A VR omnidirectional motion device

Abstract

The present invention relates to the technical field of virtual reality (VR), and particularly to a device that enables a user to walk omnidirectionally in a limited space and simulate various terrains and tactile feedback in a VR scenario. The device includes an actuating mechanism and a connecting part that connects and places the user's two feet. The actuating mechanism is connected to the user's two feet respectively through the connecting part. The movements of the two feet drive the actuating mechanism to move, and also drive the moving parts of the actuating mechanism. The movement can be in a plane or in a three-dimensional space. The connecting part always moves synchronously with the user's feet, and the actuating mechanism can apply power or resistance to the user's feet at any position at any time. The actuating mechanism drives the connecting part to move in the opposite direction of the common movement direction of the user's two feet, or a bearing part applies power to the actuating mechanism, the connecting part or the user's feet. It can enable the user to walk in any direction within a limited range.

Description

Technical Field

[0001] The present invention relates to the field of virtual reality (VR) technology, and in particular to a device that allows a user to walk in all directions in a limited space and simulates a variety of terrains and tactile feedback in a VR scene. Background Art

[0002] Virtual reality (VR) technology is an important application technology in modern society. It can use computer image simulation technology to produce realistic scenes and feedback information. Its application scope and popularity are increasing.

[0003] In a virtual reality system, it is a necessary technology to allow users to walk in all directions in a virtual scene. Existing technical solutions include: a large conveyor belt nested with several small conveyor belts in orthogonal directions, a circular concave sliding method, a ball array method, and a roller arrangement method.

[0004] The existing technical solutions use the same device to allow users to walk freely in all directions within a limited space, and can also simulate various terrains and tactile resistances (such as ups and downs, ups and downs of stairs, uneven terrain, muddy ground, wading, etc.) and multiple usage scenarios (skiing, vehicles, machinery, The specific simulation method of tools' pedaling resistance, etc.) has not yet been realized. Summary of the invention

[0005] Based on the deficiencies of the above-mentioned existing technical solutions, the present invention proposes a technical solution of a VR omnidirectional motion device.

[0006] The VR omnidirectional motion device of the present invention includes an actuating mechanism and a connecting part that can connect and place the user's feet. The connecting part can support the user's feet, and can also connect and support the walking assistive device used by the user, such as a cane or a prosthesis. Therefore, the number of actuating mechanisms and connecting parts is not limited. Two sets can be equipped to match the user's feet, or three or four sets can be equipped for a single or double crutches to assist the user in walking. For the convenience of subsequent description, in this specification, it is assumed that the number of actuating mechanisms and connecting parts is two sets, which are connected to the user's feet respectively.

[0007] The actuating mechanism of the present invention is connected to the user's feet through the connecting parts. The movement of the feet drives the actuating mechanism to move, and also drives the movable parts of the actuating mechanism to move. The movement can be in a plane or in a three-dimensional space. The user's feet can drive some movable parts of the actuating mechanism to move, such as: stretching, contracting, folding, and rotating, so that the connecting parts always move synchronously with the user's feet and the actuating mechanism can apply power or resistance to the user's feet at any time and at any position.

[0008] The connecting part of the present invention includes a supporting component, which can move synchronously with the movement of the user's foot and rotate relative to the X and Y axes of the supporting component itself.

[0009] The actuating mechanism of the present invention is controlled by a control system, and can apply power of three axes X, Y, and Z in three-dimensional space to the user's feet through the connecting part, respectively, to drive the user's feet to move in the direction of the combined power. The actuating mechanism can also apply rotational force of two axes X and Y to the connecting part, so that the connecting part changes its inclination angle. The supporting component of the connecting part can apply a supporting force to the user's feet at any height within the vertical range of motion of the movable component of the actuating mechanism. When the user's single foot or both feet are supported by the supporting component of the connecting part, the actuating mechanism drives the connecting part to move in the opposite direction of the common movement direction of the user's feet, or the bearing part applies power to the actuating mechanism, the connecting part, or the user's feet. The user can walk in any direction within a limited range.

[0010] The actuating mechanism of the present invention can apply a supporting force and a resistance to the connecting part, so that the user's foot is subjected to resistance in the direction of movement, slowing down the movement speed or stopping at a certain spatial position at a certain angle. For example, when the user lifts up the left foot, and the supporting part of the left foot connecting part is driven to be 20 cm higher than the supporting part of the right foot connecting part, the actuating mechanism applies a resistance to the left foot connecting part, so that the user's left foot stays at a position 20 cm higher than the right foot.

[0011] As described above, the connection part and the actuating mechanism and its components of the present invention can perform passive motion and active motion, passive motion: driven by the user's foot movement; active motion: driven by the power of the actuating mechanism or the load-bearing part. By applying appropriate power or resistance, or a combination of power and resistance, to the connection part in the appropriate direction and spatial position, the movement of the user's feet in the three-dimensional space can be controlled, thereby achieving omnidirectional movement in a limited space, and simulating resistance and foot tactile simulation in various terrains (such as ups and downs, ups and downs of stairs, uneven terrain, muddy ground, wading, etc.) and various usage scenarios (skiing, operating vehicle pedals, machinery, tool pedaling resistance, etc.).

[0012] The present invention can realize some functions that do not require virtual scene information feedback by relying on its own hardware and control system, such as walking, running, up and down slopes, up and down stairs, uneven terrain, wading, muddy ground, snow and other scene simulations.

[0013] The hardware of the present invention cooperates with the sensing system, control system, and signal processor (computer, smart phone, VR all-in-one machine, etc.) to realize the feedback of information such as the terrain of the virtual scene and simulate the bipedal tactile sensation in various scenes, such as: stepping on the accelerator, stepping on the brake pedal, etc.

[0014] The actuating mechanism and the bearing part described in the present invention can have various forms. This specification will describe in detail the specific implementation manners of the preferred embodiments of the present invention, but are not limited to the forms described in this specification. Description of the Drawings

[0015] Figure 1 : Schematic diagram of the basic structure of the actuating mechanism in which the vertical driving device is in the form of an electric push rod.

[0016] Figure 2 : Schematic diagram of the basic structure of the actuating mechanism in which the vertical driving device is in the form of a scissor folding.

[0017] Figure 3 : Schematic diagram of the basic structure of the actuating mechanism with vertical driving and horizontal driving functions.

[0018] Figure 4 : Schematic diagram of the way of simulating the action of stepping onto a step by the driving connection part of the actuating mechanism.

[0019] Figure 5 : Schematic diagram of the way of simulating the action of stepping down a step by the driving connection part of the actuating mechanism.

[0020] Figure 6 : Schematic diagram of the way of changing the angle of the supporting part of the actuating mechanism.

[0021] Figure 7 : Top view of the articulated part between the movable part and the connection part of the actuating mechanism.

[0022] Figure 8 : Schematic diagram of the way of simulating the longitudinal slope relative to the user by the cooperation of the actuating mechanism and the supporting part.

[0023] Figure 9 : Schematic diagram of the way of simulating the transverse slope relative to the user by the cooperation of the actuating mechanism and the supporting part.

[0024] Figure 10 : Schematic diagram of the way of simulating the action of the user's foot stepping on the pedal in the VR scenario by the cooperation of the actuating mechanism and the connection part.

[0025] Figure 11 : Schematic diagram of the way of simulating the action of the user's foot stepping on the pedal in the VR scenario by the cooperation of the actuating mechanism and the connection part.

[0026] Figure 12 : Schematic diagram of the interaction of two sets of devices used by the user through a computer network.

[0027] Figure 13 : Schematic diagram of the connection of the actuating mechanism with the auxiliary mechanism and the bearing part.

[0028] Figure 14: Schematic diagram of the X-axis movement of the parallelogram auxiliary mechanism cooperating with the actuating mechanism.

[0029] Figure 15 : Top view of the movement of the parallelogram auxiliary mechanism cooperating with the actuating mechanism.

[0030] Figure 16 : Schematic diagram of the X-axis movement of the support component cooperating with the user's foot.

[0031] Figure 17 : Schematic diagram of the load-bearing part with an orthogonal conveyor belt structure.

[0032] Figure 18 : Schematic diagram of an embodiment of the load-bearing part in the form of an orthogonal conveyor belt.

[0033] Figure 19 : Schematic diagram of an embodiment of the load-bearing part in the form of concave sliding. Detailed implementation manner

[0034] The present invention provides a hardware device that can be used for VR scene interaction, including an actuating mechanism. The actuating mechanism is connected to the user's feet through a connecting part, and signals such as the spatial position, speed, angle, and direction of the user's two feet are input into a signal processor such as a computer through a sensing system. The computer converts the signals into the corresponding positions and foot movements of the simulated character in the VR scene. The interaction content in the VR scene is determined based on information such as the position of the two feet in the VR scene and a signal is fed back to the control system. The control system controls the actuating mechanism and the connecting part. The actuating mechanism applies different directions and different magnitudes of power and / or resistance to the user's two feet at different positions, enabling the user's two feet to generate corresponding tactile resistance according to the VR scene content and feel a variety of simulated terrains.

[0035] The number of the actuating mechanism and the connecting part described in the present invention is not limited. For the convenience of description, the number of the actuating mechanism and the connecting part is set to two sets in this specification, which are respectively connected to the user's two feet.

[0036] Taking VR scene interaction as an example, for instance: The user wears a VR display device and sees a staircase in the VR scene. The user can walk in place on the VR omnidirectional motion device of the present invention in a normal walking manner, and the user feels that he is advancing towards the staircase in the VR scene. The user moves on the VR omnidirectional motion device with the action of stepping on the staircase in real life, and at the same time feels that he is climbing the staircase in the virtual scene and experiences the real feeling of stepping on the staircase step by step.

[0037] The VR omnidirectional motion device of the present invention can achieve omnidirectional in-place movement and simulate the tactile resistance of a variety of terrains only by relying on the actuating mechanism, the connecting part, and the control system without combining with the VR scene. However, the user will not have the immersion and interaction feeling of the VR scene.

[0038] The present invention can use the hardware cooperation of the actuating mechanism and the connecting part, together with the sensing system, the control system, and the single-chip microcomputer or PLC, to realize the full-direction walking action in place, as well as the resistance and tactile simulation of going up and down steps, slopes, and walking on uneven roads. The sensing system detects signals such as the direction, speed, acceleration, angular velocity, etc. of the connecting part driven by the user's two feet, and the position signals on the X, Y, and Z axes in space, and sends the signals to the single-chip microcomputer or PLC. The single-chip microcomputer or PLC uses the built-in program to send signals to the control system, and the control system controls the actions of the components of the actuating mechanism and the connecting part, or the single-chip microcomputer or PLC directly sends control signals to the motors of the actuating mechanism and the connecting part. The signals detected by the sensing system may include the spatial direction, spatial position, movement speed, acceleration, angle, angular velocity of the components of the connecting part and the actuating mechanism, as well as the pressure, resistance, etc. between the user's feet and the connecting part. The above signals are input into the signal processing device, which can accurately calculate the spatial position and movement state of the user's two feet.

[0039] The specific technical solution for the present invention to achieve the full-direction walking in place of the user in the device is as follows: two sets of actuating mechanisms and connecting parts. The connecting parts are respectively connected to the user's two feet, and the user's two feet are supported by the supporting components included in the connecting part. The two sets of actuating mechanisms can move in any direction within the moving plane (the area where the VR omnidirectional motion device allows the user to move) and can rotate 360 degrees clockwise or counterclockwise. When the user lifts one foot and steps forward towards the front of the body, it drives the actuating mechanism and the connecting part to move forward synchronously; when this foot falls to the supporting height (the height at which the user's foot is supported by the supporting component), the actuating mechanism drives the connecting part and the foot to move in the opposite direction to the user's step, restricting the movement range of the user's body and preventing it from going beyond the range defined by the device. When the user turns, the connecting part drives the actuating mechanism to turn with the user's two feet.

[0040] The user stands still on the device with both feet making no movement. At this time, the line that passes through the center point of the user's waist and the foot of the perpendicular from the user's body to the plane where the feet stand and intersects with the X-axis of the user's body is the Y-axis zero position line. When the user moves in any direction on the plane, the actuating mechanism moves under the action of its own power or the power of the bearing part, applies a driving force to the joint part, and keeps the user's feet from leaving the defined activity range. If the user steps forward with the left foot, the connecting part connected to the left foot drives the actuating mechanism A to move forward, and the moving distance and speed are the same as the movement of the user's left foot. When the left foot lands on the activity plane, the actuating mechanism A stops moving. If the user steps backward with the right foot, the connecting part connected to the right foot drives the actuating mechanism B to move backward, and the moving distance and speed are the same as the movement of the user's right foot. The two connecting parts A and B are in a static state with the user's feet in front of and behind the user's body respectively, and the user stands with the left foot in front and the right foot behind. If the user moves the right foot forward, the connecting part of the right foot drives the actuating mechanism B to move forward. When the center point of the structure of the actuating mechanism B exceeds the Y-axis zero position line, the sensing system sends a signal to the control system, and the control system controls the actuating mechanism A connected to the user's left foot to move backward or controls the bearing part to apply a driving force backward to the user's left foot or the connecting part connected to the left foot. The control system simultaneously controls the movement speed of the actuating mechanism A or the bearing part to be the same as the movement speed of the actuating mechanism B driven by the user's right foot moving forward.

[0041] In the present invention, the bearing part is mainly responsible for supporting the actuating mechanism and the connecting part, providing the user with an activity plane within a defined range, and at the same time can provide a driving force within the plane for the actuating mechanism and the connecting part, enabling the user to move in all directions within the plane. The specific implementation method will be described in detail in combination with the embodiments.

[0042] Appendix Figure 1Shows the basic structure of the actuating mechanism and the connecting part. The actuating mechanism of the present invention has vertical driving and braking functions. The power modes that can be used by the vertical driving device include electric push rods, hydraulics, worm gears, and racks. Further, in this specification, it is an electric push rod. The electric push rod 102 is powered by the motor 109. The movable part 108 of the electric push rod is connected with the connecting part 101. The connecting part 101 supports the user's foot 103. The strap 105 fixes the user's foot 103 on the upper surface of the connecting part 101. When the movable part 108 of the actuating mechanism moves up and down, it drives the connecting part 101 connected to it to move synchronously. The control system controls the speed and stroke of the up and down movement of the movable part 108, can stop at any height within the stroke, and provides a supporting force to the user's foot 103 through the connecting part 108. A sensor 107 is installed on the connecting part 101. The sensor 107 monitors the movement trend of the user's foot 103. When it detects that the foot 103 moves actively up or down, the control system controls the movable part 108 to move in the same direction as the foot 103, and controls the movement speed of the movable part 108 to suit the movement speed of the foot 103. Further, as shown in the appendix Figure 2 As shown, the vertical driving mode of the actuating mechanism is a scissor folding mechanism. The scissor folding mechanism 203 is connected with the connecting part 205. The connecting part 205 supports the user's foot 207 and is powered by the electric push rod 201.

[0043] While the actuating mechanism of the present invention has the vertical driving function, it can have the driving or braking function in any direction within the plane. As shown in the appendix Figure 3 Shows an embodiment of the actuating mechanism. There is an auxiliary part 302 below the vertical driving device 301 and a movable part 307 above the vertical driving device 301. The movable part 307 is connected with the connecting part 305. Wheels 321, 312, and 313 are installed on the lower surface of the auxiliary part 302. Further, the wheels 321, 312, and 313 are omnidirectional switching wheels or Mecanum wheels, and each wheel is connected to a motor and is powered by the motors 311, 322, and 323. The wheels and the motors are arranged in three groups, two groups are arranged along the Y-axis of the actuating mechanism, and one group is arranged along the X-axis of the actuating mechanism. The control system controls the motors to apply different rotation speeds to each group of wheels, controls the movement direction of the actuating mechanism within the plane, and realizes the movement or turning of the actuating mechanism in any direction within the limited range of the VR omnidirectional movement device.

[0044] As shown in the appendix Figure 4 As shown, the supporting part 401 of the connecting part 407 is locked in the horizontal or nearly horizontal direction. The user's foot 403 steps on the supporting part 401. The vertical driving device 406 of the actuating mechanism 409 drives the connecting part 407 to move downward, and at the same time, the whole actuating mechanism 409 moves backward towards the user's body (as shown in the appendix Figure 4Move in the B direction in the figure. When the support member 401 descends to the lowest point of the stroke of the vertical drive device 406, the actuating mechanism 409 stops applying power in the plane and stops applying resistance in the vertical direction. The user's foot 401 steps forward (in the F direction in the figure), driving the actuating mechanism 409 forward (in the F direction in the figure). Figure 4 Move in the F direction in the figure, driving the support member 401 and the component 406 of the vertical drive mechanism 409 connected thereto upward and forward (in the F direction in the figure). Figure 4 Move in the F direction in the figure, driving the support member 401 and the component 406 of the vertical drive mechanism 409 connected thereto upward and forward (in the F direction in the figure). Figure 4 The two sets of actuating mechanisms connected to the user's two feet respectively cycle through the above actions, enabling the user to experience the feeling of walking up the steps. Figure 5 As shown in the figure, in the above actions of the user's two feet and the actuating mechanisms and components connected to the two feet, the vertical drive direction of the vertical drive device 509 on the support member 501 changes to drive the support member 501 upward in each action toward the user's rear (in the B direction in the figure), enabling the user to experience the feeling of walking down the steps. Figure 5 As shown in the figure, in the above actions of the user's two feet and the actuating mechanisms and components connected to the two feet, the vertical drive direction of the vertical drive device 509 on the support member 501 changes to drive the support member 501 upward in each action toward the user's rear (in the B direction in the figure), enabling the user to experience the feeling of walking down the steps.

[0045] As shown in the figure, the support member 601 of the connecting portion can change its angle as the user's foot 609 rotates, and can be driven to rotate by the power device 602 of the actuating mechanism 605. The rotation direction can be one or two axes of the X and Y axes of the support member 601 itself. Further, the power device 602 of the support member 601 of the present invention is a reduction motor with a self-locking function. Figure 6 As shown in the figure, the support member 601 of the connecting portion can change its angle as the user's foot 609 rotates, and can be driven to rotate by the power device 602 of the actuating mechanism 605. The rotation direction can be one or two axes of the X and Y axes of the support member 601 itself. Further, the power device 602 of the support member 601 of the present invention is a reduction motor with a self-locking function.

[0046] As shown in the figure, the support member 601 of the connecting portion can change its angle as the user's foot 609 rotates, and can be driven to rotate by the power device 602 of the actuating mechanism 605. The rotation direction can be one or two axes of the X and Y axes of the support member 601 itself. Further, the power device 602 of the support member 601 of the present invention is a reduction motor with a self-locking function. Figure 7As shown, the support member 700 of the connecting portion is connected to the hinge member 701. The hinge member 701 and the hinge member 702 use the shaft 703 as the hinge axis. The support member 700 can rotate around the Y-axis with the hinge axis 703 as the axis. The motor 708 is connected to the shaft 703. There is an electromagnetic clutch 711 between the power output shaft 710 of the motor 708 and the shaft 703. The electromagnetic clutch 711 can connect or disconnect the power connection between the power output shaft 710 of the motor 708 and the shaft 703. The hinge member 702 and the movable member 712 of the actuating mechanism are hinged with the shaft 704 as the axis. The support member 700 can rotate around the X-axis with the hinge axis 704 as the axis. The motor 705 is connected to the shaft 704. There is an electromagnetic clutch 707 between the power output shaft 715 of the motor 705 and the shaft 704. The electromagnetic clutch 707 can connect or disconnect the power connection between the power output shaft 715 of the motor 705 and the shaft 704. When both the electromagnetic clutch 711 and the electromagnetic clutch 707 are in the disconnected state, the user's foot can drive the support member 700 to rotate around its own X-axis and Y-axis. When it is necessary to lock the support member 700 at a certain angle or when it is necessary for the motor 708 and / or the motor 705 to drive the support member 700 to rotate along the X-axis and / or the Y-axis, the electromagnetic clutches 711 and 707 are in the connected state. Further, the motors 708 and 705 use reduction motors with self-locking functions. The motors 708 and 705 can drive the support member 700 and the user's foot supported by the support member 700 to move, and the actions of the user's foot cannot cause the motors 708 and 705 to rotate.

[0047] As shown in the appended Figure 8 figure, the actuating mechanism 801 drives the support member 803 to rotate a certain angle around the transverse direction of the user's foot 805 (as shown in the appended Figure 8 figure) and locks it, which can simulate the ground slope relative to the longitudinal direction of the user's foot 805. The electromagnetic clutch of the hinge member between the support member 803 and the movable member 807 of the vertical driving device 806 of the actuating mechanism 801 (refer to the appended Figure 7 figure) disconnects the power connection between the power output shaft and the hinge shaft, and the angle of the user's foot 805 can rotate freely. When the user's foot 805 lands on the support member 803, the electromagnetic clutches in the two axial directions of the hinge member connect the power connection between the motor power output shaft and the hinge shaft (refer to the appended Figure 7 figure). The support member 803 maintains a certain angle. While the vertical driving device 807 of the actuating mechanism drives the support member 803 to move downward (direction D in the appended Figure 8 figure), the actuating mechanism 801 moves backward relative to the user in the moving plane (direction B in the appended Figure 8 figure). The two sets of actuating mechanisms and the connecting portion cooperate with the user's two feet to repeat the above actions, realizing the user's experience of the feeling of going uphill.

[0048] As shown in the appended Figure 9As shown, the actuating mechanisms 901A and 901B drive the support components 905A and 905B to rotate by a certain angle around their own longitudinal axes and lock, which can simulate the ground slope in the lateral direction relative to the user's feet 907A and 907B. The two sets of actuating mechanisms 901A and 901B respectively drive the support components 905A and 905B connected thereto to rotate around the longitudinal axes of the support components 905A and 905B themselves and lock, so as to enable the user to experience the feeling of standing on a lateral slope relative to his own body.

[0049] The sensing system described in the present invention transmits signals such as the spatial position, speed, angle, and direction of the user's feet to the signal processor. After being calculated by the signal processor in combination with the VR scene, the signals are transmitted to the control system. The control system controls the vertical power or resistance, and the in-plane power or resistance applied by the actuating mechanism to the connecting part, combined with the rotational power of the support component, can realize VR scene information interaction and tactile force feedback. Attached Figure 10 As shown, the present invention's VR omnidirectional motion device is used to simulate the touch and resistance of stepping on a brake pedal. The user's foot 1001 drives the connecting part 1003 and the actuating mechanism 1005 to move in the direction of the brake pedal 1006 in the VR scene. The sensing system detects signals such as the spatial position, direction, angle, and speed of the movement of the actuating mechanism 1005 and the component 1003 and transmits them to the signal processor. The signal processor converts the above signals into the corresponding spatial position, direction, angle, and speed information of the user's foot 1001 in the VR scene. In the VR scene, (attached Figure 11 As shown) when the user's foot 1101 moves to the position of the brake pedal 1106 in the VR scene, the signal processor transmits the signal to the control system. The control system controls the actuating mechanism 1105 to drive the support component 1103 of the connecting part to rotate to an angle that conforms to the brake pedal 1106 in the VR scene, and at the same time controls the actuating mechanism 1105 to apply a resistance (attached Figure 10 in the direction Fb in the figure) opposite to the movement direction of the user's foot 1101 (attached Figure 11 in the direction F in the figure) to the support component 1103 of the connecting part, simulating the touch and elastic resistance of the brake pedal 1106 in the VR scene to the user's foot 1101. Further, the signal processor is a computer, a tablet computer, a smart phone, or a VR all-in-one device equipped with a VR / AR / MR head-mounted display device.

[0050] As described above, the present invention can realize the tactile and force feedback simulation of various terrains and various operations in a variety of VR scenes by applying power and resistance to the user's feet in various directions by the actuating mechanism and cooperating with the rotation of the support component. The present invention can realize the tactile and force feedback simulation of various interaction contents in the VR scene, which cannot be fully listed in this specification.

[0051] The signal processing device provided in the VR omnidirectional motion device of the present invention can transmit the signals collected by the sensing system to the computer Internet. The signal processing device can receive the information from the computer Internet and send it to the control system. As shown in the attached Figure 12 figure, user 1200 uses the VR omnidirectional motion device 1203. The signal processing device 1204 transmits the signals collected by the sensing system of the VR omnidirectional motion device 1203 to the signal processing device 1206 provided in the VR omnidirectional motion device 1205 through the computer Internet 1207. The signal processing device 1206 calculates and processes the information sent by the VR omnidirectional motion device 1203 through the computer Internet 1207 and then sends it to the control system of the VR omnidirectional motion device 1205. User 1202 can interact with user 1200 in the VR scene through the used VR omnidirectional motion device 1203. The user 1200 of the VR omnidirectional motion device 1203 and the user 1202 of the VR omnidirectional motion device 1205 can directly transmit signals to each other in a wired manner, a wireless manner, or a combination of both through the signal processing devices 1204 and 1206 to conduct VR scene interaction.

[0052] The following description of the specification will detail the preferred embodiments of the present invention.

[0053] The present invention includes an actuating mechanism, a connecting part, a control system, a sensing system, and a bearing part can also be provided. The bearing part provides support for the actuating mechanism and the user and provides a limited range of activities. It can also have a driving function to apply a driving force in the activity plane to the actuating mechanism and the user's feet, facilitating the simplification of the complexity of the actuating mechanism and dividing the work with the actuating mechanism: the driving function of the actuating mechanism itself is used for vertical driving and can also simulate lateral resistance; the driving function of the bearing part provides a driving force for the user to move omnidirectionally in the activity plane.

[0054] As shown in the attached Figure 3 figure of the actuating mechanism embodiment, there is an auxiliary component 302 at the lower part of the actuating mechanism 301. The top view shape of the auxiliary component 302 is "T". Three omnidirectional switching wheels 321, 312, and 313 are installed. Each wheel is driven by a motor 311, 322, and 323 connected to the wheel respectively to apply a horizontal driving force to the actuating mechanism 301 for simulating lateral resistance.

[0055] As shown in the attached Figure 13As shown, in this embodiment, the actuating mechanism 1301 is connected to the auxiliary mechanism 1302, and the actuating mechanism 1303 is connected to the auxiliary mechanism 1304. The auxiliary mechanisms 1302 and 1304 are simultaneously connected to the bearing part 1305. The auxiliary mechanisms 1302 and 1304 are parallelogram structures, which can stretch and rotate angles when the actuating mechanisms 1301 and 1303 move. Due to the characteristics of the parallelogram mechanism, the components 1306 and 1307 of the auxiliary mechanism always remain perpendicular to the upper surface of the bearing part 1305, and always keep the vertical axes of the actuating mechanisms 1301 and 1303 consistent with the bearing part, maintaining the axial stability of the actuating mechanisms 1301 and 1303.

[0056] One end of the auxiliary mechanisms 1302 and 1304 is connected to the actuating mechanism, and the other end is connected to the bearing part 1305. When the actuating mechanisms 1301 and 1303 are driven by the user's foot, or the actuating mechanisms 1301 and 1303 are driven by their own power or by the bearing part 1305. Attached Figure 14 As shown, when the actuating mechanisms 1402 and 1404 move on the upper surface of the bearing part 1401, the parallelogram structure components of the auxiliary mechanisms 1403 and 1405 change the folding angle, and the overall mechanical structure of the auxiliary mechanisms 1403 and 1405 elongates or shortens. Attached Figure 15 As shown, one end of the auxiliary mechanisms 1503 and 1505 connected to the bearing part 1501 is hinged. The auxiliary mechanisms 1503 and 1505 rotate as a whole around the hinge points 1508 and 1507 as axes, and can keep the connected actuating mechanisms 1502 and 1504 moving within the mechanical deformation range of the auxiliary mechanisms 1503 and 1505. The components 1506 and 1509 of the auxiliary mechanism always remain perpendicular to the upper surface of the bearing part 1501. Using the characteristics of the parallelogram mechanism, the auxiliary mechanisms 1503 and 1505 keep the direction of the actuating mechanisms 1502 and 1504 connected to them stable while stretching and deforming.

[0057] Attached Figure 16 As shown, in this embodiment, when the height of the user's foot 1601 is reduced to less than or equal to 5 cm from the upper surface of the bearing part 1605, the support component 1603 moves relative to the X-axis of the user's foot 1601, and the user's foot 1601 directly steps on the upper surface of the bearing part 1605, realizing a more natural stepping feeling of the user's foot 1601 compared to stepping on the support component.

[0058] Attached Figure 17As shown in the figure, in this embodiment, the structure of the bearing part is as follows: a number of small conveyor belts 1703 are nested on the large conveyor belt 1701, and the moving direction of the small conveyor belt 1703 is orthogonal to that of the large conveyor belt 1701. The large conveyor belt 1701 can rotate bidirectionally along the Y-axis, driving the small conveyor belts 1703 placed around the large conveyor belt 1701 to rotate synchronously. On the upper surface 1705 of the bearing part, the small conveyor belts 1703 rotate synchronously along the X-axis. The control system controls the running speeds and the number of rotation cycles of the large conveyor belt and the small conveyor belts on the X-axis and the Y-axis, so as to realize the omnidirectional movement of the upper surface 1705 of the bearing part.

[0059] Attached Figure 18 As shown in the figure, in this embodiment, the user's two feet 1801 and 1806 are in contact with the support members 1802 and 1803, and are connected to the support members 1802 and 1803 by the connecting members 1804 and 1805. The user's two feet 1801 and 1806 and the actuating mechanisms 1807 and 1808 are supported by the bearing part 1800. When the user walks in one direction on the upper surface of the bearing part 1800, the foot 1801 is lifted, and the connecting part 1802 connected to the foot 1801 drives the movable part 1809 of the actuating mechanism 1808 to move upward, and at the same time drives the actuating mechanism 1808 to move on the upper surface of the bearing part 1800 following the movement of the foot 1806. The sensing system detects the moving direction of the user's two feet 1801, and the control system controls the large conveyor belt 1810 and the small conveyor belt 1811 of the orthogonal conveyor belts of the bearing part 1800 to cooperate with each other. The upper surface of the bearing part 1800 rotates in the opposite direction to the common movement direction of the connecting parts 1807 and 1808 driven by the user's two feet 1801 and 1806, so as to keep the user moving within the range of the upper surface of the bearing part 1800. The wheels 1815 at the bottoms of the actuating mechanisms 1807 and 1808 are always in contact with the upper surface of the bearing part 1800. The motors 1816 connected to the wheels 1815 drive the wheels 1815 to rotate, and can apply power or resistance to the actuating mechanisms 1807 and 1808. The connecting parts 1802 and 1803 connected to the actuating mechanisms 1807 and 1808 apply power or resistance to the user's feet 1801 and 1806, so as to realize terrain resistance or tactile simulation.

[0060] Attached Figure 19As shown in the figure, in this embodiment, the bearing part 1900 is a concave structure. The supporting components 1903 and 1904 of the actuating mechanisms 1905 and 1906 are provided with sliding components at the bottom, and the sliding components are in sliding friction with the upper surface of the bearing part 1900. The user's feet 1901 and 1902 are in contact with the supporting components 1903 and 1904. When the user walks on the upper surface of the bearing part 1900 and takes a step forward, when the supporting components 1903 and 1904 under the feet and the actuating mechanisms 1905 and 1906 fall on the concave edge of the bearing part 1900, they slide along the concave surface towards the center. The user's feet alternately step forward towards the front of the body and slide towards the center of the bearing part 1900, realizing omnidirectional walking of the user within a limited range. There are wheels at the bottom of the actuating mechanisms 1905 and 1906, and the wheels are connected to an electric motor (for the detailed structure, refer to the appendix Figure 3 ). The actuating mechanisms 1905 and 1906 and the connecting parts 1903 and 1904 are driven by the user's feet 1901 and 1902. When the user's foot 1902 is lifted, it drives the connecting part 1904 and the actuating mechanism 1906 to act, but the bottoms of the actuating mechanisms 1905 and 1906 do not leave the upper surface of the bearing part 1900. The sliding components and wheels at the bottoms of the actuating mechanisms 1905 and 1906 move on the upper surface of the bearing part 1900. The wheels are always in contact with the upper surface of the bearing part 1900. The electric motor connected to the wheels drives the wheels, and the wheels generate frictional force with the upper surface of the bearing part 1900, which can apply driving force and braking force to the actuating mechanisms 1905 and 1906, and at the same time apply power and / or resistance in the plane direction to the connecting parts 1903 and 1904 connected to the actuating mechanisms 1905 and 1906. The vertical driving devices 1909 and 1910 of the actuating mechanisms 1905 and 1906 apply power and / or resistance in the vertical direction to the connecting parts 1903 and 1904. The power and / or resistance in the vertical direction is combined with the driving force applied on the moving plane of the bearing part 1900, realizing omnidirectional walking while realizing various force feedbacks and terrain and operation simulations.

[0061] Appendix Figure 19 As shown in the figure, the user 1905 wears a VR display device or a VR device such as a VR / AR / MR all-in-one machine and walks on the walking device of the present invention. The sensing system transmits signals such as the speed and direction of the user's walking actions to a signal processing device connected to the VR device used by the user. The signal processing device inputs the user's action information into the VR scene, calculates information such as the movement direction and speed of the virtual character of the user in the VR scene, and the corresponding VR scene image is displayed in the VR display device worn by the user, realizing free walking in any direction by the user in the VR scene.

Claims

1. A VR omnidirectional motion device, Characterized in that: It includes a connecting part, an actuating mechanism, and a control system; At least two connecting parts are provided, and the two connecting parts are respectively connected to the left and right feet of the user; The connecting part moves synchronously with the movement of the user's foot; The actuating mechanism is respectively connected to the connecting part, and the overall and / or components of the actuating mechanism change the spatial position synchronously with the movement of the connecting part; The actuating mechanism applies multi-directional power and / or resistance to the connected connecting part; The mechanical structure of the actuating mechanism is deformable, and within the deformation range of the mechanical structure, the actuating mechanism has the function of applying power and / or resistance to the connected connecting part; The components of the actuating mechanism always remain in contact with the upper surface of the object supporting the actuating mechanism; The objects controlled by the control system include: the actuating mechanism and the connecting part.

2. The VR omnidirectional motion device according to claim 1, Characterized in that: A bearing part is provided, and the objects supported by the bearing part include: the actuating mechanism, the user's foot, and the connecting part, and the actuating mechanism, the user's foot, and the connecting part can move in any direction and rotate 360 degrees on the upper surface of the bearing part.

3. The VR omnidirectional motion device according to claim 2, Characterized in that: The bearing part applies power to the actuating mechanism, the user's foot, and / or the connecting part.

4. The VR omnidirectional motion device according to claim 1, Characterized in that: The actuating mechanism applies power and / or resistance to the connecting part, and the direction of the power and / or resistance is: the vertical direction relative to the upper surface of the object supporting the actuating mechanism.

5. The VR omnidirectional motion device according to claim 1, Characterized in that: The actuating mechanism applies power and / or resistance in all directions in the plane and three-dimensional space to the connecting part, and applies multi-axial rotational power and / or rotational resistance to the connecting part.

6. The VR omnidirectional motion device according to claim 5, Characterized in that: The actuating mechanism applies power and resistance to the connecting part in different directions and different axes simultaneously.

7. The VR omnidirectional motion device according to claim 1, Characterized in that: The resistance applied by the actuating mechanism to the connecting part can lock the spatial position and / or angle of the connecting part relative to the actuating mechanism, and can support the user's foot at any position within the mechanical movement range of the actuating mechanism and the connecting part.

8. The VR omnidirectional motion device according to claim 2, Characterized in that: The connecting part includes a supporting component and a connecting component. The supporting component provides support for the user's foot, and the form of the supporting component includes: a plate; the form of the connecting component includes: a strap; the supporting component contacts the actuating mechanism at the lowest point within the mechanical movement range of the connected actuating mechanism component, or contacts the bearing part, or contacts the upper surface of the object on which the VR omnidirectional motion device is placed.

9. The VR omnidirectional motion device according to claim 8, Characterized in that: The support component has two states of supporting and not supporting the user's foot.

10. The VR omnidirectional motion device according to claim 2, characterized in that: an auxiliary mechanism is provided, and the mechanical structure of the auxiliary mechanism includes: a parallelogram linkage; the functions of the auxiliary mechanism include: connecting the actuating mechanism and the bearing part, and keeping the direction of the actuating mechanism stable.

11. The VR omnidirectional motion device according to claim 1, characterized in that: the actuating mechanism and / or the connecting part have wheels and / or sliding components, and the wheels include: omnidirectional switching wheels and / or omnidirectional wheels.

12. The VR omnidirectional motion device according to claim 11, characterized in that: the omnidirectional switching wheel is connected to a motor, and the motor applies driving force and / or braking force to the omnidirectional switching wheel.

13. The VR omnidirectional motion device according to claim 1, characterized in that: the mechanical structure of the actuating mechanism includes scissor folding and telescopic rods, and the power device form of the actuating mechanism includes: electric push rods.

14. The VR omnidirectional motion device according to claim 1, characterized in that: a sensing system is provided, and the sensing system outputs signals to one or more of the control system, the signal processor, and the computer internetwork; the signals output by the sensing system include: spatial direction, spatial position, speed, angle; the signal sources of the signals output by the sensing system include: the connecting part and the actuating mechanism.

15. The VR omnidirectional motion device according to claim 14, characterized in that: the signal processor includes one or more of a single-chip microcomputer, a PLC, a computer, a tablet computer, a smart phone, and a VR / AR / MR head-mounted display device, and the signal processor has the function of receiving signals from the computer internetwork and sending signals to the computer internetwork.

16. The VR omnidirectional motion device according to claim 14, characterized in that: the signal sources received by the control system include: the signal processor and / or the computer internetwork; signals transmitted from sensors of other VR omnidirectional motion devices transmitted by one or more of wired means, wireless means, and the computer internetwork.

17. The VR omnidirectional motion device according to claim 14, characterized in that: the actuating mechanism applies power to the connecting part in the supported state, and the direction of the power is opposite to the movement direction of the connecting part not in the supported state; the sensing system detects the movement speed of the connecting part not in the supported state, transmits signals to the control system and / or the signal processor, and the control system controls the actuating mechanism to drive the movement speed of the connecting part in the supported state to be the same as the movement speed of the connecting part not in the supported state.

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