A VR device

Abstract

The present invention relates to a VR device, which is used in conjunction with a virtual reality head mounted device and a virtual reality server, and includes: a control circuit and an upper torso exoskeleton, a lower torso exoskeleton, and a foot exoskeleton assembled according to the human body structure; the control circuit includes: an upper torso exoskeleton control circuit, a lower torso exoskeleton control circuit, and a foot exoskeleton control circuit; the upper torso exoskeleton control circuit, the lower torso exoskeleton control circuit, and the foot exoskeleton control circuit send various detected posture information to a virtual reality server, and the virtual reality server switches the virtual reality scene currently played by the virtual reality head mounted device according to the posture information. The technical solution of the present invention provides a virtual reality experience device realized by using exoskeleton technology, which can reduce the user's physical exertion and improve the user experience.

Description

Technical Field

[0001] The present invention relates to the technical field of virtual reality intelligent wearable devices, and in particular to a VR device. Background Art

[0002] Powered exoskeletons, mechanical and electronic devices that first appeared in science fiction, are wearable machines that can enhance human capabilities. They can help people run faster, jump higher, carry more and heavier objects, and help people who wear them survive on battlefields, construction sites, or other dangerous places. This technology has been around for more than 20 years, but for technical reasons, these devices are not widely used yet and only shine in laboratories or test sites.

[0003] Virtual reality technology is an important direction of simulation technology. It is a collection of simulation technology, computer graphics, human-computer interface technology, multimedia technology, sensor technology, network technology and other technologies. It is a challenging cross-technical frontier discipline and research field. Virtual reality technology (VR) mainly includes aspects such as simulated environment, perception, natural skills and sensor equipment. The simulated environment is a real-time dynamic three-dimensional realistic image generated by a computer. Perception means that the ideal VR should have all the perceptions that people have. In addition to the visual perception generated by computer graphics technology, there are also perceptions such as hearing, touch, force, movement, and even smell and taste, which are also called multi-perception. Natural skills refer to the rotation of a person's head, eyes, gestures, or other human behavior movements. The computer processes the data that is adapted to the participant's movements, responds to the user's input in real time, and feeds back to the user's five senses respectively. Sensor equipment refers to three-dimensional interactive equipment.

[0004] In the prior art, users need to wear a virtual reality helmet or virtual reality glasses, hold a virtual reality controller, and complete the corresponding game interactive actions to experience virtual reality technology. However, after more than one hour of this virtual reality experience, users will feel dizzy, feel very tired, and have a poor user experience. In the prior art, there is a lack of a device that can improve the user experience of virtual reality, thereby reducing the physical consumption of virtual reality users during game experience, improving the user experience, and allowing users to experience virtual reality for a long time with pleasure. Summary of the invention

[0005] In view of this, the purpose of the present invention is to overcome the shortcomings of the prior art and provide a VR device that uses exoskeleton technology to help users reduce physical exertion in virtual reality interactive experience and improve user experience.

[0006] To achieve the above objectives, the present invention adopts the following technical solutions:

[0007] A VR device, used in conjunction with a virtual reality head-mounted device and a virtual reality server, comprises: a control circuit and an upper body exoskeleton, a lower body exoskeleton, and a foot exoskeleton assembled according to the human body structure;

[0008] The control circuit includes: an upper torso exoskeleton control circuit, a lower torso exoskeleton control circuit and a foot exoskeleton control circuit; the upper torso exoskeleton control circuit is used to collect the user's upper torso posture information and control the upper torso exoskeleton to perform corresponding posture movements; the lower torso exoskeleton control circuit is used to collect the user's lower torso posture information and control the lower torso exoskeleton to perform corresponding posture movements; the foot exoskeleton control circuit is used to collect the user's foot posture information and control the foot exoskeleton to perform corresponding posture movements;

[0009] The upper body exoskeleton control circuit, the lower body exoskeleton control circuit and the foot exoskeleton control circuit send the detected various posture information to the virtual reality server, and the virtual reality server switches the virtual reality scene currently played by the virtual reality head mounted device according to the posture information.

[0010] Preferably, the VR device further comprises: a head support portion; the head support portion is attached to the back of the user's head and is movably connected to the upper body exoskeleton to support the weight of the user's head.

[0011] Preferably, the VR device further comprises: a foot support portion; the foot support portion comprises a base, a pedal shaft and a pedal cup, wherein:

[0012] The base is fixed on the ground, one end of the pedal shaft is rotatably connected to the base via a rotating shaft, and the other end is hinged to the pedal cup via a hinge ball; the pedal is used to bear the weight of the user's foot and transmit it to the pedal shaft so that the pedal shaft can rotate around the rotating shaft within a preset angle range.

[0013] Preferably, the upper body exoskeleton includes an upper body and a left upper arm, a left lower arm and a left hand hinged on the left side of the upper body, and a right upper arm, a right lower arm and a right hand hinged on the right side of the upper body; wherein,

[0014] The left upper arm, left forearm, right upper arm and right forearm are all retractable structures; one end of the left forearm is hinged to the left upper arm, and the other end is hinged to the left hand; one end of the right forearm is hinged to the right upper arm, and the other end is hinged to the right hand.

[0015] Preferably, the upper body exoskeleton further comprises a left upper arm spring stretching member, a left lower arm spring stretching member, a right upper arm spring stretching member, and a right lower arm spring stretching member, wherein:

[0016] One end of the left upper arm spring stretching piece is fixed at the hinge of the left upper arm and the upper body, and the other end is fixed at the middle of the left upper arm; one end of the left forearm spring stretching piece is fixed at the hinge of the left forearm and the left upper arm, and the other end is fixed at the middle of the left forearm;

[0017] One end of the right upper arm spring stretching piece is fixed at the hinge between the right upper arm and the upper body, and the other end is fixed at the middle part of the right upper arm; one end of the right forearm spring stretching piece is fixed at the hinge between the right forearm and the right upper arm, and the other end is fixed at the middle part of the right forearm.

[0018] Preferably, the upper body exoskeleton control circuit comprises: an upper body controller and an upper body sensor group and an upper body driving circuit respectively electrically connected to the upper body controller, wherein the upper body sensor group comprises:

[0019] A first angle sensor is provided at the joint of the left upper arm and the left forearm, and a second angle sensor is provided at the joint of the left forearm and the left hand; a third angle sensor is provided at the joint of the right upper arm and the right forearm, and a fourth angle sensor is provided at the joint of the right forearm and the right hand; a first acceleration sensor is provided at the left upper arm, and a second acceleration sensor is provided at the right upper arm; a first pressure sensor is provided at the joint of the left upper arm and the upper body, and a second pressure sensor is provided at the joint of the right upper arm and the upper body; a third pressure sensor and a first gravity sensor are provided on the left hand, and a fourth pressure sensor and a second gravity sensor are provided on the right hand; and gyroscopes are provided at the upper, lower, left, and right positions of the upper body;

[0020] The upper torso sensor group is used to detect the lifting, lowering, left and right swinging of the left upper arm, left forearm, right upper arm, and right forearm, the clenching, loosening, bending, and laying of the left and right hands, and the forward and backward pitching and / or left and right horizontal twisting of the upper torso; the upper torso sensor group sends the detected various posture signals to the upper torso controller, and controls the posture movements of the upper torso exoskeleton through the upper torso drive circuit.

[0021] Preferably, the lower body exoskeleton includes a buttocks and a left thigh and a left calf hinged on the left side of the buttocks, and a right thigh and a right calf hinged on the right side of the buttocks; wherein the left thigh, left calf, right thigh and right calf are all retractable structures; the left calf is hinged to the left thigh, and the right calf is hinged to the right thigh.

[0022] Preferably, the lower body exoskeleton control circuit comprises: a lower body controller and a lower body sensor group and a lower body driving circuit electrically connected to the lower body controller, respectively, wherein the lower body sensor group comprises:

[0023] A fifth angle sensor is provided at the hinge of the left thigh and the left calf, and a sixth angle sensor is provided at the hinge of the right thigh and the right calf; a third acceleration sensor is provided at the left thigh, and a fourth acceleration sensor is provided at the right thigh; a fifth pressure sensor is provided at the hinge of the left thigh and the buttocks, and a sixth pressure sensor is provided at the hinge of the right thigh and the buttocks; gyroscopes are provided at the upper, lower, left and right positions of the buttocks;

[0024] The lower body sensor group is used to detect the lifting, lowering, left and right swinging of the left thigh, left calf, right thigh, and right calf, the horizontal twisting of the hips, and the left and right lifting; the lower body sensor group sends the various posture signals detected to the lower body controller, and controls the posture movements of the lower body exoskeleton through the lower body drive circuit.

[0025] Preferably, the foot exoskeleton includes: a left foot pedal, a left foot bandage, a right foot pedal, and a right foot bandage, wherein the left foot pedal and the right foot pedal have the same structure, both including soft pads and hard pads stacked on each other, the soft pads fit the sole of the human foot, and multiple pressure sensors are provided in the soft pads; the left foot bandage or the right foot strap is connected to the hard pad to fix the human foot on the left foot pedal or the right foot pedal.

[0026] Preferably, the foot exoskeleton control circuit includes a foot controller and a foot sensor group and a foot posture driving circuit electrically connected to the foot controller, wherein the foot sensor group includes:

[0027] A seventh angle sensor is provided at the hinge of the left footrest and the left calf, and an eighth angle sensor is provided at the hinge of the right footrest and the right calf; a seventh pressure sensor is provided in the left footrest, and an eighth pressure sensor is provided in the right footrest; a fifth acceleration sensor and a first laser rangefinder are provided at the bottom of the left footrest, and a sixth acceleration sensor and a second laser rangefinder are provided in the right footrest;

[0028] The foot sensor group is used to detect the fit, separation, lifting, falling, and stretching of the user's foot relative to the foot support; the foot sensor group sends the detected user foot posture signal to the foot controller, and controls the posture movement of the foot exoskeleton through the foot posture drive circuit.

[0029] The present invention adopts the above technical solution and has at least the following beneficial effects:

[0030] In the VR device provided by the present invention, the upper torso exoskeleton control circuit can collect the posture information of the upper torso of the human body and control the upper torso exoskeleton to perform corresponding posture movements, the lower torso exoskeleton control circuit can collect the posture information of the lower torso of the human body and control the lower torso exoskeleton to perform corresponding posture movements, and the foot exoskeleton control circuit can collect the posture information of the foot of the human body and control the foot exoskeleton to perform corresponding posture movements. When a virtual reality user wears the VR device provided by the present invention, the specific movements of the upper torso, lower torso and foot of the virtual reality user will be captured by the VR device provided by the present invention and sent to the virtual reality server for corresponding virtual reality scene switching, and at the same time, the human exoskeleton can be driven to cooperate with the user to perform corresponding posture movements, which makes the virtual reality user feel labor-saving when performing corresponding actions in the virtual reality scene, such as: rotating, shaking legs, running, jumping, etc., and will not feel too tired when immersed in the virtual reality scene for a long time, thereby improving the user experience.

[0031] In addition, when using the VR device provided by the present invention, the user can also use it in conjunction with a chair, that is, the user can sit down to achieve the virtual reality experience, which will save more effort and can further improve the user experience. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0033] Figure 1 This is a schematic diagram of the overall structure of a VR device provided by an embodiment of the present invention when it is suspended and not in use;

[0034] Figure 2 A schematic diagram of the overall structure of a VR device provided by an embodiment of the present invention when it is in an initialization state ready for use;

[0035] Figures 3A to 3E A schematic diagram of the correspondence between real human body movements and human body virtual reality movements provided by an embodiment of the present invention;

[0036] Figures 4A to 4C Schematic diagram of several movement ranges of human virtual reality movements provided by an embodiment of the present invention;

[0037] Figure 5 A schematic diagram of the structure of a right upper arm spring stretching member and a right lower arm spring stretching member provided in one embodiment of the present invention;

[0038] Figure 6A schematic structural diagram of a foot support portion provided by an embodiment of the present invention;

[0039] Figure 7 A schematic diagram of a structure of a human foot stepping on a foot support portion provided by an embodiment of the present invention;

[0040] Figure 8 A schematic block diagram of an upper body exoskeleton control circuit provided by an embodiment of the present invention;

[0041] Fig. 9 A schematic block diagram of a lower body exoskeleton control circuit provided by an embodiment of the present invention;

[0042] Fig.10 A schematic block diagram of a foot control circuit provided in accordance with an embodiment of the present invention. DETAILED DESCRIPTION

[0043] To make the purpose, technical solution and advantages of the present invention clearer, the technical solution of the present invention will be described in detail below. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other implementation methods obtained by ordinary technicians in this field without creative work belong to the scope of protection of the present invention.

[0044] The technical solution of the present invention is further described in detail below through the accompanying drawings and embodiments.

[0045] See also Figure 1 and Figure 2 A VR device provided by an embodiment of the present invention is used in conjunction with a virtual reality head mounted device 1 and a virtual reality server (not shown in the drawings), and includes: a control circuit and an upper body exoskeleton 2, a lower body exoskeleton 3, and a foot exoskeleton 4 assembled together according to the human body structure;

[0046] The control circuit includes: an upper torso exoskeleton control circuit 5, a lower torso exoskeleton control circuit 6 and a foot exoskeleton control circuit 7; the upper torso exoskeleton control circuit 5 is used to collect the user's upper torso posture information and control the upper torso exoskeleton 2 to perform corresponding posture movements; the lower torso exoskeleton control circuit 6 is used to collect the user's lower torso posture information and control the lower torso exoskeleton 3 to perform corresponding posture movements; the foot exoskeleton control circuit 7 is used to collect the user's foot posture information and control the foot exoskeleton 4 to perform corresponding posture movements;

[0047] The upper torso exoskeleton control circuit 5, the lower torso exoskeleton control circuit 6 and the foot exoskeleton control circuit 7 send the detected various posture information to the virtual reality server, and the virtual reality server switches the virtual reality scene currently played by the virtual reality head mounted device 1 according to the posture information.

[0048] It should be noted that the VR device provided by the present invention can be used with or without a virtual reality handle. For example, when a user experiences a shooting game, the VR handle can be used with the VR handle so that the user can be more realistically immersed in the game scene; but when a user experiences a dance competition game, the VR handle is not needed because the user only needs to use body movements to complete the competition interaction with the VR server.

[0049] In addition, it should be noted that the virtual reality head mounted device, virtual reality server and virtual reality handle supporting the present invention all operate according to the existing working mode, except that the scene switching in the virtual reality head mounted device is based not only on the posture and movement information of the user's head, but also on the posture and movement information of the user's upper torso, lower torso and feet, so that the user can be immersed in the game scene more realistically.

[0050] In the prior art, users experience virtual reality games without effort, but the VR device provided by the present invention is combined with exoskeleton technology (exoskeleton technology has been developed very maturely and has been widely used in the military and medical fields), so users can experience virtual reality games with effortless wearing the VR device provided by the present invention. For example: when the user wants to lift his legs, the user only needs to use a small amount of effort, and the exoskeleton can help the user complete the action; similarly, when the user wants to raise his hands, the user only needs to use a small amount of effort, and the exoskeleton can help the user complete the action.

[0051] Furthermore, in order to save effort for users, they will not feel tired when playing virtual reality games for a long time. The VR device provided by the present invention can be used with a matching seat (not shown in the attached drawings, ordinary seats available on the market can be used). For example, a user wearing the VR device provided by the present invention, sitting on the seat, raising his legs and stepping, represents walking in a virtual reality scene (see Figure 3A , Figure 3A The left side of the middle represents the real human body movements, and the right side represents the mapped human body virtual reality movements. Figure 3A The connecting dotted lines in the figure represent the mapping points of some actions); sitting on a chair and raising the legs and stepping with high frequency and large amplitude represent running in the virtual reality scene (see Figure 3B , Figure 3B The left side of the middle represents the real human body movements, and the right side represents the mapped human body virtual reality movements. Figure 3B The connecting dotted lines in the figure represent the mapping points of some actions); sitting on a chair with legs together, head and back leaning forward, and hands bent down represents bending knees and waist in a virtual reality scene (see Figure 3C , Figure 3C The left side of the middle represents the real human body movements, and the right side represents the mapped human body virtual reality movements. Figure 3C The connecting dotted lines in the figure represent the mapping points of some actions); sitting on the chair with legs together and back leaning back represents sitting upright in the virtual reality scene (see Figure 3D , Figure 3D The left side of the middle represents the real human body movements, and the right side represents the mapped human body virtual reality movements. Figure 3D The connecting dotted lines in the figure represent the mapping points of some actions); sitting on a chair with legs crossed forward and backward and the back leaning forward represents bending over to pick up something in the virtual scene (see Figure 3E , Figure 3E The left side of the middle represents the real human body movements, and the right side represents the mapped human body virtual reality movements. Figure 3E The connecting dotted lines in the figure represent the mapping points of some actions); ... In this case, it is necessary to first establish a correspondence table between the real human body actions and the virtual human body actions in the virtual reality server. For example, when the real human body action is that the back is tilted 105°, the corresponding virtual reality action is that the back of the human body is 90° (i.e. Figure 4A The position indicated by the A line in the figure); when the real human body movement is that the back is tilted 120°, the corresponding virtual reality movement is that the back of the human body is 105° (i.e. Figure 4A -A1 line in the figure); when the real human body movement is that the back is tilted 90°, the corresponding virtual reality movement is that the back of the human body is 75° (i.e. Figure 4A The position shown by the +A1 line in the figure),…

[0052] It is understandable that the purpose of establishing this correspondence table between real human body movements and human virtual reality human body movements is to map the movements of the human body sitting or lying on a chair into walking, running, bending or other movements in a virtual reality scene, so that the user can complete a series of movements in the virtual reality scene while sitting or lying on a chair, further helping the user save effort and improving the user experience.

[0053] Specifically for the present invention, it can be pre-set in the virtual reality server, see Figure 4A , the initial position of the back of the human body in virtual reality action is specified as A, the range of motion is (-A1~﹢A4), and each amplitude of action corresponds to a real amplitude of action of the human body; see Figure 4A , the initial position of the thigh in the virtual reality action of the human body is specified as X, the range of motion is (-X1~﹢X5), and each amplitude of the action corresponds to a real amplitude of the human body; see Figure 4A , the initial position of the calf in the human virtual reality action is specified as Y, the range of motion is (-Y1 to -Y6), and each amplitude of the action corresponds to a real amplitude of the human body; see Figure 4B , the initial position of the upper arm of the human virtual reality action is specified as a, the range of motion is (-a2~﹢a4), and each amplitude of the action corresponds to a real amplitude of the human body; see Figure 4C , it is stipulated that the initial position of the forearm of the human virtual reality movement is b, the range of movement is (-b1~﹢b7), and each amplitude of movement corresponds to a real amplitude of movement of the human body.

[0054] In summary, the VR device provided by the present invention helps users save effort when experiencing virtual reality, which is achieved at two levels: first, by using a wearable exoskeleton to save effort; second, by mapping real human movements with human virtual reality movements, that is, completing high-energy-consuming movements in virtual reality scenes (such as running, walking, etc.) through low-energy-consuming movements while sitting or lying (such as raising legs while lying, bending over while sitting, etc.).

[0055] See also Figure 1 and Figure 2 Preferably, the VR device further comprises: a head support portion 5; the head support portion 5 is attached to the back of the user's head and is movably connected to the upper body exoskeleton 2 to support the weight of the user's head.

[0056] See also Figure 6 and Figure 7 Preferably, the VR device further comprises: a foot support portion 6; the foot support portion comprises a base 61, a pedal shaft 62 and a pedal cup 63, wherein:

[0057] The base 61 is fixed on the ground, one end of the pedal shaft 62 is rotatably connected to the base 61 via a rotating shaft, and the other end is hinged to the pedal cup 63 via a hinge ball; the pedal cup 63 is used to bear the weight of the user's foot and transfer it to the pedal shaft 62, so that the pedal shaft 62 can rotate around the rotating shaft within a preset angle range.

[0058] Preferably, the upper body exoskeleton 2 includes an upper body 21 and a left upper arm 22, a left lower arm 23 and a left hand 24 hinged on the left side of the upper body 21, and a right upper arm 25, a right lower arm 26 and a right hand 27 hinged on the right side of the upper body 21; wherein,

[0059] The left upper arm 22, left forearm 23, right upper arm 25, and right forearm 26 are all retractable structures; one end of the left forearm 23 is hinged to the left upper arm 22, and the other end is hinged to the left hand 24; one end of the right forearm 26 is hinged to the right upper arm 25, and the other end is hinged to the right hand 27.

[0060] It can be understood that the left upper arm, left forearm, right upper arm and right forearm are all retractable structures, which are made into a retractable structure similar to a trolley case. The length can be adjusted according to the height and body shape of the user, thereby expanding the wearable group of the VR device provided by the present invention.

[0061] The upper body 21 can be made into a vest, waistcoat or the like, fixed with buckles, so that the virtual reality user can wear it directly on the body; the left upper arm 22, the left forearm 23, the right upper arm 25, and the right forearm 26 can be made into a multi-section hinged structure according to the human body structure, and fixed to the human arm with straps, buckles or other fixings to facilitate the user's movement and wearing.

[0062] See also Figure 5 Preferably, the upper body exoskeleton 2 further comprises a left upper arm spring stretching member 28, a left lower arm spring stretching member 29, a right upper arm spring stretching member (not shown in the drawings), and a right lower arm spring stretching member (not shown in the drawings), wherein:

[0063] One end of the left upper arm spring stretching member 28 is fixed at the hinge of the left upper arm and the upper body, and the other end is fixed at the middle of the left upper arm; one end of the left forearm spring stretching member 29 is fixed at the hinge of the left forearm and the left upper arm, and the other end is fixed at the middle of the left forearm;

[0064] One end of the right upper arm spring stretching piece is fixed at the hinge between the right upper arm and the upper body, and the other end is fixed at the middle part of the right upper arm; one end of the right forearm spring stretching piece is fixed at the hinge between the right forearm and the right upper arm, and the other end is fixed at the middle part of the right forearm.

[0065] It is understandable that the VR device provided by the present invention has an initial state of use, for example Figure 2 The initialization state to be used is shown. In this state, the user is not standing, but lying on the seat. In order to make the user feel comfortable and effortless, a left upper arm spring stretching member, a left lower arm spring stretching member, a right upper arm spring stretching member, and a right lower arm spring stretching member are added to rely on the tension of the spring to help the user comfortably stay in the initial state.

[0066] See also Figure 8 Preferably, the upper body exoskeleton control circuit 5 comprises: an upper body controller 51 and an upper body sensor group 52 and an upper body driving circuit 53 electrically connected to the upper body controller 51, respectively, wherein the upper body sensor group 52 comprises:

[0067] A first angle sensor is provided at the joint of the left upper arm and the left forearm, and a second angle sensor is provided at the joint of the left forearm and the left hand; a third angle sensor is provided at the joint of the right upper arm and the right forearm, and a fourth angle sensor is provided at the joint of the right forearm and the right hand; a first acceleration sensor is provided at the left upper arm, and a second acceleration sensor is provided at the right upper arm; a first pressure sensor is provided at the joint of the left upper arm and the upper body, and a second pressure sensor is provided at the joint of the right upper arm and the upper body; a third pressure sensor and a first gravity sensor are provided on the left hand, and a fourth pressure sensor and a second gravity sensor are provided on the right hand; and gyroscopes are provided at the upper, lower, left, and right positions of the upper body;

[0068] The upper body sensor group 52 is used to detect the lifting, lowering, left and right swinging of the left upper arm, left forearm, right upper arm, and right forearm, the clenching, loosening, bending, and laying of the left and right hands, and the forward and backward pitching and / or left and right horizontal twisting of the upper body; the upper body sensor group 52 sends the detected various posture signals to the upper body controller 51, and controls the posture movements of the upper body exoskeleton 2 through the upper body drive circuit 53.

[0069] Preferably, the lower body exoskeleton 3 includes a buttocks 31 and a left thigh 32 and a left calf 33 hinged on the left side of the buttocks 31, and a right thigh 34 and a right calf 35 hinged on the right side of the buttocks; wherein the left thigh 32, the left calf 33, the right thigh 34 and the right calf 35 are all retractable structures; the left calf 33 is hinged to the left thigh 32, and the right calf 35 is hinged to the right thigh 34.

[0070] It can be understood that the left thigh, left calf, right thigh and right calf are all retractable structures, which are made into a retractable structure similar to a trolley case, and the length can be adjusted according to the height and body shape of the user, thereby expanding the wearable group of the VR device provided by the present invention.

[0071] The lower body 31 can be made into the shape of shorts, gym pants, etc., and fixed with buckles, so that the virtual reality user can wear it directly on the body; the left thigh 32, left calf 33, right thigh 34, and right calf 35 can be made into a multi-section hinged structure based on the human body structure, and fixed to the human leg with straps, buckles or other fixings to facilitate user movement and wearing.

[0072] See also Fig. 9 Preferably, the lower body exoskeleton control circuit 6 comprises: a lower body controller 61 and a lower body sensor group 62 and a lower body driving circuit 63 electrically connected to the lower body controller 61, respectively, and the lower body sensor group 62 comprises:

[0073] A fifth angle sensor is provided at the hinge of the left thigh and the left calf, and a sixth angle sensor is provided at the hinge of the right thigh and the right calf; a third acceleration sensor is provided at the left thigh, and a fourth acceleration sensor is provided at the right thigh; a fifth pressure sensor is provided at the hinge of the left thigh and the buttocks, and a sixth pressure sensor is provided at the hinge of the right thigh and the buttocks; gyroscopes are provided at the upper, lower, left and right positions of the buttocks;

[0074] The lower body sensor group 62 is used to detect the lifting, lowering, left and right swinging of the left thigh, left calf, right thigh, and right calf, the horizontal twisting of the hips, and the left and right lifting; the lower body sensor group sends the various posture signals detected to the lower body controller, and controls the posture movements of the lower body exoskeleton through the lower body drive circuit.

[0075] Preferably, the foot exoskeleton 4 includes: a left foot pedal 41, a left foot bandage 42, a right foot pedal 43, and a right foot bandage 44, wherein the left foot pedal 41 and the right foot pedal 43 have the same structure, both including a soft pad 411 and a hard pad 412 stacked together, the soft pad 411 fits the sole of the human foot, and a plurality of pressure sensors are arranged in the soft pad 411; the left foot bandage 42 or the right foot strap 44 is connected to the hard pad 412, and is used to fix the human foot on the left foot pedal 41 or the right foot pedal 43.

[0076] See also Fig.10 Preferably, the foot exoskeleton control circuit 7 includes a foot controller 71 and a foot sensor group 72 and a foot posture driving circuit 73 electrically connected to the foot controller 71, wherein the foot sensor group 72 includes:

[0077] A seventh angle sensor is provided at the hinge of the left footrest and the left calf, and an eighth angle sensor is provided at the hinge of the right footrest and the right calf; a seventh pressure sensor is provided in the left footrest, and an eighth pressure sensor is provided in the right footrest; a fifth acceleration sensor and a first laser rangefinder are provided at the bottom of the left footrest, and a sixth acceleration sensor and a second laser rangefinder are provided in the right footrest;

[0078] The foot sensor group 72 is used to detect the fit, separation, lifting, falling, and stretching of the user's foot relative to the foot support; the foot sensor group sends the detected user foot posture signal to the foot controller, and controls the posture movement of the foot exoskeleton through the foot posture drive circuit.

[0079] The above description is only a specific embodiment of the present invention, but the protection scope of the present invention is not limited thereto. Any technician familiar with the technical field can easily think of changes or substitutions within the technical scope disclosed by the present invention, which should be included in the protection scope of the present invention. Therefore, the protection scope of the present invention should be based on the protection scope of the claims. The terms "first" and "second" are used for descriptive purposes only and cannot be understood as indicating or implying relative importance. The term "plurality" refers to two or more, unless otherwise clearly defined.

Claims

1. A VR device, characterized in that: Used in conjunction with a virtual reality head-mounted device and a virtual reality server, including: a control circuit and an upper body exoskeleton, a lower body exoskeleton, and a foot exoskeleton assembled according to the human body structure; The control circuit includes: an upper torso exoskeleton control circuit, a lower torso exoskeleton control circuit and a foot exoskeleton control circuit; the upper torso exoskeleton control circuit is used to collect the user's upper torso posture information and control the upper torso exoskeleton to perform corresponding posture movements; the lower torso exoskeleton control circuit is used to collect the user's lower torso posture information and control the lower torso exoskeleton to perform corresponding posture movements; the foot exoskeleton control circuit is used to collect the user's foot posture information and control the foot exoskeleton to perform corresponding posture movements; The upper body exoskeleton control circuit, the lower body exoskeleton control circuit and the foot exoskeleton control circuit send the detected various posture information to the virtual reality server, and the virtual reality server switches the virtual reality scene currently played by the virtual reality head mounted device according to the posture information; A correspondence table between real human body movements and human body virtual reality movements is established in the virtual reality server, wherein the correspondence table is used to map the movements of a human body sitting or lying on a seat into preset movements of a corresponding character in a virtual reality scene; Human virtual reality movements are pre-defined in the virtual reality server, including: the initial position of the back is A, the range of movement is -A1 to +A4, and each amplitude of movement corresponds to a real amplitude of movement of the human body; the initial position of the thigh of the human virtual reality movement is X, the range of movement is -X1 to +X5, and each amplitude of movement corresponds to a real amplitude of movement of the human body; the initial position of the calf of the human virtual reality movement is Y, the range of movement is -Y1 to -Y6, and each amplitude of movement corresponds to a real amplitude of movement of the human body; the initial position of the upper arm of the human virtual reality movement is a, the range of movement is -a2 to +a4, and each amplitude of movement corresponds to a real amplitude of movement of the human body; the initial position of the forearm of the human virtual reality movement is b, the range of movement is -b1 to +b7, and each amplitude of movement corresponds to a real amplitude of movement of the human body.

2. The VR device according to claim 1, characterized in that: Also includes: Head support; The head support part is fitted on the back of the user's head and is movably connected to the upper body exoskeleton to support the weight of the user's head.

3. The VR device according to claim 1, characterized in that: Also includes: Foot support; the foot support includes a base, a pedal shaft and a pedal cup, wherein, The base is fixed on the ground, one end of the pedal shaft is rotatably connected to the base via a rotating shaft, and the other end is hinged to the pedal cup via a hinge ball; the pedal cup is used to bear the weight of the user's foot and transfer it to the pedal shaft so that the pedal shaft can rotate around the rotating shaft within a preset angle range.

4. The VR device according to claim 1, characterized in that: The upper body exoskeleton includes an upper body and a left upper arm, a left lower arm and a left hand hinged on the left side of the upper body, and a right upper arm, a right lower arm and a right hand hinged on the right side of the upper body; wherein, The left upper arm, left forearm, right upper arm and right forearm are all retractable structures; one end of the left forearm is hinged to the left upper arm, and the other end is hinged to the left hand; one end of the right forearm is hinged to the right upper arm, and the other end is hinged to the right hand.

5. The VR device according to claim 4, characterized in that: The upper body exoskeleton also includes a left upper arm spring extension member, a left lower arm spring extension member, a right upper arm spring extension member, and a right lower arm spring extension member, wherein: One end of the left upper arm spring stretching piece is fixed at the hinge of the left upper arm and the upper body, and the other end is fixed at the middle of the left upper arm; one end of the left forearm spring stretching piece is fixed at the hinge of the left forearm and the left upper arm, and the other end is fixed at the middle of the left forearm; One end of the right upper arm spring stretching piece is fixed at the hinge between the right upper arm and the upper body, and the other end is fixed at the middle part of the right upper arm; one end of the right forearm spring stretching piece is fixed at the hinge between the right forearm and the right upper arm, and the other end is fixed at the middle part of the right forearm.

6. The VR device according to claim 4, characterized in that: The upper body exoskeleton control circuit includes: an upper body controller and an upper body sensor group and an upper body drive circuit respectively electrically connected to the upper body controller, wherein the upper body sensor group includes: A first angle sensor is provided at the joint of the left upper arm and the left forearm, and a second angle sensor is provided at the joint of the left forearm and the left hand; a third angle sensor is provided at the joint of the right upper arm and the right forearm, and a fourth angle sensor is provided at the joint of the right forearm and the right hand; a first acceleration sensor is provided at the left upper arm, and a second acceleration sensor is provided at the right upper arm; a first pressure sensor is provided at the joint of the left upper arm and the upper body, and a second pressure sensor is provided at the joint of the right upper arm and the upper body; a third pressure sensor and a first gravity sensor are provided on the left hand, and a fourth pressure sensor and a second gravity sensor are provided on the right hand; and gyroscopes are provided at the upper, lower, left, and right positions of the upper body; The upper torso sensor group is used to detect the lifting, lowering, left and right swinging of the left upper arm, left forearm, right upper arm, and right forearm, the clenching, loosening, bending, and laying of the left and right hands, and the forward and backward pitching and / or left and right horizontal twisting of the upper torso; the upper torso sensor group sends the detected various posture signals to the upper torso controller, and controls the posture movements of the upper torso exoskeleton through the upper torso drive circuit.

7. The VR device according to claim 3, characterized in that: The lower body exoskeleton includes a buttocks and a left thigh and a left calf hinged on the left side of the buttocks, and a right thigh and a right calf hinged on the right side of the buttocks; wherein the left thigh, left calf, right thigh and right calf are all retractable structures; the left calf is hinged to the left thigh, and the right calf is hinged to the right thigh.

8. The VR device according to claim 7, characterized in that: The lower body exoskeleton control circuit includes: a lower body controller and a lower body sensor group and a lower body driving circuit electrically connected to the lower body controller, respectively, wherein the lower body sensor group includes: A fifth angle sensor is provided at the hinge of the left thigh and the left calf, and a sixth angle sensor is provided at the hinge of the right thigh and the right calf; a third acceleration sensor is provided at the left thigh, and a fourth acceleration sensor is provided at the right thigh; a fifth pressure sensor is provided at the hinge of the left thigh and the buttocks, and a sixth pressure sensor is provided at the hinge of the right thigh and the buttocks; gyroscopes are provided at the upper, lower, left and right positions of the buttocks; The lower body sensor group is used to detect the lifting, lowering, left and right swinging of the left thigh, left calf, right thigh, and right calf, the horizontal twisting of the hips, and the left and right lifting; the lower body sensor group sends the various posture signals detected to the lower body controller, and controls the posture movements of the lower body exoskeleton through the lower body drive circuit.

9. The VR device according to claim 8, characterized in that: The foot exoskeleton includes: a left foot pedal, a left foot bandage, a right foot pedal, and a right foot bandage, wherein the left foot pedal and the right foot pedal have the same structure, both including soft pads and hard pads stacked on each other, the soft pads fit the soles of the user's feet, and multiple pressure sensors are arranged in the soft pads; the left foot bandage or the right foot strap is connected to the hard pad to fix the user's foot on the left foot pedal or the right foot pedal.

10. The VR device according to claim 9, characterized in that: The foot exoskeleton control circuit includes a foot controller and a foot sensor group and a foot posture driving circuit electrically connected to the foot controller, wherein the foot sensor group includes: A seventh angle sensor is provided at the hinge of the left footrest and the left calf, and an eighth angle sensor is provided at the hinge of the right footrest and the right calf; a seventh pressure sensor is provided in the left footrest, and an eighth pressure sensor is provided in the right footrest; a fifth acceleration sensor and a first laser rangefinder are provided at the bottom of the left footrest, and a sixth acceleration sensor and a second laser rangefinder are provided in the right footrest; The foot sensor group is used to detect the fit, separation, lifting, falling, and stretching of the user's foot relative to the foot support; the foot sensor group sends the detected user foot posture signal to the foot controller, and controls the posture movement of the foot exoskeleton through the foot posture drive circuit.

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