Driven camera positioning mechanism operated by arm motion, and wearable suit having same

Abstract

This driven camera positioning mechanism comprises: a camera; a carriage on which the camera is provided; a vertical guide unit for guiding the vertical movement of the carriage; a horizontal carriage on which the vertical guide unit is provided; a horizontal guide unit for guiding the horizontal movement of the horizontal carriage; a mounting unit on which the horizontal guide unit is provided, and which is mounted on the shoulders of a user; and a connecting member which connects the carriage and the arm of the user, and which allows the carriage and the horizontal carriage to move along the vertical guide unit and the horizontal guide unit, respectively, by means of arm movement.

Description

Passive camera posture mechanism operated by arm movement and wearable suit equipped therewith

[0001] The present disclosure relates to a wearable suit, and more particularly, to a passive camera posture mechanism capable of moving a camera according to arm movements, and a wearable suit having the same.

[0002] With the recent advancement of digital technology, various virtual realities are being implemented digitally. Examples include virtual reality (VR), augmented reality (AR), mixed reality (MR), and extended reality (XR).

[0003] In order to implement user interaction in a virtual digital environment, technologies are being developed to recognize the user's body, such as hands and / or arms, and track the body's movements.

[0004] For example, a technology is being used to recognize surrounding objects and the body using a camera mounted on a head-mounted display (HMD) and track the current body position / posture and hand position / posture.

[0005] Alternatively, a technology is being used to track the user's current location / posture by installing infrared equipment outside the user and attaching a tracker to the user's body, using a combination of the infrared equipment and the tracker.

[0006] A passive camera posture mechanism according to one or more embodiments of the present disclosure may include: a camera; a carriage on which the camera is installed; a vertical guide formed to guide up and down movement of the carriage; a horizontal carriage on which the vertical guide is installed; a horizontal guide formed to guide horizontal movement of the horizontal carriage; a mounting portion on which the horizontal guide is installed and formed to be installed on a user's shoulder; and a connecting member connecting the carriage and the user's arm, and allowing the carriage and the horizontal carriage to move along the vertical guide and the horizontal guide, respectively, according to movement of the arm.

[0007] According to one or more embodiments of the present disclosure, the vertical guide member may be formed to have a curvature corresponding to a vertical movement trajectory of the arm.

[0008] According to one or more embodiments of the present disclosure, the horizontal guide member may be formed to have a curvature corresponding to a horizontal movement trajectory of the arm.

[0009] According to one or more embodiments of the present disclosure, the connecting member may be formed of an elastic member.

[0010] A passive camera attitude mechanism according to one or more embodiments of the present disclosure may further include a return member installed between the upper end of the vertical guide and the carriage.

[0011] According to one or more embodiments of the present disclosure, the carriage may be installed at a position where the connecting member and the returning member achieve force equilibrium.

[0012] According to one or more embodiments of the present disclosure, the horizontal guide may be positioned at a predetermined distance from the center of the user's shoulder joint.

[0013] According to one or more embodiments of the present disclosure, the camera may include an inertial measurement unit (IMU).

[0014] According to one or more embodiments of the present disclosure, the camera may be installed on the carriage so as to capture an image of the user's hand while the user's arm is extended in a straight line.

[0015] A wearable suit according to one or more embodiments of the present disclosure may include a wearable portion formed to be worn on a user's torso; and a pair of passive camera positioning mechanisms installed on both shoulder portions of the wearable portion. Each of the pair of passive camera positioning mechanisms may include: a camera; a carriage on which the camera is installed; a vertical guide formed to guide up and down movement of the carriage; a horizontal carriage on which the vertical guide is installed; a horizontal guide formed to guide horizontal movement of the horizontal carriage; a mounting portion on which the horizontal guide is installed and installed on a shoulder portion of the wearable portion; and a connecting member connecting the carriage and the user's arm, and allowing the carriage and the horizontal carriage to move along the vertical guide and the horizontal guide, respectively, according to movement of the arm.

[0016] According to one or more embodiments of the present disclosure, the wearable part may be formed in the form of a top or an exoskeleton.

[0017] The above-described and other aspects, features, and advantages of the embodiments of the present disclosure will become more apparent from the following description taken in conjunction with the accompanying drawings. In the accompanying drawings:

[0018] FIG. 1 is a perspective view illustrating a passive camera posture mechanism according to one or more embodiments of the present disclosure.

[0019] Fig. 2 is a front view showing the passive camera attitude mechanism of Fig. 1.

[0020] Fig. 3 is a plan view showing the passive camera attitude mechanism of Fig. 1.

[0021] FIG. 4 is a block diagram of a passive camera attitude mechanism according to one or more embodiments of the present disclosure.

[0022] FIG. 5 is a plan view showing a state in which a camera of a passive camera posture mechanism according to one or more embodiments of the present disclosure follows a user's hand when the user rotates his or her arm in a horizontal direction.

[0023] FIG. 6 is a front view showing a state in which a camera of a passive camera posture mechanism according to one or more embodiments of the present disclosure captures a user's hand when the user's arm is raised at 90 degrees.

[0024] FIG. 7 is a front view showing a state in which a camera of a passive camera posture mechanism according to one or more embodiments of the present disclosure captures a user's hand when the user's arm is lowered in the state of FIG. 6.

[0025] FIG. 8 is a front view showing a state in which a camera of a passive camera posture mechanism according to one or more embodiments of the present disclosure captures a user's hand when the user's arm is fully lowered.

[0026] FIG. 9 is a front view showing a state in which a camera of a passive camera posture mechanism according to one or more embodiments of the present disclosure captures a user's hand when the user's arm is raised beyond 90 degrees.

[0027] FIG. 10 is a perspective view illustrating a passive camera posture mechanism according to one or more embodiments of the present disclosure.

[0028] FIG. 11 is a perspective view illustrating a wearable suit including a passive camera posture mechanism according to one or more embodiments of the present disclosure.

[0029] It should be understood that the various embodiments and terms used in this document are not intended to limit the technical features described in this document to specific embodiments, but rather include various modifications, equivalents, or alternatives of the embodiments.

[0030] In connection with the description of the drawings, similar reference numerals may be used for similar or related components.

[0031] The singular form of a noun corresponding to an item may include one or more of said items, unless the relevant context clearly indicates otherwise.

[0032] In this document, each of the phrases "A or B", "at least one of A and B", "at least one of A or B", "A, B, or C", "at least one of A, B, and C", and "at least one of A, B, or C" may include any one of the items listed together in that phrase, or all possible combinations thereof.

[0033] The term "and / or" includes any combination of a plurality of related described elements or any one of a plurality of related described elements.

[0034] Terms such as "first," "second," or "first" or "second" may be used simply to distinguish one component from another and do not qualify the components in any other respect (e.g., importance or order).

[0035] When a component (e.g., a first component) is referred to as being "coupled" or "connected" to another component (e.g., a second component), with or without the terms "functionally" or "communicatively," it means that the component can be connected to the other component directly (e.g., wired), wirelessly, or through a third component.

[0036] The terms "include" or "have" are intended to specify the presence of a feature, number, step, operation, component, part or combination thereof described in this document, but do not preclude the presence or addition of one or more other features, numbers, steps, operations, components, parts or combinations thereof.

[0037] When a component is said to be “connected,” “coupled,” “supported,” or “in contact with” another component, this includes not only cases where the components are directly connected, coupled, supported, or in contact, but also cases where the components are indirectly connected, coupled, supported, or in contact through a third component.

[0038] When we say that a component is "on" another component, this includes not only cases where the component is in contact with the other component, but also cases where there is another component between the two components.

[0039] In addition, terms such as 'front end', 'rear end', 'upper end', 'lower end', 'top end', and 'bottom end' used in the present disclosure are defined based on the drawings, and the shape and position of each component are not limited by these terms.

[0040] The present disclosure relates to a passive camera posture mechanism that can expand the range of arm motion that the camera can capture and recognize by mounting a camera that tracks hand and arm motions on a wearable suit and passively moving the camera in horizontal and vertical directions according to the arm motions.

[0041] Additionally, the present disclosure relates to a wearable suit including a passive camera posture mechanism configured to expand the recognition area of ​​a camera.

[0042] Hereinafter, a passive camera posture mechanism (1) according to one or more embodiments of the present disclosure will be described in detail with reference to FIGS. 1 to 4.

[0043] FIG. 1 is a perspective view illustrating a passive camera attitude mechanism (1) according to one or more embodiments of the present disclosure. FIG. 2 is a front view illustrating the passive camera attitude mechanism (1) of FIG. 1. FIG. 3 is a plan view illustrating the passive camera attitude mechanism (1) of FIG. 1. FIG. 4 is a block diagram of a passive camera attitude mechanism (1) according to one or more embodiments of the present disclosure.

[0044] Referring to FIGS. 1 to 4, a passive camera posture mechanism (1) according to one or more embodiments of the present disclosure may include a camera (10), a carriage (20), a vertical guide (30), a horizontal carriage (40), a horizontal guide (50), a mounting portion (60), and a connecting member (70).

[0045] The camera (10) is configured to capture the movements of the user's hand (H) and arm (A) and to recognize or track the movements of the hand (H) and arm (A). The camera (10) may be a camera according to a conventional technology that can capture, recognize or track the movements of the user according to a conventional technology.

[0046] The camera (10) may be any of various types of cameras, such as a general digital camera, a depth camera, a 3D camera, etc. In other words, the camera (10) may be any of various types of cameras as long as it can capture the movements of the user's hand (H) and arm (A) and recognize or track the movements of the hand (H) and arm (A).

[0047] The camera (10) may have a fixed field of view (FOV). For example, the camera (10) may have various field of view, such as standard, wide-angle, and ultra-wide-angle. Using a camera (10) with a large field of view can reduce the distance that the camera (10) must move to track the movements of the hand (H) and arm (A) compared to a camera (10) with a small field of view.

[0048] The passive camera attitude mechanism (1) may include a position / attitude recognition sensor (11). The position / attitude recognition sensor (11) is configured to recognize the position and attitude of the camera (10). For example, the position / attitude recognition sensor (11) may be configured as an inertial measurement unit (IMU). Alternatively, the position / attitude recognition sensor (11) may be configured as an encoder.

[0049] The position / posture recognition sensor (11) may be formed integrally with the camera (10). That is, the position / posture recognition sensor (11) may be built into the camera (10). As another example, the position / posture recognition sensor (11) may be installed in the carriage (20) separately from the camera (10). In this case, the position / posture recognition sensor (11) may be installed adjacent to the camera (10).

[0050] The passive camera attitude mechanism (1) may include a processor (13). The processor (13) may control the camera (10) and the position / attitude recognition sensor (11). The processor (13) may be configured to recognize the movements of the hand (H) and the arm (A) using images of the hand (H) and the arm (A) captured by the camera (10) and output a signal corresponding thereto. In addition, the processor (13) may be configured to recognize the current position and attitude of the camera (10) using a signal transmitted from the position / attitude recognition sensor (11) and output the recognized current position and attitude of the camera (10).

[0051] The processor (13) may be formed integrally with the camera (10). That is, the processor (13) may be built into the camera (10). As another example, the processor (13) may be installed separately from the camera (10).

[0052] The carriage (20) is formed so that a camera (10) can be installed thereon. That is, the camera (10) can be fixed to the carriage (20). The camera (10) can be installed on the carriage (20) so as to be able to photograph the user's hand (H). Specifically, the camera (10) can be installed on the carriage (20) so as to be able to photograph the user's hand (H) while the user's arm (A) is extended in a straight line.

[0053] The carriage (20) may include a fixing bracket (21) for fixing the camera (10). That is, the camera (10) may be fixed to the carriage (20) by the fixing bracket (21).

[0054] The carriage (20) is formed so as to be able to move along the vertical guide (30). In other words, the carriage (20) can be formed so as to slide along the vertical guide (30).

[0055] The vertical guide (30) can be formed to guide the vertical movement of the carriage (20). Accordingly, the carriage (20) can move up and down along the vertical guide (30). That is, the carriage (20) can slide up and down along the vertical guide (30).

[0056] The vertical guide (30) may be formed in a curved bar shape. The vertical guide (30) may be formed in a bar shape bent into an arc shape. The vertical guide (30) may be formed to have a curvature corresponding to the vertical movement trajectory of the arm (A). Then, the carriage (20) may move along a curved trajectory corresponding to the vertical guide (30).

[0057] The vertical guide member (30) may be formed to have a length corresponding to the vertical rotation angle of the arm (A). For example, the vertical guide member (30) may be formed to guide the movement of the carriage (20) when the arm (A) rotates up and down at an angle of 90 degrees. Then, when the arm (A) rotates up and down at an angle of 90 degrees, the carriage (20) can also move up and down within a range of 90 degrees.

[0058] The vertical guide (30) may be formed as a curved linear guide. In this case, the carriage (20) may be formed as a block of the curved linear guide. Alternatively, the vertical guide (30) may be formed as a curved rail. However, the shape of the vertical guide (30) is not limited thereto. The vertical guide (30) may be formed in various shapes as long as it can guide the curved movement of the carriage (20).

[0059] The vertical guide (30) can be installed to slide along the horizontal guide (50).

[0060] The vertical guide (30) can be installed on the horizontal carriage (40). Specifically, the lower end of the vertical guide (30) can be fixed to the horizontal carriage (40). The horizontal carriage (40) can include a support bracket (41) that fixes and supports the vertical guide (30). Then, the vertical guide (30) can move integrally with the horizontal carriage (40). The support bracket (41) is formed so as to firmly fix the vertical guide (30) to the horizontal carriage (40). Therefore, the vertical guide (30) can be fixed to the horizontal carriage (40) so as not to move relative to the horizontal carriage (40).

[0061] The horizontal carriage (40) can be installed to slide along the horizontal guide (50).

[0062] The horizontal guide (50) can be arranged to form an approximately right angle with the vertical guide (30).

[0063] The horizontal guide (50) may be formed to guide the horizontal movement of the horizontal carriage (40). Accordingly, the horizontal carriage (40) may move horizontally, i.e., in the left-right direction, along the horizontal guide (50). That is, the horizontal carriage (40) may slide horizontally along the horizontal guide (50). Here, the left-right direction is based on the upper body of the user wearing the passive camera posture device (1).

[0064] The horizontal guide (50) may be formed in a curved bar shape. The horizontal guide (50) may be formed in a bar shape bent into an arc shape. The horizontal guide (50) may be formed to have a curvature corresponding to the horizontal movement trajectory of the arm (A). Then, the horizontal carriage (40) may move along a curved trajectory corresponding to the horizontal guide (50).

[0065] The horizontal guide (50) may be formed to have a length corresponding to the horizontal rotation angle of the arm (A). For example, the horizontal guide (50) may be formed to guide the movement of the horizontal carriage (40) when the arm (A) rotates left and right at an angle of 120 degrees. Then, when the arm (A) rotates horizontally within a 120 degree angle range, the horizontal carriage (40) can also slide along the horizontal guide (50) within a 120 degree range.

[0066] The horizontal guide (50) may be formed as a curved linear guide. In this case, the horizontal carriage (40) may be formed as a block of the curved linear guide. Alternatively, the horizontal guide (50) may be formed as a curved rail. However, the shape of the horizontal guide (50) is not limited thereto. The horizontal guide (50) may be formed in various shapes as long as it can guide the curved movement of the horizontal carriage (40).

[0067] The horizontal guide (50) and the vertical guide (30) may be formed with the same slide structure or may be formed with different slide structures.

[0068] The horizontal guide (50) can be installed on the user's shoulder. The horizontal guide (50) can be installed on the user's shoulder by a mounting member (60). The horizontal guide (50) can be installed at a certain distance from the center of rotation of the arm (A). Here, the center of rotation of the arm (A) refers to the shoulder joint connecting the arm (A) and the torso (B). The arm (A) can rotate up and down and / or left and right within a certain angular range based on the center of rotation.

[0069] The mounting portion (60) secures the horizontal guide portion (50) and can be configured to be installed on the user's shoulder. The mounting portion (60) can be installed on the wearable suit (100). Accordingly, the horizontal guide portion (50) can be secured to the wearable suit (100) by the mounting portion (60).

[0070] Specifically, the mounting portion (60) can be fixed to the shoulder portion (101) of the wearable suit (100). The mounting portion (60) can be fixed to the wearable suit (100) using various fixing methods.

[0071] The mounting portion (60) supports the horizontal guide portion (50), and a horizontal carriage (40) is installed on the horizontal guide portion (50) so as to be able to slide. In addition, the horizontal carriage (40) moves integrally with the vertical guide portion (30), the carriage (20), and the camera (10). Therefore, the passive camera posture mechanism (1) can be fixed to the wearable suit (100) by the mounting portion (60).

[0072] The connecting member (70) is formed so that the carriage (20) can move according to the movement of the arm (A). Since the camera (10) is installed on the carriage (20), when the arm (A) moves, the camera (10) can follow the arm (A) and move by the connecting member (70).

[0073] The connecting member (70) may be formed to connect the carriage (20) and the user's arm (A). One end of the connecting member (70) is connected to the carriage (20), and the other end is connected to the user's arm (A). Accordingly, when the arm (A) moves, the carriage (20) can move by the connecting member (70).

[0074] The connecting member (70) can allow the carriage (20) and the horizontal carriage (40) to move along the vertical guide (30) and the horizontal guide (50), respectively, according to the movement of the arm (A).

[0075] Specifically, when the arm (A) moves up and down, a force is applied vertically to the carriage (20) by the connecting member (70), so that the carriage (20) can move up and down along the vertical guide member (30).

[0076] When the arm (A) moves horizontally, the carriage (20) can move horizontally by the connecting member (70). Specifically, when the arm (A) moves horizontally, a force is applied horizontally to the carriage (20) by the connecting member (70), so a force is applied horizontally to the vertical guide (30) on which the carriage (20) is installed. Since the vertical guide (30) is installed on the horizontal carriage (40), when a force is applied horizontally to the vertical guide (30), the horizontal carriage (40) can move along the horizontal guide (50). As a result, when the arm (A) moves horizontally, the carriage (20) on which the camera (10) is installed moves horizontally by the connecting member (70). That is, when the arm (A) moves horizontally, the camera (10) can move horizontally according to the movement of the arm (A).

[0077] The connecting member (70) may be formed of an elastic member. The connecting member (70) may be formed to have elasticity so that the length of the connecting member (70) does not increase when the carriage (20) moves along the vertical guide (30), and so that the length of the connecting member (70) can be increased to a certain length when the carriage (20) is positioned at the bottom of the vertical guide (30) and the carriage (20) cannot move. In addition, the connecting member (70) may be formed to have elasticity so that the length of the connecting member (70) does not increase when the horizontal carriage (40) moves along the horizontal guide (50) by a force applied horizontally to the carriage (20) by the connecting member (70).

[0078] One end of the connecting member (70) can be connected to a band (71) worn on the user's arm (A). The band (71) can be fixed at any position on the user's arm (A). The band (71) is formed so that it can be worn or taken off on the user's arm (A).

[0079] A passive camera attitude mechanism (1) according to one or more embodiments of the present disclosure may include a return member (80). The return member (80) may be installed between the upper end of the vertical guide member (30) and the carriage (20).

[0080] Specifically, a stopper (31) may be installed at the top of the vertical guide member (30). The stopper (31) may be installed to limit the range of movement of the carriage (20). That is, the stopper (31) may be formed to limit the upward movement distance of the carriage (20). One end of the return member (80) may be connected to the stopper (31), and the other end may be connected to the carriage (20).

[0081] The return member (80) may be formed of an elastic member. For example, the return member (80) may be formed of a coil spring. The return member (80) is formed so as to return the carriage (20) located at the bottom of the vertical guide member (30) to its original position.

[0082] The carriage (20) can be installed at a position where no force is applied to the return member (80). At this time, the connecting member (70) can also be installed so as not to apply force to the carriage (20). In other words, the carriage (20) can be installed at a position where the connecting member (70) and the return member (80) achieve force equilibrium. Hereinafter, the position on the vertical guide member (30) where the carriage (20) does not apply force to the return member (80) is referred to as the original position of the carriage (20).

[0083] As an example, when the user's arm (A) is rotated upward from the attention position to a 90-degree position, i.e., the arm (A) is at approximately 90 degrees to the torso (B), the original position of the carriage (20) can be set so that no force is applied to the return member (80) by the carriage (20).

[0084] When the arm (A) is pivoted downward while the carriage (20) is in its original position, the connecting member (70) applies force to the carriage (20), so that the carriage (20) can move downward along the vertical guide (30). At this time, the return member (80) receives the force and is stretched. When the arm (A) is pivoted upward, the carriage (20) can move upward along the vertical guide (30) by the elastic force of the return member (80). At this time, the connecting member (70) can apply an upward force to the carriage (20) to help the carriage (20) move upward along the vertical guide (30).

[0085] The return member (80) may be formed of an elastic member having less elasticity than the connecting member (70). Accordingly, while the carriage (20) moves from its original position to the lower end of the vertical guide (30), the connecting member (70) does not stretch, and only the return member (80) may stretch. When the arm (A) moves further downward while the carriage (20) is positioned at the lower end of the vertical guide (30), the connecting member (70) may stretch.

[0086] Hereinafter, the operation of a passive camera posture mechanism (1) according to one or more embodiments of the present disclosure having the above-described structure will be described in detail with reference to FIGS. 5 to 9.

[0087] First, a case in which a user raises his arm (A) approximately 90 degrees from an attention posture and then rotates the arm (A) in a horizontal direction is described with reference to Fig. 5.

[0088] FIG. 5 is a plan view showing a state in which a camera (10) of a passive camera posture mechanism (1) according to one or more embodiments of the present disclosure follows a user's hand (H) when the user rotates his or her arm (A) in a horizontal direction. For reference, C in FIG. 5 indicates the center of the shoulder joint connecting the torso (B) and the arm (A). Arrows R and F indicate the right and front directions of the torso (B), respectively.

[0089] Referring to FIG. 5, the passive camera posture mechanism (1) is installed on the user's shoulder, i.e., the shoulder portion (101) of the wearable suit (100) worn by the user. The passive camera posture mechanism (1) can be fixed to the shoulder portion (101) of the wearable suit (100) by a mounting portion (60).

[0090] The horizontal guide (50) of the passive camera posture mechanism (1) installed on the shoulder portion (101) of the wearable suit (100) is maintained in a state approximately parallel to the floor surface. In addition, the horizontal guide (50) may be spaced apart from the center (C) of the shoulder joint by a certain distance. The center of curvature of the horizontal guide (50) may be located above the center (C) of the shoulder joint. The vertical guide (30) of the passive camera posture mechanism (1) is installed in a state approximately perpendicular to the horizontal guide (50). Therefore, the vertical guide (30) is maintained in a state approximately perpendicular to the floor surface.

[0091] When the user rotates the arm (A) at a certain angle in the horizontal direction, the passive camera posture mechanism (1) can move the camera (10) to follow the arm (A) while being fixed to the shoulder portion (101) of the wearable suit (100). The arm (A) can move at a certain angle in the horizontal direction around the shoulder joint. At this time, the tip of the hand (H) can form a horizontal movement trajectory (T1) of the arm (A).

[0092] When the user stretches out his arm (A) to the side, i.e., when the arm (A) and the torso are in a straight line (position A1), the horizontal carriage (40) can be positioned at one end of the horizontal guide (50). At this time, the camera (10) installed in the carriage (20) can capture the user's hand (H). That is, the hand (H) is positioned within the angle of view of the camera (10) installed in the carriage (20). Therefore, the camera (10) can capture and recognize the movements of the user's arm (A) and hand (H). Then, the processor (13) of the camera (10) can output information about the movements of the arm (A) and hand (H) recognized by the camera (10) and the position of the camera (10) measured by the position / posture recognition sensor (11).

[0093] In this state, when the user turns the arm (A) to the left, the carriage (20) moves along the arm (A) by the connecting member (70) connected to the arm (A). Accordingly, the camera (10) installed on the carriage (20) also moves along the arm (A).

[0094] Specifically, when the arm (A) is turned to the left at position A1, the connecting member (70) connected to the band (71) fixed to the arm (A) applies force horizontally to the carriage (20). Since the carriage (20) is installed on the vertical guide (30) fixed to the horizontal carriage (40), when force is applied to the carriage (20), the horizontal carriage (40) moves to the left along the horizontal guide (50). That is, the carriage (20) moves to the left along the horizontal guide (50). At this time, since the curvature of the horizontal guide (50) and the curvature of the horizontal movement trajectory of the arm (A) are the same or similar, when the arm (A) is turned in the horizontal direction, the horizontal carriage (40) can move smoothly along the horizontal guide (50). Therefore, the camera (10) installed on the carriage (20) can follow the user's arm (A) and move to the left.

[0095] When the user's arm (A) is positioned at position A2, the horizontal carriage (40) is positioned at the other end of the horizontal guide (50). At this time, since the camera (10) installed on the carriage (20) also moves along the user's arm (A), the camera (10) can capture the user's hand (H). That is, the hand (H) is positioned within the field of view of the camera (10) installed on the carriage (20). Therefore, the camera (10) can capture and recognize the movements of the user's arm (A) and hand (H).

[0096] When the user moves the arm (A) from position A2 to position A1, the carriage (20) can move along the horizontal guide (50) by the connecting member (70) installed between the arm (A) and the carriage (20).

[0097] Since the carriage (20) moves according to the horizontal movement of the arm (A), the camera (10) installed on the carriage (20) can capture and recognize the movement of the arm (A) and hand (H) located between positions A1 and A2.

[0098] Although FIG. 5 illustrates that the arm (A) rotates approximately 120 degrees in the horizontal direction, the present disclosure is not limited thereto. By extending the length of the horizontal guide (50) or using a camera (10) with a large angle of view, the range of horizontal movement of the arm (A) that can be recognized by the camera (10) can be expanded. In other words, the passive camera posture mechanism (1) according to one or more embodiments of the present disclosure can be configured to capture and recognize the movements of the arm (A) and the hand (H) within the maximum horizontal movement range of the arm (A).

[0099] Next, a case in which the user rotates the arm (A) in an up-and-down direction will be described with reference to FIGS. 6 to 9.

[0100] FIG. 6 is a front view showing a state in which a camera (10) of a passive camera posture mechanism (1) according to one or more embodiments of the present disclosure captures a user's hand (H) when the user's arm (A) is raised at 90 degrees. For reference, C in FIG. 6 represents the center of the shoulder joint connecting the torso (B) and the arm (A). Arrows R and D represent the rightward and downward directions of the torso (B), respectively.

[0101] Referring to FIG. 6, a passive camera posture mechanism (1) according to one or more embodiments of the present disclosure is installed on the shoulder of the user, i.e., the shoulder portion (101) of the wearable suit (100) worn by the user. The passive camera posture mechanism (1) can be fixed to the shoulder portion (101) of the wearable suit (100) by a mounting portion (60).

[0102] The vertical guide (30) of the passive camera posture mechanism (1) installed on the shoulder portion (101) of the wearable suit (100) is maintained in a state approximately perpendicular to the floor surface. In addition, the vertical guide (30) may be spaced a certain distance upward from the center (C) of the shoulder joint. The center of curvature of the vertical guide (30) may be located above the center (C) of the shoulder joint. The horizontal guide (50) that supports and guides the horizontal movement of the vertical guide (30) may be maintained in a state approximately parallel to the floor surface.

[0103] When the user rotates the arm (A) up and down at a certain angle, the passive camera posture mechanism (1) can move the camera (10) to follow the arm (A) while being fixed to the shoulder portion (101) of the wearable suit (100). The arm (A) can rotate up and down at a certain angle around the shoulder joint. At this time, the tip of the hand (H) can form a vertical movement trajectory (T2) of the arm (A).

[0104] When the user extends his / her arm (A) to the side, i.e., when the arm (A) and the torso are in a straight line (position B1), the carriage (20) can be positioned at the original position of the vertical guide (30). That is, the carriage (20) can be positioned at a position where no force is applied to the carriage (20) by the return member (80) and the connecting member (70). At this time, the camera (10) installed in the carriage (20) can capture an image of the user's hand (H). That is, the hand (H) is positioned within the angle of view of the camera (10) installed in the carriage (20). Therefore, the camera (10) can capture and recognize the movements of the user's arm (A) and hand (H). Then, the processor (13) of the camera (10) can output information about the movements of the arm (A) and hand (H) recognized by the camera (10) and the position of the camera (10) measured by the position / posture recognition sensor (11).

[0105] In this state, when the user rotates the arm (A) downward, the carriage (20) moves downward along the arm (A) by the connecting member (70) connected to the arm (A). Accordingly, the camera (10) installed on the carriage (20) also moves downward along the arm (A). A state in which the arm (A) is rotated downward at a certain angle is illustrated in Fig. 7.

[0106] FIG. 7 is a front view showing a state in which a camera (10) of a passive camera posture mechanism (1) according to one or more embodiments of the present disclosure captures a user's hand (H) while the user's arm (A) is lowered in the state of FIG. 6. For reference, C in FIG. 7 indicates the center of the shoulder joint connecting the torso (B) and the arm (A). Arrows R and D indicate the rightward and downward directions of the torso (B), respectively.

[0107] Referring to Fig. 7, when the arm (A) is rotated downward at position B1 and moves to position B2, the connecting member (70) connected to the band (71) fixed to the arm (A) applies a downward force to the carriage (20). Since the carriage (20) is slidably installed on the vertical guide (30), when a downward force is applied to the carriage (20), the carriage (20) moves downward along the vertical guide (30). At this time, since the curvature of the vertical guide (30) and the curvature of the vertical movement trajectory of the arm (A) are the same or similar, when the arm (A) rotates downward, the carriage (20) can move smoothly along the vertical guide (30). Therefore, the camera (10) installed on the carriage (20) can follow the user's arm (A) and move downward.

[0108] When the user's arm (A) is positioned at position B2, the carriage (20) moves downward a certain distance along the vertical guide (30). At this time, since the camera (10) installed on the carriage (20) also moves along the user's arm (A), the camera (10) can capture the user's hand (H). That is, the hand (H) is positioned within the angle of view of the camera (10) installed on the carriage (20). Therefore, the camera (10) can capture and recognize the movements of the user's arm (A) and hand (H).

[0109] Additionally, when the user's arm (A) is positioned at position B2, the return member (80) is extended as much as the carriage (20) has moved downward along the vertical guide (30).

[0110] In this state, when the user further rotates the arm (A) downward, the carriage (20) moves downward along the vertical guide (30) by the connecting member (70) connected to the arm (A). Accordingly, the camera (10) installed on the carriage (20) also moves downward further along the arm (A). The state in which the arm (A) is rotated downward to the maximum is illustrated in Fig. 8.

[0111] FIG. 8 is a front view showing a state in which a camera (10) of a passive camera posture mechanism (1) according to one or more embodiments of the present disclosure captures a user's hand (H) when the user's arm (A) is fully lowered. For reference, C in FIG. 8 represents the center of the shoulder joint connecting the torso (B) and the arm (A). Arrows R and D represent the rightward and downward directions of the torso (B), respectively.

[0112] Referring to Fig. 8, when the arm (A) is further rotated downward at position B2, the connecting member (70) connected to the band (71) fixed to the arm (A) applies a downward force to the carriage (20). Since the carriage (20) is slidably installed on the vertical guide (30), when a downward force is applied to the carriage (20), the carriage (20) moves downward along the vertical guide (30).

[0113] When the user's arm (A) is rotated downward to the maximum and positioned at position B3, the carriage (20) is positioned at the bottom of the vertical guide (30). At this time, since the camera (10) installed on the carriage (20) also moves along the user's arm (A), the camera (10) can capture the user's hand (H). That is, the hand (H) is positioned within the angle of view of the camera (10) installed on the carriage (20). Therefore, the camera (10) can capture and recognize the movements of the user's arm (A) and hand (H).

[0114] When the user's arm (A) is not in contact with the torso (B) while the carriage (20) is positioned at the bottom of the vertical guide (30), the connecting member (70) is extended, allowing the user to bring the arm (A) into contact with the torso (B). In this case, the camera (10) may be formed to have an angle of view capable of capturing the arm (A) and hand (H) in contact with the torso (B).

[0115] Additionally, when the user's arm (A) is positioned at position B3, the return member (80) is extended by the amount that the carriage (20) has moved downward along the vertical guide (30). At this time, the return member (80) is extended further than the B2 position.

[0116] The user can rotate the arm (A) upwards from position B3.

[0117] When the arm (A) pivots upward at position B3, the carriage (20) can move upward by the elastic force of the return member (80) installed between the upper end of the vertical guide member (30) and the carriage (20). Since the carriage (20) is slidably installed on the vertical guide member (30), when the return member (80) pulls the carriage (20) upward, the carriage (20) moves upward along the vertical guide member (30). Accordingly, the camera (10) installed on the carriage (20) can follow the user's arm (A) and move upward, thereby capturing and recognizing the movements of the arm (A) and the hand (H).

[0118] Meanwhile, when the arm (A) is rotated upward at position B3, the connecting member (70) connected to the band (71) fixed to the arm (A) can push the carriage (20) upward. Then, the carriage (20) can move upward along the vertical guide (30) more easily.

[0119] When the user's arm (A) rises to position B1 in Fig. 6, the carriage (20) is positioned in the original position.

[0120] In the state of Fig. 6, when the user raises the arm (A) further, the camera (10) can track the hand (H). This state is illustrated in Fig. 9.

[0121] FIG. 9 is a front view showing a state in which a camera (10) of a passive camera posture mechanism (1) according to one or more embodiments of the present disclosure captures a user's hand (H) when the user's arm (A) is raised beyond 90 degrees. For reference, C in FIG. 9 represents the center of the shoulder joint connecting the torso (B) and the arm (A). Arrows R, U, and D represent the rightward, upward, and downward directions of the torso (B), respectively.

[0122] When the user rotates the arm (A) upward by more than 90 degrees, not only the arm (A) rotates upward, but also the shoulder is lifted upward. Accordingly, as illustrated in FIG. 9, the passive camera posture mechanism (1) according to one or more embodiments of the present disclosure installed on the shoulder portion (101) of the wearable suit (100) worn by the user is lifted upward together with the user's shoulder. That is, when the arm (A) is raised by more than 90 degrees, not only the carriage (20) moves upward along the vertical guide (30), but the entire passive camera posture mechanism (1) on which the camera (10) is installed is lifted upward.

[0123] Accordingly, since the camera (10) of the passive camera posture mechanism (1) is also raised together with the shoulder, the camera (10) can capture and recognize the user's arm (A) and hand (H).

[0124] Therefore, according to the passive camera posture mechanism (1) according to one or more embodiments of the present disclosure, even when the arm (A) is raised upwards by more than 90 degrees from the attention posture, the camera (10) can track the arm (A) and the hand (H).

[0125] In the above, it has been described that the camera (10) of the passive camera attitude mechanism (1) according to one or more embodiments of the present disclosure follows the arm (A) and the hand (H) when the arm (A) is raised at about 90 degrees and rotates horizontally, and when the arm (A) is extended so as to be in a straight line with the torso (B) and rotates up and down. However, the present disclosure is not limited thereto. The passive camera attitude mechanism (1) according to one or more embodiments of the present disclosure can capture and recognize the motion of the arm (A) and the hand (H) positioned at any angle within the maximum motion range of the arm (A) that can rotate the arm (A) up and down and left and right.

[0126] FIG. 10 is a perspective view showing a passive camera posture mechanism (1) according to one or more embodiments of the present disclosure.

[0127] Referring to FIG. 10, a passive camera posture mechanism (1) according to one or more embodiments of the present disclosure may include a camera (10), a carriage (20), a vertical guide (30), a horizontal carriage (40), a horizontal guide (50), a mounting portion (60), and a connecting member (70).

[0128] The camera (10), carriage (20), vertical guide (30), horizontal carriage (40), horizontal guide (50), and mounting portion (60) of the passive camera attitude mechanism (1) according to the present embodiment are identical or similar to those of the passive camera attitude mechanism (1) according to the above-described embodiment, so a detailed description thereof is omitted.

[0129] The connecting member (70) of the passive camera attitude mechanism (1) according to the present embodiment is different from the connecting member (70) of the passive camera attitude mechanism (1) according to the above-described embodiment.

[0130] The connecting member (70) may be formed of a rigid material. That is, the connecting member (70) may be formed of a material that does not stretch even when force is applied. If the connecting member (70) is formed of a rigid material, the vertical rotation angle of the arm (A) that the passive camera attitude mechanism (1) can track may be reduced.

[0131] As illustrated in FIG. 5, when the arm (A) is rotated in a horizontal direction, the connecting member (70) connected to the arm (A) can apply a force in a horizontal direction to the carriage (20). When a force is applied in a horizontal direction to the carriage (20), the vertical guide (30) on which the carriage (20) is installed can move in a horizontal direction along the horizontal guide (50) together with the horizontal carriage (40). Accordingly, since the camera (10) installed in the carriage (20) moves to follow the arm (A), the camera (10) can capture and recognize the movements of the arm (A) and the hand (H).

[0132] In addition, since the connecting member (70) of the passive camera posture mechanism (1) according to the present embodiment is not deformed by the movement of the arm (A), when the arm (A) is turned upward, the connecting member (70) can push the carriage (20) upward. Then, the carriage (20) can move upward along the vertical guide (30). Therefore, even when the arm (A) is turned upward, the camera (10) installed on the carriage (20) can capture and recognize the movements of the arm (A) and the hand (H).

[0133] Therefore, unlike the passive camera attitude mechanism (1) according to the above-described embodiment, the passive camera attitude mechanism (1) according to the present embodiment does not include a return member (80).

[0134] Hereinafter, with reference to FIG. 11, a wearable suit (100) equipped with a passive camera posture mechanism (1) according to one or more embodiments of the present disclosure will be described.

[0135] FIG. 11 is a perspective view showing a wearable suit (100) equipped with a passive camera posture mechanism (1) according to one or more embodiments of the present disclosure.

[0136] Referring to FIG. 11, a wearable suit (100) according to one or more embodiments of the present disclosure may include a wearing part (110) and a pair of passive camera posture mechanisms (1).

[0137] The wearable portion (110) is formed to be worn on the user's torso (B). The wearable portion (110) may be formed in the form of an upper garment of general clothing. The wearable portion (110) may be formed of various materials such as fabric or leather. The wearable portion (110) may be formed to be worn on the torso (B) in various ways such as a T-shirt style, a shirt style, or a zipper style.

[0138] As another example, the wearable part (110) may be formed in the form of an exoskeleton.

[0139] The wearable part (110) may include a pair of mount sheets. The pair of mount sheets may be provided on both shoulder portions (101, 101') of the wearable part (110). The mount sheets may be formed to be able to fix the mounting part (60) of the passive camera attitude mechanism (1). Therefore, by fixing the mounting part (60) of the above-described passive camera attitude mechanism (1) to the mount sheet of the wearable part (110), the passive camera attitude mechanism (1) can be fixed to the wearable part (110).

[0140] As another example, the wearing part (110) can be formed so that the mounting part (60) of the passive camera posture mechanism (1) is directly installed on the shoulder part (101, 101') of the wearing part (110) without providing a mount sheet on the shoulder part (101, 101') of the wearing part (110).

[0141] A pair of passive camera posture devices (1) can be installed on both shoulder parts (101, 101') of the wearable part (110). A pair of passive camera posture devices (1) are formed to be able to capture and recognize the movements of both arms (A) and both hands (H).

[0142] Specifically, the passive camera posture mechanism (1) installed on the right shoulder portion (101) of the wearable part (110) may be configured to capture and recognize the movements of the right arm (A) and the right hand (H). The passive camera posture mechanism (1) installed on the left shoulder portion (101') of the wearable part (110) may be configured to capture and recognize the movements of the left arm and the left hand.

[0143] Accordingly, when a user wears a wearable suit (100) according to one or more embodiments of the present disclosure, a pair of passive camera posture devices (1) can capture and recognize the movements of both arms (A) and both hands (H) and output related information.

[0144] The structure and operation of a pair of passive camera attitude mechanisms (1) are the same as the above-described passive camera attitude mechanism (1), so a detailed description is omitted.

[0145] A passive camera posture mechanism (1) according to one or more embodiments of the present disclosure having a structure as described above can capture and recognize the movements of the arm (A) and the hand (H) since the camera (10) passively moves according to the movement of the arm (A) to follow the arm (A).

[0146] In addition, since the passive camera posture mechanism (1) according to one or more embodiments of the present disclosure is formed so that the camera (10) passively moves in the horizontal and vertical directions according to the movement of the arm (A), the movement area of ​​the arm (A) that can be recognized by the camera (10) can be expanded.

[0147] In addition, the wearable suit (100) according to one or more embodiments of the present disclosure can recognize the movements of both arms (A) and both hands (H) while the user is wearing it on the upper body, thereby solving problems of commercially available head-mounted displays. For example, it can prevent musculoskeletal diseases, skin diseases, etc. that may be caused by head-mounted displays.

[0148] Furthermore, while performing fitness content while wearing a head-mounted display has limitations due to heat and stuffiness, the wearable suit (100) according to one or more embodiments of the present disclosure does not suffer from these problems. Therefore, the wearable suit (100) according to one or more embodiments of the present disclosure is useful for utilizing fitness content.

[0149] In addition, the head-mounted display has a very narrow range of recognition of the movements of the arm (A) and the hand (H) because the camera (10) does not move, but the passive camera posture mechanism (1) according to one or more embodiments of the present disclosure has an advantage in that the range of recognition of the movements of the arm (A) and the hand (H) is very wide because the camera (10) moves up, down, left, and right according to the movements of the arm (A).

[0150] In addition, the passive camera posture mechanism (1) according to one or more embodiments of the present disclosure has the advantage of low maintenance costs because the camera (10) moves in conjunction with the movement of the user's arm (A) without using a driving device such as a motor.

[0151] While the present disclosure has been illustrated and described above with reference to various embodiments, it will be understood by those skilled in the art that various changes in form and detail may be made therein without departing from the scope of the present disclosure as defined by the appended claims and their equivalents.

Claims

1. Camera; A carriage on which the above camera is installed; A vertical guide formed to guide the up and down movement of the carriage; A horizontal carriage on which the above vertical guide member is installed; A horizontal guide formed to guide horizontal movement of the above horizontal carriage; The above horizontal guide member is installed, and a mounting member formed to be installed on the user's shoulder; and A passive camera posture mechanism comprising: a connecting member connecting the carriage and the user's arm, and allowing the carriage and the horizontal carriage to move along the vertical guide and the horizontal guide, respectively, according to the movement of the arm.

2. In paragraph 1, A passive camera attitude mechanism, wherein the vertical guide member is formed to have a curvature corresponding to the vertical movement trajectory of the arm.

3. In paragraph 1, A passive camera attitude mechanism, wherein the horizontal guide member is formed to have a curvature corresponding to the horizontal movement trajectory of the arm.

4. In paragraph 1, A passive camera attitude mechanism, wherein the above connecting member is formed of an elastic member.

5. In paragraph 4, A passive camera attitude mechanism further comprising a return member installed between the upper end of the vertical guide member and the carriage.

6. In paragraph 5, The above carriage is a passive camera posture mechanism, installed at a position where the connecting member and the returning member achieve force equilibrium.

7. In paragraph 1, A passive camera posture mechanism in which the horizontal guide member is positioned at a certain distance from the center of the user's shoulder joint.

8. In paragraph 1, The above camera is a passive camera attitude mechanism including an inertial measurement unit (IMU).

9. In paragraph 1, The above camera is a passive camera posture mechanism installed on the carriage so as to capture an image of the user's hand while the user's arm is extended in a straight line.

10. A wearable portion formed to be worn on the user's torso; and A pair of passive camera posture devices installed on both shoulder portions of the above-mentioned wearable part; Each of the above pair of passive camera attitude mechanisms, camera; A carriage on which the above camera is installed; A vertical guide formed to guide the up and down movement of the carriage; A horizontal carriage on which the above vertical guide member is installed; A horizontal guide formed to guide horizontal movement of the horizontal carriage; The horizontal guide part is installed, and the mounting part is installed on the shoulder part of the wearing part; and A wearable suit, comprising: a connecting member connecting the carriage and the user's arm, and allowing the carriage and the horizontal carriage to move along the vertical guide and the horizontal guide, respectively, according to the movement of the arm.

11. In Article 10, A wearable suit, wherein the vertical guide member is formed to have a curvature corresponding to the vertical movement trajectory of the arm.

12. In paragraph 10, A wearable suit, wherein the horizontal guide member is formed to have a curvature corresponding to the horizontal movement trajectory of the arm.

13. In paragraph 10, A wearable suit further comprising a return member installed between the upper end of the vertical guide member and the carriage.

14. In paragraph 13, A wearable suit, wherein the carriage is installed at a position where the connecting member and the returning member achieve force equilibrium.

15. In paragraph 10, A wearable suit wherein the above-mentioned wearing part is formed in the form of an upper garment or an exoskeleton.

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