-axis coupling body 1321 is fixedly coupled to the lower portion of the second x-axis moving body 1221, the second y-axis coupling body 1321 is moved to the second y-axis coupling body 1322. When moved along the longitudinal direction of, the second x-axis moving unit 1220 may also be moved.

The rotating unit 1400 is coupled to the lower portion of the y-axis moving unit 1300, it may be provided to be rotatable in one direction and the other direction.

The rotating unit 1400 may include a disk portion 1410 and a rotating motor portion 1420.

The disk portion 1410 may be coupled to the lower portions of the first y-axis coupler 1311 and the second y-axis coupler 1321, and may be provided in a disc shape.

The rotating motor part 1420 is coupled to the disk part 1410 and may be provided to rotate the disk part 1410 in one direction and the other direction.

The rotating motor part 1420 may be provided to rotate the scaffolding unit 1100 in one direction and the other direction by rotating the disk part 1410 in one direction and the other direction.

The rotation unit 1400 provided as described above may rotate the scaffolding unit 1100 by rotating the disk unit 1410 correspondingly when the moving direction is changed.

The scaffolding position sensor unit 1500 may be provided in the scaffolding unit 1100. More specifically, the scaffolding position sensor unit 1500 may be provided in an embedded portion in the center of the upper surface of the scaffolding unit 1100.

In addition, the foot position sensor unit 1500, the first foot position sensor unit 1510 provided in the first footrest unit 1110 and the second foot position sensor unit provided in the second footrest unit 1120. 1520.

The first foot position sensor unit 1510 may be provided to recognize the position of the center of the foot corresponding to the first footrest unit 1110, and the second foot position sensor unit 1520 is the second footrest unit It may be provided to recognize the position of the center of the foot corresponding to (1120).

The scaffolding position detecting unit 1600 is formed on the x-axis moving unit 1200 and may be provided to recognize the position of the scaffolding unit 1100.

The scaffolding position detecting unit 1600 is provided to recognize a central position of the first scaffolding part 1110, and a first scaffolding position sensing part 1610 formed on the first x-axis moving part 1210 and It is provided to recognize the position of the center of the second scaffolding unit 1120, and may include a second scaffolding position sensing unit 1620 formed on the second x-axis moving unit 1220.

A control unit (not shown) is provided with the position of the foot from the foot position sensor unit 1500, and the first footrest part 1110 and the second footrest part 1120 from the footrest position sensing unit 1600 It may be provided to be provided with a location. In addition, the control unit is the x-axis movement unit 1200, the y-axis movement unit 1300, so that the center position of the received foot and the center position of the footrest corresponding to it are located at the same x value and y value. The scaffolding unit 1100 may be moved by controlling the rotating unit 1400.

At this time, the control unit may be controlled to move symmetrically with each other by using the center of the walking simulator 1000 as the origin of the footrest unit corresponding to the foot supporting the body of the pedestrian and the footrest unit tracking the moving foot.

The reinforcing unit 1700 is coupled to the x-axis moving unit 1200, supports the x-axis moving unit 1200 to maintain a parallel state to each other, and supports the load applied to the scaffolding unit 1100. Can be provided.

The reinforcing unit 1700 may include a first reinforcing body part 1710, a second reinforcing body part 1720 and a third reinforcing body part 1730.

The first reinforcing body portion 1710 is provided below the x-axis moving body 1211, and may be formed to extend in the width direction of the scaffolding unit 1100.

The second reinforcing body portion 1720 may be provided in parallel with the first reinforcing body portion 1710 and may be formed to be spaced apart from the first reinforcing body portion 1710.

In addition, the first reinforcing body portion 1710 and the second reinforcing body portion 1720 may be intubated and coupled to the first x-axis coupling body 1213 and the second x-axis coupling body 1223. In addition, the first reinforcing body portion 1710 and the second reinforcing body portion 1720 may be provided in parallel with the first y-axis moving body 1312 and the second y-axis moving body 1322. have. The first reinforcing body portion 1710 and the second reinforcing body portion 1720 provided as described above, when the x-axis moving unit 1200 is sliding along the longitudinal direction of the y-axis moving unit 1300, the x A load transmitted from the shaft moving unit 1200 can be supported. Accordingly, the first reinforcing body portion 1710 and the second reinforcing body portion 1720 improves durability by reducing the load transmitted to the x-axis moving unit 1200 and the y-axis moving unit 1300. I can do it.

The third reinforcing body part 1730 is coupled to both ends of the first reinforcing body part 1710 and the second reinforcing body part 1720, and the third reinforcing body part 1730 is the first reinforcing body part A portion 1710 and the end portions of the second reinforcing body portion 1720 may be provided to be connected and integrated. That is, the first reinforcing body portion 1710, the second reinforcing body portion 1720 and the third reinforcing body portion 1730 may be interconnected and integrated.

The walking simulator 1000 provided as described above does not require a separate safety device because pedestrians are not restricted during walking because the scaffolding unit 1100 moves in response to the movement of the foot during walking. Free walking is possible.

The above description of the present invention is for illustration only, and a person having ordinary knowledge in the technical field to which the present invention pertains can understand that it can be easily modified into other specific forms without changing the technical spirit or essential features of the present invention. will be. Therefore, it should be understood that the embodiments described above 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 similarly, components described as distributed may be implemented in a combined form.

The scope of the present invention is indicated by the following claims, and all modifications or variations derived from the meaning and scope of the claims and their equivalent concepts should be interpreted to be included in the scope of the present invention.

1000: walking simulator
1100: scaffolding unit 1110: first scaffolding unit
1111: first scaffolding body 1112: first scaffolding assembly
1120: second scaffolding part 1121: second scaffolding body
1122: second scaffolding assembly 1200: x-axis moving unit
1210: 1st x-axis moving part 1211: 1st x-axis moving body
1212: first x-axis actuator 1213: first x-axis assembly
1220: 2nd x-axis moving part 1221: 2nd x-axis moving body
1222: 2nd x-axis actuator 1223: 2nd x-axis assembly
1300: y-axis moving unit 1310: first y-axis moving unit
1311: first y-axis coupling 1312: first y-axis moving body
1313: 1st y-axis actuator 1320: 2nd y-axis moving part
1321: 2nd y-axis coupling 1322: 2nd y-axis moving body
1323: second y-axis actuator 1400: rotating unit
1410: disc unit 1420: rotary motor unit
1500: foot position sensor unit 1510: first foot position sensor unit
1520: second foot position sensor unit 1600: foot position detection unit
1610: first footrest position detection unit 1620: second footrest position detection unit
1700: Reinforcement unit 1710: First reinforcement body
1720: second reinforcement body portion 1730: third reinforcement body portion

Claims (13)

A scaffolding unit having a pair of scaffolding parts formed to step on the upper surface; And
It is provided in combination with the scaffolding unit, and includes a flat moving module for moving the scaffold so that the center of the scaffold is located at the same position on the plane as the center of the foot corresponding to the scaffold,
The planar movement module is configured to move the pair of scaffolds symmetrically by an origin so that the center of gravity of the person and the center formed by the pair of scaffolds coincide,
When any one of the pair of scaffolds moves in a diagonal direction and the other of the scaffolds moves in the same direction, the pair of scaffolds is rotated to correspond to the moving direction of the scaffolds. Walking simulator.
According to claim 1,
The plane moving module,
An x-axis moving unit coupled to the scaffolding unit, the scaffolding unit extending in the longitudinal direction;
A y-axis moving unit coupled to the x-axis moving unit and extending in a width direction of the scaffolding unit; And
It is coupled to the x-axis moving unit or the x-axis moving unit, and includes a rotating unit provided to be rotatable in one direction and the other direction,
The scaffolding unit is a walking simulator, characterized in that provided to move to a position corresponding to the position of the foot by the x-axis moving unit, the y-axis moving unit and the rotating unit.
According to claim 2,
The pair of scaffolding,
A scaffolding body formed to step on the upper surface; And
It is coupled to the scaffold body, and includes a scaffold assembly provided to be movable along the longitudinal direction of the x-axis moving unit,
Among the pair of scaffolding portions, a scaffolding portion corresponding to a moving foot is provided to move along the moving foot, and a scaffolding portion corresponding to an opposite foot is provided to move symmetrically with a scaffolding portion corresponding to the moving foot. Walking simulator.
According to claim 2,
The x-axis moving unit,
It includes a pair of x-axis moving parts provided in parallel to each other,
The pair of x-axis moving parts,
An x-axis moving body extending in the longitudinal direction of the scaffolding unit; And
A walking simulator comprising an x-axis actuator provided to move the scaffolding unit along the longitudinal direction of the x-axis moving body.
The method of claim 4,
The y-axis moving unit,
And a pair of y-axis moving parts formed on the lower or side surfaces of the pair of x-axis moving parts,
The pair of y-axis moving parts,
A y-axis coupling body coupled to the x-axis moving body;
A y-axis moving body coupled to the y-axis coupling body and extending in a width direction of the scaffolding unit; And
And a y-axis actuator provided to move the y-axis coupling body along a longitudinal direction of the y-axis moving body.
The method of claim 5,
The rotating unit,
a disk portion coupled to the x-axis bond or the y-axis bond; And
It is coupled to the disc portion, and includes a rotating motor portion provided to rotate the disc portion in one direction and the other direction,
The rotating motor unit is a walking simulator, characterized in that provided to rotate the disk unit in one direction and the other direction to rotate the scaffolding unit in one direction and the other direction.
The method of claim 4,
The plane moving module,
A walking simulator further comprising a reinforcement unit coupled to the x-axis moving unit, supporting the x-axis moving unit to maintain a parallel state, and supporting a load applied to the scaffolding unit.
The method of claim 7,
The reinforcing unit,
A first reinforcing body portion provided on a side or a lower portion of the x-axis moving body and extending in a width direction of the scaffolding unit;
And a second reinforcing body portion coupled to both ends of the first reinforcing body portion,
The second reinforcing body portion is a walking simulator, characterized in that provided to connect the end of the first reinforcing body portion to be integrated.
The method of claim 8,
The x-axis moving unit,
Further comprising an x-axis coupling formed on the x-axis moving body,
The x-axis assembly,
A walking simulator characterized in that a through-hole is formed so that the first reinforcing body portion is coupled through the x-axis moving body in a direction perpendicular to the body.
According to claim 2,
Further comprising a foot position sensor unit provided on the scaffolding unit,
The foot position sensor unit,
A walking simulator provided on each of the scaffolding units constituting the scaffolding unit, and having a pair of foot position sensor units configured to recognize the position of the foot corresponding to the scaffolding unit.
The method of claim 10,
It is formed on the x-axis moving unit, and further comprises a footrest position detection unit provided to recognize the position of the footrest unit,
The scaffold position detection unit,
A walking simulator characterized by having a pair of footrest position detection units provided to recognize the position of each of the footrest units constituting the footrest unit.
According to claim 1,
The scaffolding portion,
A walking simulator characterized in that the height and the slope are adjustable.
According to claim 1,
The scaffolding portion,
A walking simulator characterized in that it is provided to be vibrating.

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