Consumption-level suspension type omnidirectional mobile platform

Abstract

The invention relates to a consumer-level suspension type omni-directional mobile platform which comprises a bottom walking disc, a rotatable supporting frame, a front-back displacement control mechanism, a seat start-stop control mechanism, a backrest main body mechanism, an omni-directional motion sensing system and a power supply system. The rotatable supporting frame is fixedly connected with the front-back displacement control mechanism through a fixing flange plate, the front-back displacement control mechanism is matched with the backrest main support through a main shaft, the seat start-stop control mechanism is installed in the backrest main support, and the omni-directional motion sensing system is integrated in a box body of the front-back displacement control mechanism. As a consumer-level suspension type omni-directional mobile platform, by analyzing and designing daily motion modes of a human body, the product can support motion modes and motion postures far better than those of other similar products, and the platform has the main unique advantages of being comprehensive in function, high in experience simulation degree and low in price.

Description

Technical Field

[0001] The present invention relates to a consumer-grade mobile platform for virtual reality interaction, in particular to a consumer-grade suspended omnidirectional multi-motion mode mobile platform. Background Art

[0002] With the rapid development of deep learning technology and the further advancement of 3D rendering techniques, virtual reality scenes are becoming increasingly realistic, allowing users to immerse themselves in a world beyond reality. Those with more financial resources are also purchasing various VR interactive devices, such as mobile VR platforms, to achieve a better roaming experience. However, existing mobile platforms often have mechanical motion patterns that do not conform to normal human motion patterns, forcing users to adapt to the platform's interactive experience rather than providing a sufficiently realistic interactive experience to satisfy them.

[0003] For example, the "Virtual Reality Staircase Treadmill" with publication number CN02143304.6 can only allow users to move in a pseudo-horizontal direction by raising their legs high, which is neither comfortable nor realistic. Another example is the "Electromagnetic Multi-Degree-of-Freedom Virtual Roaming Platform" with publication number CN201410853710.9 and the "Column Array Omnidirectional Treadmill" with publication number CN201310046761.6, which are similar to the advanced foreign omnidirectional treadmill (OTD) solutions: "Virtual Walking" with publication number US7780573 and "Virtual Carpet" with publication number US8276701. , are all limited to the simulation of two-dimensional motion on the horizontal plane. Although the above solutions can better simulate omnidirectional walking or running on the horizontal plane, they cannot support jumping movements, which directly reduces one dimension of motion. In terms of actual experience, the lack of one dimension of motion is indeed full of limitations, making it impossible for the experiencer to freely climb high and jump long even in the virtual world; CN201510058993.2 "Suspended omnidirectional mobile platform", this product can basically support walking, running, jumping, squatting and other movements on the horizontal plane, but it cannot support sitting down, making it impossible for the experiencer to get a halftime break in the virtual world.

[0004] At the same time, the virtual reality interactive devices currently on the market generally have a conflict between function and price, that is, they have many interactive functions but the price is often tens of thousands. An investigation into the above cases shows that the common OTD consulting price in China is between 80,000 and 150,000 yuan, while the price of a simply supported beam type fully fixed walker is as high as 20,000 to 30,000 yuan. The consulting price of the "suspended omnidirectional mobile platform" that has been mass-produced also starts at 50,000 yuan.

[0005] To sum up, the existing mobile virtual reality platforms generally have problems such as incomplete functions, poor user experience, and high prices. This has caused mobile virtual reality platforms to become luxury goods, and the actual experience is not realistic enough; making it difficult for virtual reality to enter thousands of households. Summary of the Invention

[0006] The purpose of this invention is to provide a consumer-grade suspended omnidirectional mobile platform to solve the problems of incomplete functions, poor experience, and high prices of existing virtual reality mobile platform technical solutions.

[0007] A consumer-grade suspended omnidirectional mobile platform includes a bottom running plate, a rotatable support frame, a front and rear displacement control mechanism, a seat start and stop control mechanism, a backrest main body mechanism, an omnidirectional motion sensing system and a power supply system. The bottom running plate cooperates with the rotatable support frame through a roller track, the rotatable support frame is fixedly connected to the front and rear displacement control mechanism through a fixed flange, the front and rear displacement control mechanism cooperates with the backrest main bracket through a main shaft, the seat start and stop control mechanism is installed in the backrest main bracket, and the omnidirectional motion sensing system is integrated in the box of the front and rear displacement control mechanism.

[0008] As a preferred solution of the present invention, the bottom walking plate includes a spliced ​​walking block, a fixed chassis, a central adsorption mechanism and a roller track; the spliced ​​walking blocks are assembled into a bowl-shaped chassis, the bowl-shaped chassis is installed on the fixed chassis, the central adsorption mechanism is installed in the center of the bowl-shaped chassis, the fixed chassis is provided with a roller track around the side, and the inner side of the roller track is provided with a conductive sheet connected to the power supply.

[0009] As a preferred solution of the present invention, a roller is provided at the lower portion of the rotatable support frame to cooperate with a roller track, and a power supply brush and a rotational displacement infrared sensor are installed around one side of the roller.

[0010] As a preferred solution of the present invention, the rotatable support frame includes a supporting straight pipe, a reversing bend pipe, a roller shaft, a fixed flange and a functional bracket. The reversing bend pipe is connected to the top of the supporting straight pipe. There are at least three supporting straight pipes located on the left, middle and right sides respectively. The reversing bend pipe is connected to the box of the front and rear displacement control mechanism through a fixed flange. The roller shaft is installed at the bottom of the supporting straight pipe. The inner side of the roller shaft is connected to the inner guide roller, the inner guide roller cooperates with the roller track, the outer side of the roller shaft is connected to the outer support roller, and the functional bracket is installed at the middle supporting straight pipe.

[0011] As a preferred solution of the present invention, the front-rear displacement control mechanism includes a housing, a main shaft, a linear bearing, a bearing fixing block, a first spring and a front-rear displacement pressure sensor. The main shaft is inserted into the linear bearing, the linear bearing is installed into the bearing fixing block, the front-rear displacement pressure sensors are attached to the outer sides of the two shaft holes of the bearing fixing block, and the first spring is placed between the main shaft collar and the bearing fixing block.

[0012] As a preferred solution of the present invention, the backrest main body mechanism includes a seat fixing block, a top fixing block, a bracket plate, a backrest movement rod, a backrest plate, a support cross arm, a first tension spring, a second spring and an up and down displacement infrared sensor. The seat fixing block is installed at the bottom of the back of the bracket plate, the top fixing block is installed at the top of the back of the bracket plate, the backrest movement rod is installed between the seat fixing block and the top fixing block, the bracket plate is provided with a slide groove, a slider is provided in the slide groove, the backrest plate is fixedly installed in front of the slider, the backrest plate is located in front of the bracket plate, the first tension spring is assembled on the slider and the bracket plate to fix the initial height of the backrest plate, the support cross arm is installed in the middle of the back of the bracket plate, the second spring is installed on the outside of the backrest movement rod, and the up and down displacement infrared sensor is installed on the slider.

[0013] As a preferred solution of the present invention, the seat start and stop control mechanism includes a control platform, a control linkage mechanism, a seat plate, a screw, an electromagnetic control push rod and a second tension spring. The control platform is hinged to the control linkage mechanism, the control linkage mechanism is hinged to the seat plate, the seat plate is hinged to the seat fixing block, the screw is fixedly installed on the seat fixing block, the screw and the corresponding hole position of the control platform are used for guidance, the second tension spring is connected to both sides of the platform and the bracket plate, and the electromagnetic control push rod is installed on the control platform.

[0014] As a preferred solution of the present invention, an electromagnetic control push rod controlled by a handle or other control button is connected to the upper control connecting rod mechanism. When the push rod is energized and retracted, it drives the front connecting rod to move backward, and the L-shaped clamping angle is driven to rotate. The front end of the clamping angle enters the movement area of ​​the backrest slider, so that when the slider moves downward, it can drive the entire platform to move downward. The platform side control connecting rod mechanism moves downward synchronously, pressing the rear end of the seat board down, and the seat board pops out; conversely, when the push rod is powered off and pops out, the slider no longer drives the platform to move, and the seat function is turned off.

[0015] As a preferred solution of the present invention, the control method of the omnidirectional motion perception system is that the rotational displacement infrared sensor converts the linear displacement generated by the rotation into angular displacement in the virtual world; the front-to-back displacement pressure sensor converts the mechanical signal generated by the front-to-back movement into a specific pressure numerical electrical signal. When the pressure is within a certain range, it is judged as walking, and when it is higher than a certain value, it is judged as running; the up-and-down displacement infrared sensor can convert the linear displacement generated by the up-and-down movement into height displacement in the virtual world; the signals of the rotational displacement infrared sensor, the front-to-back displacement pressure sensor, and the up-and-down displacement infrared sensor are transmitted to the system control module through a data line and converted into limb movement and spatial displacement in virtual reality.

[0016] The function of the present invention is achieved like this:

[0017] The user is required to don special canvas shoe covers and secure the backrest with straps to complete initial preparation. Afterward, the user can slide along the bottom running plate, walking or running, controlled by the main shaft and springs of the forward and backward displacement control mechanism. The backrest motion rods of the main backrest mechanism allow the user to perform vertical movements such as jumping, squatting, and sitting flat. The seat start / stop control mechanism allows the user to activate or deactivate the seat function, while simultaneously deactivating squatting and sitting flat. As the user's torso descends, a connecting rod pushes the seat plate into place, allowing the user to sit down. The coordinated control of the support crossbar and main shaft allows the user to tilt left and right around the main shaft to a certain angle. The rotatable support frame allows the user to rotate 360° in place. Furthermore, the various motion control mechanisms operate independently of each other, allowing the user to perform complex movements such as forward and backward jump squats, diagonal jumps, and rotational jump squats, greatly enhancing the user experience.

[0018] The economic efficiency of the present invention is achieved in this way:

[0019] Based on the market demand for consumer-grade mobile platforms, the present invention adheres to three major requirements during the design phase: standardization, generalization, and simplification. Standardization means searching for common mass-produced component specifications in the market according to national standards, and continuously optimizing and improving the design scheme according to existing standard parts to reduce the final component cost. Generalization means using a large number of identical components to reduce costs, such as screws and bolts, while ensuring the structural and functional reliability of the corresponding components. Simplification means not using overly sophisticated structural designs. As we all know, the more complex the structure, the lower the reliability. The various types of ball arrays and Mecanum wheels commonly used in OTDs are complex in structure, expensive, and have a short service life, making OTDs a luxury product. In contrast, the structural connections in the present invention generally use traditional screw fixing, hinge connection, and hole-shaft matching. Most of its structures are very simple, and most of them use solid structures, which ensures reliability and durability. At the same time, due to its simple structure, the cost of component processing is also greatly reduced.

[0020] The advantages of the present invention are:

[0021] As a consumer-grade suspended omnidirectional mobile platform, the main unique advantages of the present invention are comprehensive functions, high degree of experience simulation and low price. By analyzing the daily movement patterns of the human body and incorporating them into the design, the movement patterns and movement postures that this product can support far exceed those of other similar products. Movements such as forward and backward jump squats, rotation jump squats, etc. can be said to be impossible to achieve in common OTD products; by analyzing the stride distance of the human body, the movement area of ​​the base can fully meet the movement space requirements while greatly reducing the space occupied by the present invention, so that the present invention can achieve all functions in a small space of about 1.5 square meters. At the same time, the design stage also deeply explored the user experience needs and uniquely designed the seat function to greatly improve the experiencer's immersive experience in virtual reality; in the present invention, the experiencer is no longer limited to the walking space, and can move freely in any direction in virtual reality. The movement in the platform is transmitted to the virtual reality in real time through the omnidirectional motion perception system, bringing an immersive movement experience. The uniquely designed seat mechanism satisfies the user's basic rest and ride needs in VR. For example, when the user feels tired while playing in VR, they can activate the seat function of the present invention near the virtual seat to rest, providing a better rest experience, without having to dismount the mobile platform or squat to rest, as with conventional mobile platforms. Furthermore, the seat function allows the user to enjoy a better ride experience, without having to pretend to sit in a seat like in OTD products, while actually standing to drive the virtual vehicle. The active activation of the seat function also provides the user with a better VR interactive experience, allowing the user to have a more immersive roaming experience. Furthermore, based on the integration of electronic and structural control, the present invention effectively reduces the reliance on motion recognition algorithms compared to OTD products in terms of motion recognition, significantly reducing the need for positioning sensors. Furthermore, while the present invention far exceeds similar products in functionality, it is also priced significantly lower than any other VR mobile platform currently on the market. Based on current component market price analysis, the cost of a complete set of products can be controlled within 6,000 yuan. With subsequent mass production, the cost can be further reduced, making it a truly consumer-grade VR mobile platform. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 It is a structural schematic diagram of the present invention;

[0023] Figure 2 A structural diagram of another perspective of the present invention;

[0024] Figure 3 This is an axonometric view of the bottom walking disc of the present invention;

[0025] Figure 4 It is a structural diagram of the hidden part of the spliced ​​walking block;

[0026] Figure 5 yes Figure 4 Magnified view at point A in the middle;

[0027] Figure 6 This is a schematic structural diagram of the rotatable support frame of the present invention;

[0028] Figure 7 This is a schematic structural diagram of the front-rear displacement control mechanism of the present invention;

[0029] Figure 8 A cross-sectional view of the front-rear displacement control mechanism of the present invention;

[0030] Figure 9 This is a schematic diagram of the backrest main body structure of the present invention;

[0031] Figure 10 It is a partial schematic diagram of the seat start-stop control mechanism structure of the present invention;

[0032] Figure 11 This is the overall control framework diagram. DETAILED DESCRIPTION

[0033] The specific embodiments of the present invention will be further described below with reference to the accompanying drawings:

[0034] In the description of the present invention, it should be noted that the terms "center", "up", "down", "left", "right", "vertical", "horizontal", "inside", "outside", etc., indicating directions or positional relationships, are based on the directions or positional relationships shown in the accompanying drawings. They are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the position or element referred to must have a specific direction, be constructed and operated in a specific direction. Therefore, they cannot be understood as limiting the present invention.

[0035] In the description of the present invention, it should be noted that, unless otherwise expressly specified or limited, the terms "mounted," "connected," and "connected" should be understood broadly. For example, they may refer to fixed, detachable, or integral connections; mechanical or electrical connections; direct or indirect connections through an intermediary; and internal communication between two components. Those skilled in the art will understand the specific meanings of the above terms in the present invention based on the specific circumstances.

[0036] like Figure 1 and 2As shown, a consumer-grade suspended omnidirectional mobile platform includes a bottom walking plate 1, a rotatable support frame 2, a front and rear displacement control mechanism 3, a seat start and stop control mechanism 4, a backrest main mechanism 5, an omnidirectional motion sensing system and a power supply system. The bottom walking plate 1 cooperates with the rotatable support frame 2 through a roller track 14. The rotatable support frame 2 is fixedly connected to the front and rear displacement control mechanism 3 through a fixed flange 24. The front and rear displacement control mechanism 3 cooperates with the backrest main bracket 5 through a main shaft 32. The seat start and stop control mechanism 4 is installed in the backrest main bracket 5. The omnidirectional motion sensing system is integrated in the box of the front and rear displacement control mechanism 3. The power supply system is realized by an external power supply supplying power to the conductive sheet 15, and the conductive sheet 15 then charges the built-in power supply.

[0037] like Figure 3 and 4 As shown, the bottom walking disc 1 includes a spliced ​​walking block 11, a fixed chassis 12, a central adsorption mechanism 13 and a roller track 14. The spliced ​​walking block 11 has multiple pieces assembled into a bowl-shaped chassis, which is conducive to forming a bowl-shaped walking area. The bowl-shaped chassis is installed on the fixed chassis, and the central adsorption mechanism 13 is installed in the center of the bowl-shaped chassis. The central adsorption mechanism 13 is mainly a suction cup that can be used to adsorb the ground, and the side is fixedly connected to the spliced ​​walking block 11 by screws. A roller track 14 is provided on the periphery of the fixed chassis 12, and a conductive sheet 15 connected to the power supply is provided on the inner side of the roller track 14. The conductive sheet 15 is used to contact the power supply brush to supply power to the built-in power supply in the upper box 31.

[0038] In some embodiments, the lower portion of the rotatable support frame 2 is provided with a roller that cooperates with a roller track 14, and at least one side of the roller is equipped with a power supply brush 61 and a rotational displacement infrared sensor. The power supply brush 61 has a built-in spring for pressing the conductive sheet.

[0039] like Figure 5 and 6 As shown, the rotatable support frame 2 includes a supporting straight tube 21, a reversing bend tube 22, a roller shaft 23, a fixed flange 24 and a functional bracket 25. The reversing bend tube 22 is connected to the top of the supporting straight tube 21. There are at least three supporting straight tubes 21 located on the left, middle and right sides respectively. The left and right supporting straight tubes 21 are symmetrical. The reversing bend tube 22 is connected to the two sides of the box of the front and rear displacement control mechanism 3 through the fixed flange 24. The roller shaft 23 is installed at the bottom of the supporting straight tube 21. The roller is divided into an inner guide roller and an outer support roller. The inner side of the roller shaft 23 is connected to the inner guide roller 26, and the inner guide roller 26 cooperates with the roller track 14. The outer side of the roller shaft 23 is connected to the outer support roller 27. The functional bracket 25 is installed at the middle supporting straight tube 21, and the brush mechanism and the rotation displacement sensor are both installed on the functional bracket 25.

[0040] like Figure 7 and 8As shown, the forward and backward displacement control mechanism 3 includes a housing 31, a spindle 32, a linear bearing 33, a bearing fixing block 34, a first spring 35, and a forward and backward displacement pressure sensor. The spindle 32 is inserted into the linear bearing 33, which is then mounted in the bearing fixing block 34. The forward and backward displacement pressure sensors are attached to the outer sides of the two axial holes of the bearing fixing block. Two first springs 35 are respectively placed between the spindle collar 36 and the bearing fixing block 34. The housing 31 has multiple cavities for accommodating the built-in power supply and system control module. The front end of the spindle 32 is mounted in a support cross arm 56. When the spindle is subjected to tension or compression, the first spring 35 and the collar 36 limit the movement of the spindle within a certain range, while simultaneously transmitting the applied force to the forward and backward displacement pressure sensor. The bearing fixing block 34 is fixed to the upper cover track of the housing 31 by bolts and nuts. The fixing point can be adjusted in the long slot of the track to change the initial extension distance of the spindle 32.

[0041] like Figure 9 As shown, the backrest main body mechanism 5 includes a seat fixing block 51, a top fixing block 52, a bracket plate 53, a backrest movement rod 54, a backrest plate 55, a support cross arm 56, a first tension spring 57, a second spring 58 and an up and down displacement infrared sensor. The seat fixing block 51 is installed at the bottom of the back of the bracket plate 53, the top fixing block 52 is installed at the top of the back of the bracket plate 53, the backrest movement rod 54 is installed between the seat fixing block 51 and the top fixing block 52, the bracket plate 53 is provided with a slide groove, and a slider 59 is provided in the slide groove. The longitudinal length of the slide groove is much greater than the height of the slider so that the slider can move inside. The slider 59 The backrest plate 55 is fixed with screws in the front, and the slider 59 is slidably mounted on the backrest movement rod 54. The backrest plate 55 is located in front of the bracket plate 53. The first tension spring 57 is assembled on the slider 59 and the bracket plate 53 to fix the initial height of the backrest plate 55. A supporting cross arm 56 is installed in the middle of the back of the bracket plate 53. The second spring 58 is mounted on the outside of the backrest movement rod 54. The second spring 58 is located at the bottom. The up and down displacement infrared sensor is installed on the slider 59. When the slider 59 moves to near the bottom, it will hit the second spring 58. The second spring 58 can buffer the impact of the downward movement on the fixed block and the bracket plate.

[0042] like Figure 9 and 10As shown, the seat start and stop control mechanism 4 includes a control platform 41, a control link mechanism 42, a seat plate 43, a screw 44, an electromagnetic control push rod 45 and a second tension spring 46. The control platform 41 is hinged to the control link mechanism 42, the control link mechanism 42 is hinged to the seat plate 43, the seat plate 43 is hinged to the seat fixing block 51, and the screw 44 is fixedly installed on the seat fixing block 51. The screw 44 and the corresponding hole position of the control platform 41 are used for guidance. The second tension spring 46 has two connections respectively on both sides of the platform and the bracket plate 53. The second tension spring 46 is used to initially fix the position of the control platform 41. The electromagnetic control push rod 45 is installed on the control platform 41. Specifically, the electromagnetic control push rod controlled by the handle or other control button is connected to the upper control link mechanism 48. When the push rod is energized and retracted, it drives the front end link to move backward, and the L-shaped clamping angle 47 is driven to rotate. The front end of the clamping angle enters the movement area of ​​the backrest slider 59, so that when the slider 59 moves downward, it can drive the entire platform to move downward. The platform drives the control link mechanism to move downward synchronously, pressing the rear end of the seat plate 43 downward (that is, the seat plate 43 rotates around the hinge point), and the tail of the seat plate 43 pops out; on the contrary, when the push rod is de-energized and pops out, the front end of the clamping angle leaves the movement area of ​​the backrest slider 59, the slider no longer drives the platform to move, the second tension spring 46 resets the platform, and the seat function is turned off.

[0043] like Figure 11 The figure shows the control principle block diagram of the entire platform. From the figure, we can see that the control method of the omnidirectional motion perception system is that the rotational displacement infrared sensor converts the linear displacement generated by the rotation into angular displacement in the virtual world; the front and rear displacement pressure sensor converts the mechanical signal generated by the front and rear movement into a specific pressure numerical electrical signal. When the pressure is within a certain range, it is judged as walking, and above a certain value, it is judged as running; the up and down displacement infrared sensor can convert the linear displacement generated by the up and down movement into height displacement in the virtual world; the signals of the rotational displacement infrared sensor, the front and rear displacement pressure sensor, and the up and down displacement infrared sensor are transmitted to the system control module through the data line and converted into limb movement and spatial displacement in virtual reality.

[0044] The above content is a further detailed description of the present invention in combination with specific preferred embodiments. It cannot be determined that the specific implementation of the present invention is limited to these descriptions. For ordinary technicians in the technical field to which the present invention belongs, several simple deductions or replacements can be made without departing from the concept of the present invention, which should be regarded as falling within the scope of protection of the present invention.

Claims

1. A consumer-grade suspended omnidirectional mobile platform, characterized by: It includes a bottom running plate, a rotatable support frame, a front and rear displacement control mechanism, a seat start and stop control mechanism, a backrest main body mechanism, an omnidirectional motion sensing system and a power supply system. The bottom running plate cooperates with the rotatable support frame through a roller track. The rotatable support frame is fixedly connected to the front and rear displacement control mechanism through a fixed flange. The front and rear displacement control mechanism cooperates with the backrest main bracket through a main shaft. The seat start and stop control mechanism is installed in the backrest main bracket. The omnidirectional motion sensing system is integrated in the box of the front and rear displacement control mechanism.

2. A consumer-grade suspended omnidirectional mobile platform according to claim 1, characterized in that: The bottom walking plate includes a spliced ​​walking block, a fixed chassis, a central adsorption mechanism and a roller track; the spliced ​​walking block is assembled into a bowl-shaped chassis, the bowl-shaped chassis is installed on the fixed chassis, the central adsorption mechanism is installed in the center of the bowl-shaped chassis, the roller track is arranged around the fixed chassis, and a conductive sheet connected to a power supply is arranged inside the roller track.

3. A consumer-grade suspended omnidirectional mobile platform according to claim 2, characterized in that: The lower part of the rotatable support frame is provided with a roller which cooperates with a roller track, and a power supply brush and a rotation displacement infrared sensor are arranged around the roller on one side.

4. The consumer-grade suspended omnidirectional mobile platform according to claim 3, characterized in that: The rotatable support frame includes a supporting straight tube, a reversing bent tube, a roller shaft, a fixed flange and a functional bracket. The reversing bent tube is connected to the top of the supporting straight tube. There are at least three supporting straight tubes, which are respectively located on the left, middle and right sides. The reversing bent tube is connected to the box of the front and rear displacement control mechanism through the fixed flange. The roller shaft is installed at the bottom of the supporting straight tube. The inner side of the roller shaft is connected to the inner guide roller, the inner guide roller cooperates with the roller track, the outer side of the roller shaft is connected to the outer supporting roller, and the functional bracket is installed at the middle supporting straight tube.

5. The consumer-grade suspended omnidirectional mobile platform according to claim 1, characterized in that: The front-to-back displacement control mechanism includes a housing, a main shaft, a linear bearing, a bearing fixing block, a first spring and a front-to-back displacement pressure sensor. The main shaft is sleeved into the linear bearing, the linear bearing is installed into the bearing fixing block, the front-to-back displacement pressure sensors are attached to the outer sides of the two shaft holes of the bearing fixing block, and the first spring is placed between the main shaft collar and the bearing fixing block.

6. The consumer-grade suspended omnidirectional mobile platform according to claim 1, characterized in that: The backrest main body mechanism includes a seat fixing block, a top fixing block, a bracket plate, a backrest movement rod, a backrest plate, a supporting cross arm, a first tension spring, a second spring and an up and down displacement infrared sensor. The seat fixing block is installed at the lower back side of the bracket plate, the top fixing block is installed at the upper back side of the bracket plate, the backrest movement rod is installed between the seat fixing block and the top fixing block, the bracket plate is provided with a slide groove, a slider is provided in the slide groove, the backrest plate is fixedly installed in front of the slider, the backrest plate is located in front of the bracket plate, the first tension spring is assembled on the slider and the bracket plate to fix the initial height of the backrest plate, the supporting cross arm is installed in the middle of the back side of the bracket plate, the second spring is mounted on the outer side of the backrest movement rod, and the up and down displacement infrared sensor is installed on the slider.

7. A consumer-grade suspended omnidirectional mobile platform according to claim 6, characterized in that: The seat start and stop control mechanism includes a control platform, a control linkage mechanism, a seat plate, a screw, an electromagnetic control push rod and a second tension spring. The control platform is hinged to the control linkage mechanism, the control linkage mechanism is hinged to the seat plate, the seat plate is hinged to the seat fixing block, the screw is fixedly installed on the seat fixing block, the screw and the corresponding hole positions of the control platform are matched for guiding, the second tension spring is connected to both sides of the platform and the bracket plate, and the electromagnetic control push rod is installed on the control platform.

8. The consumer-grade suspended omnidirectional mobile platform according to claim 7, characterized in that: The electromagnetic control push rod controlled by the handle or other control buttons is connected to the upper control connecting rod mechanism. When the push rod is energized and retracted, it drives the front connecting rod to move backward, and the L-shaped clamping angle is driven to rotate. The front end of the clamping angle enters the movement area of ​​the backrest board slider, so that the slider can drive the entire platform to move downward when it moves downward. The platform side control connecting rod mechanism moves downward synchronously, pressing the rear end of the seat board down, and the seat board pops out; when the push rod is powered off and pops out, the slider no longer drives the platform to move, and the seat function is closed.

9. The consumer-grade suspended omnidirectional mobile platform according to claim 1, characterized in that: The control method of the omnidirectional motion sensing system is that the rotation displacement infrared sensor converts the linear displacement generated by the rotation into the angular displacement of the virtual world; The front-to-back displacement pressure sensor converts the mechanical signal generated by the front-to-back movement into a specific pressure numerical electrical signal. When the pressure is within a certain range, it is judged as walking, and above a certain value, it is judged as running; the up-and-down displacement infrared sensor can convert the linear displacement generated by the up-and-down movement into the height displacement in the virtual world; the signals of the rotational displacement infrared sensor, the front-to-back displacement pressure sensor, and the up-and-down displacement infrared sensor are transmitted to the system control module through the data cable and converted into limb movement and spatial displacement in virtual reality.

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