VR shoe, control method of VR shoe and virtual reality system

Abstract

The invention relates to the technical field of virtual reality, and discloses a VR shoe, a control method of the VR shoe and a virtual reality system. The VR shoe comprises a shoe body, four Mecanum wheels, a motion driving system, a motion sensor, a touch simulation system and a control system. The four Mecanum wheels are arranged on the bottom surface of the shoe body, the Mecanum wheels are driven by the motion driving system to rotate, and the motion sensor is used for collecting the motion state of the shoe body. The tactile simulation system is arranged on the bottom surface of a shoe cavity of the shoe body, the tactile simulation system comprises a plurality of micro pressure columns and a plurality of pressure driving devices, the micro pressure columns and the pressure driving devices are mechanically connected in a one-to-one correspondence mode, and the pressure driving devices are used for driving the micro pressure columns to ascend and descend. The motion driving system, the motion sensor and the pressure driving device are all electrically connected with the control system and controlled by the control system. According to the VR shoe, stable in-situ walking can be achieved with the low cost and the simple structure, the foot touch sense can be provided, and the substitution sense can be provided for a user.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of virtual reality, in particular to a VR shoe, a control method of the VR shoe and a virtual reality system. BACKGROUND

[0002] With the development of science and technology, virtual reality technology has been widely used in the film and television industry, education and training, games and medical fields. In order to improve the user's sense of immersion, some existing high-end virtual reality systems replace the peripheral devices such as handsets or keyboards with in-place walking devices to input the user's movement in the virtual environment, so that the user's movement in the virtual environment can be synchronized with the real movement, bringing a better real experience to the user and alleviating the user's 3D dizziness symptoms.

[0003] The existing in-place walking devices include VR shoes, VR omnidirectional treadmills and infinite floors. The existing VR shoes set powered ordinary wheels on the soles, drive the wheels to rotate to offset the user's foot movement, and realize in-place walking. However, since the direction of the wheels is fixed, the moving direction is limited. The wheels of some VR shoes are installed on a rotatable platform, so that the moving direction can be changed by rotating the direction of the platform. Although this scheme solves the problem of walking direction, the platform rotation needs time and the response speed is slow, and a support is often needed to prevent the user from falling. Although the VR omnidirectional treadmills and infinite floors have the advantage of high precision, they are usually large in size, complex in structure and high in cost, and are difficult to be widely promoted. At the same time, the existing in-place walking devices can only complete the input of the user's movement action, and cannot simulate the user's foot touch in the virtual environment, so the sense of immersion still has room for improvement. SUMMARY

[0004] In order to overcome the shortcomings of the prior art, the purpose of the present application is to provide a VR shoe which can realize high-precision in-place omnidirectional walking with low cost and complexity, and can simulate the foot touch of the user in the virtual environment to improve the user's sense of immersion.

[0005] To solve the above problems, the technical scheme adopted by the present application is as follows: a VR shoe, comprising a shoe body, four Mecanum wheels, a motion driving system, a motion sensor, a tactile simulation system and a control system, the four Mecanum wheels are arranged on the bottom surface of the shoe body, the Mecanum wheels rotate under the driving of the motion driving system, the motion sensor is used to collect the motion state of the shoe body, the tactile simulation system is arranged on the bottom surface of the shoe cavity of the shoe body, the tactile simulation system comprises a plurality of micro pressure columns and a plurality of pressure driving devices, the micro pressure columns and the pressure driving devices are mechanically connected one by one, the pressure driving devices are used to drive the micro pressure columns to move up and down, the motion driving system, the motion sensor and the pressure driving device are electrically connected with the control system and controlled by the control system.

[0006] Compared with the prior art, the present application has the beneficial effects that: through the four Mecanum wheels of the shoe sole, the characteristics of the Mecanum wheels can be used to quickly change the motion direction by controlling the rotating speed and rotating direction of the four Mecanum wheels, so as to quickly offset the movement of the user's feet, and realize the user's walking in place. The VR shoe can also simulate the ruggedness of the ground in the virtual environment by adjusting the height of the micro pressure column, so as to bring the real touch feedback of the ground in the virtual environment to the user's feet, and improve the user's sense of immersion.

[0007] The VR shoe described above, the tactile simulation system further comprises a plurality of pressure sensors, the pressure sensors are arranged at the top or bottom end of the micro pressure column, and the pressure sensors are electrically connected with the control system.

[0008] The VR shoe described above, the tactile simulation system further comprises a perception film surface, a plurality of the micro pressure columns are connected through the perception film surface, the perception film surface is in contact with the user's plantar, and a traction wire is arranged on the perception film surface along the walking force line of the feet.

[0009] The VR shoe described above further comprises a balance control system, the balance control system is arranged on the shoe body, the balance control system comprises a plurality of counterweights and a plurality of counterweight distribution adjusting devices, the counterweights are mechanically connected with the corresponding counterweight distribution adjusting devices, the counterweight distribution adjusting devices are used to adjust the distribution position of the counterweights on the shoe body, and the counterweight distribution adjusting devices are electrically connected with the control system.

[0010] The VR shoe described above, the top of the micro pressure column is detachably provided with a tactile bowl made of flexible material, and the bowl opening of the tactile bowl faces the corresponding micro pressure column.

[0011] The VR shoe further comprises a temperature simulation system, the temperature simulation system comprises a temperature sensor and a semiconductor refrigeration sheet, the semiconductor refrigeration sheet is arranged in an upper of the shoe body, the temperature sensor is arranged in the shoe cavity, and the semiconductor refrigeration sheet and the temperature sensor are electrically connected with the control system.

[0012] A control method of the VR shoe, comprising the following steps: Collecting motion parameters of the shoe body through a motion sensor; Predicting a motion posture of a foot of the user according to the motion parameters of the shoe body; Solving rotation speeds and rotation directions of the respective Mecanum wheels required for offsetting the movement of the user according to the motion posture of the user, and controlling the motion driving system according to the solved rotation speeds and rotation directions; Obtaining a virtual ground parameter at a foot of a virtual image of the user in a virtual environment; Calculating heights of the respective micro pressure columns according to the virtual ground parameter, and controlling the corresponding pressure driving device according to the calculated heights of the respective micro pressure columns.

[0013] The control method of the VR shoe further comprises the following steps: Calculating a center of gravity offset of the user according to the motion parameters of the shoe body; Calculating an adjustment amount of the counterweight required for restoring the balance of the shoe body according to the center of gravity offset of the user, and controlling the corresponding counterweight distribution adjustment device according to the adjustment amount of the respective counterweights.

[0014] The control method of the VR shoe further comprises the following steps: Obtaining a virtual temperature of the virtual environment; Controlling the semiconductor refrigeration sheet according to a difference between the virtual temperature and an actual temperature in the shoe cavity detected by the temperature sensor, so that the actual temperature in the shoe cavity approaches the virtual temperature.

[0015] A virtual reality system comprising the VR shoe.

[0016] The application will be further described in detail below in combination with the accompanying drawings and specific embodiments. BRIEF DESCRIPTION OF DRAWINGS

[0017] Figure 1 It is a side view of the VR shoe of the embodiment of the application.

[0018] Figure 2 It is a bottom view of the VR shoe of the embodiment of the application.

[0019] Figure 3 It is a schematic view of the internal structure of the VR shoe of the embodiment of the application.

[0020] Figure 4A structural schematic diagram of a haptic bowl of an embodiment of the present application.

[0021] Figure 5 A principle block diagram of a virtual reality system of an embodiment of the present application.

[0022] BRIEF DESCRIPTION OF DRAWINGS 100 shoe body, 200 Mecanum wheel, 300 micro pressure column, 310 haptic bowl, 311 buffer structure, 312 connecting part, 320 sensing membrane surface, 400 counterweight. DETAILED DESCRIPTION

[0023] Embodiments of the present application will be described in detail below with reference to the drawings, in which Figures 1 to 3 An embodiment of the present application provides a VR shoe, which comprises a shoe body 100, four Mecanum wheels 200, a motion driving system, a motion sensor, a haptic simulation system and a control system. The four Mecanum wheels 200 are arranged on the bottom surface of the shoe body 100, and the four Mecanum wheels 200 can rotate under the driving of the motion driving system. The motion sensor is arranged on the shoe body 100 and is used to collect the motion state of the shoe body 100. The haptic simulation system is arranged in the shoe cavity of the shoe body 100, and the haptic simulation system comprises a plurality of micro pressure columns 300 and a plurality of pressure driving devices. The micro pressure columns 300 are movably arranged in mounting holes on the bottom surface of the shoe cavity, the micro pressure columns 300 are connected to the pressure driving devices one by one, and the micro pressure columns 300 can move up and down under the driving of the pressure driving devices. The motion driving system, the motion sensor and the pressure driving devices are electrically connected to the control system and are controlled by the control system.

[0024] The VR shoes can detect the motion state of the shoe body 100 through the motion sensor, obtain the motion direction of the shoe body 100, and analyze the motion direction of the user wearing the VR shoes according to the motion direction of the shoe body 100. The control system can calculate the rotation speed and rotation direction of the four Mecanum wheels 200 required to offset the movement of the user according to the motion direction of the user, and drive the four Mecanum wheels 200 to rotate at the calculated rotation speed and rotation direction through the motion driving system, so that the movement of the user is offset by the rotation of the Mecanum wheels 200, and the user can walk in place. Since the four Mecanum wheels 200 can drive the body to move in any direction by adjusting the speed difference and rotation direction between each other, the VR shoes can quickly offset the movement of the user in any direction by using the characteristics of the Mecanum wheels 200, without the need to set a steering platform or wait for the steering platform to steer to offset the foot movement in any direction. The response is fast and stable. The VR shoes can also adjust the height of the micro pressure column 300 through the pressure driving device according to the shape or material of the ground in the virtual environment, so as to adjust the pressure of the micro pressure column 300 on the user's feet, and realize the simulation of different ground environments, and bring the user's feet close to the real ground tactile simulation, and improve the user's sense of immersion. The VR shoes can realize the stability of walking in place of the infinite floor or universal treadmill with a relatively simple structure, reduce the cost of VR experience, and be easy to popularize.

[0025] It can be understood that in order to realize omnidirectional driving, the four Mecanum wheels 200 need to be distributed in a rectangular shape on the bottom surface of the shoe body 100, and the four Mecanum wheels 200 are divided into two groups, the directions of the rollers on the hubs of the two groups of Mecanum wheels 200 are opposite, and the directions of the rollers of the left front wheel and the right rear wheel are the same, and the directions of the rollers of the left rear wheel and the right front wheel are the same. In this embodiment, the hub is made of light aluminum alloy material, which can reduce the weight of the entire VR shoes while ensuring the strength of the wheel body, and reduce the walking burden of the user. The roller is made of polyurethane, which has good shock absorption and wear resistance, prolongs the service life of the wheel, and each Mecanum wheel 200 needs to bear at least 25 kg of weight. Referring to Figure 2 In this embodiment, the four Mecanum wheels 200 are embedded in the sole of the shoe body 100, and the top surface of the Mecanum wheel 200 slightly protrudes from the sole plane. The sole is a hollow structure made of carbon fiber or aluminum alloy, and the motion driving system, the pressure driving device and the control system are arranged in the internal frame of the sole.

[0026] It can be understood that, since each of the four Mecanum wheels 200 needs to be independently adjusted in speed and direction of rotation to achieve omnidirectional movement, the motion driving system needs to include four motors. In the present embodiment, the four Mecanum wheels 200 are respectively driven by four miniature brushless DC motors, each of which is in transmission connection with the corresponding Mecanum wheel 200. In the present embodiment, the miniature brushless DC motor and the corresponding Mecanum wheel 200 are in transmission connection through a speed reducer to improve the torque of the wheel. The miniature brushless DC motor needs to be built-in with a temperature sensor to avoid overheating of the motor. A spring or a silicone pad or other buffering mechanism is preferably arranged between the frame of the Mecanum wheel 200 and the sole to absorb the vibration during walking, thereby protecting the user's ankle and the internal structures of the shoe, such as the motion driving system, the pressure driving device, and the control system. In the present embodiment, an electronic brake is arranged at each Mecanum wheel 200, or the electronic brake function is realized through an algorithm, so that the user can hold the Mecanum wheel in an emergency, facilitate the user to maintain balance, and can realize normal walking action while wearing the VR shoes, thereby improving the convenience of use.

[0027] In the present embodiment, the miniature pressure column 300 is a column made of PE material, which has the characteristics of high strength, wear resistance and light weight. The pressure driving device can be a linear driving mechanism composed of a miniature motor and a worm gear and a screw, or a miniature air cylinder or an electric cylinder. In the present embodiment, the miniature pressure column 300 is driven by a miniature linear motor, such as a voice coil motor, which directly drives the miniature pressure column 300 to move up and down in the vertical direction through electromagnetic force. The stroke range of the miniature pressure column 300 is preferably set to about 0.5-3 mm, which can simulate the tactile effect of the ground in the virtual environment to a certain extent while avoiding obvious discomfort to the user's feet, and the output of the miniature linear motor can be 0.1-5 N, which can simulate the tactile of the ground in the virtual environment for the user's feet and can assist in adjusting the balance to a certain extent.

[0028] Referring to Figure 3 In practice, the tactile sensation of the human foot mainly comes from the soles and heels, so in the present embodiment, the miniature pressure columns 300 are divided into two groups, each arranged in a spider web array on the bottom surface of the shoe cavity, and the two groups of miniature pressure columns 300 are respectively located in the sole area and the heel area of the user. Since the area of the sole is larger than that of the heel, and the nerve endings in the sole part are more abundant, the density of the miniature pressure columns 300 in the sole area can be higher than that of the miniature pressure columns 300 in the heel area. By arranging the miniature pressure columns 300 in a spider web shape, the characteristics of each node of the spider web being interdependent can be utilized, so that better delicate ground tactile sensation can be simulated by fewer miniature pressure columns 300.

[0029] Referring to Figure 5In the embodiment, in order to further improve the authenticity and stability of simulation, the haptic simulation system further comprises a pressure sensor arranged at the top end or bottom end of the micro pressure column 300, the pressure sensor is electrically connected with the control system, and the pressure sensor feeds back the pressure between each micro pressure column 300 and the user's foot to the control system in real time, so as to implement PID closed-loop control on the simulated haptic pressure of each micro pressure column 300. At the same time, the pressure sensor can also assist in analyzing the user's posture according to the pressure distribution of the user's foot, so that the micro pressure column 300 can be dynamically adjusted according to the user's posture, and the user can be assisted to maintain balance. In the embodiment, the pressure sensor adopts a piezoresistive film sensor embedded at the bottom end of each micro pressure column 300, occupies a small space, and is convenient for integration in the limited space of the sole.

[0030] With reference to Figure 4 In the embodiment, the top end of the micro pressure column 300 is provided with a haptic bowl 310 made of flexible material, and the bowl opening of the haptic bowl 310 faces the corresponding micro pressure column 300. Different haptic simulation effects of the bottom surface can be realized by replacing the haptic bowl 310, such as simulating cement ground or asphalt ground, and the haptic bowl 310 with a larger area and a harder texture can be selected; for example, when simulating sand ground or mud ground, the haptic bowl 310 with a smaller area and a softer texture can be arranged. In the embodiment, the haptic bowl 310 is made of silica gel material, and the haptic bowl 310 is detachably connected with the top end of the micro pressure column 300 through a connecting part 312. The connecting part 312 is provided with a slot matched with the shape of the top end of the micro pressure column 300, and the connecting part 312 is sleeved on the top of the micro pressure column 300 through the slot. A buffer structure 311 is arranged between the haptic bowl 310 and the connecting part 312 to absorb the impact force when falling. In the embodiment, the buffer structure 311 is a bellows structure.

[0031] With reference to Figure 3 In the embodiment, the haptic simulation system further comprises a sensing film surface 320, and the plurality of micro pressure columns 300 are connected through the sensing film surface 320. The sensing film surface 320 is directly in contact with the sole of the user's foot, and is used to provide different foot feeling. In the embodiment, the sensing film surface 320 is provided with a traction wire, the traction wire is arranged along the walking force line of the foot, and the traction wire is accurately positioned in the force line direction of the foot movement according to the anatomical characteristics of the foot. The sensing film surface 320 is made of polyurethane material and silica gel material, and the traction wire is made of high molecular fiber material, so as to ensure durability, wear resistance, tear resistance and oil resistance.

[0032] With reference to Figure 5In the embodiment, the motion sensor can include an acceleration sensor and a gyroscope, the acceleration sensor is used to detect the motion direction and motion acceleration of the shoe body 100, and the gyroscope is used to detect the angle, angular velocity and angular acceleration of the shoe body 100. The acceleration sensor and the gyroscope are both arranged at the toe of the shoe body 100. Referring to Figure 1 In the embodiment, in order to assist the user to maintain balance and avoid falling, the shoe body 100 is further provided with a balance control system, the balance control system includes a plurality of counterweights 400 and a plurality of counterweight distribution adjusting devices, the counterweight 400 is mechanically connected with the corresponding counterweight distribution adjusting device, and the position of the counterweight 400 can be changed under the driving of the corresponding counterweight distribution adjusting device, so as to compensate the gravity center deviation of the shoe body 100 and assist the user to maintain balance. It can be understood that the counterweight distribution adjusting device can be a linear drive mechanism composed of a motor and a screw pair, and the counterweight 400 is arranged on the screw nut of the screw pair. Referring to Figure 5 In the embodiment, the shoe body 100 is provided with two groups of counterweights 400, each group includes two counterweights 400, the first group of counterweights 400 is arranged on both sides of the upper, and can move in the vertical direction under the driving of the two vertical counterweight distribution adjusting devices respectively; the second group of counterweights 400 is arranged on both sides of the main part of the shoe body 100, and can move in the horizontal direction under the driving of the two horizontal counterweight distribution adjusting devices respectively.

[0033] Referring to Figure 5 In the embodiment, in order to further improve the user's sense of involvement, the shoe body 100 is provided with a temperature simulation system, the temperature simulation system includes a temperature sensor and a semiconductor refrigeration sheet, the temperature sensor is arranged in the shoe cavity, and the semiconductor refrigeration sheet can be arranged in the interlayer of the upper. The semiconductor refrigeration sheet and the temperature sensor are electrically connected with the control system. The control system controls the semiconductor refrigeration sheet to adjust the temperature in the shoe cavity according to the environmental temperature of the virtual environment, so that the temperature in the shoe cavity can simulate the temperature in the corresponding scene of the virtual environment. The temperature sensor collects the temperature in the shoe cavity, so as to perform PID closed-loop control on the temperature in the shoe cavity.

[0034] It can be understood that the control system can include an MCU, a multi-channel motor driving circuit and a semiconductor refrigeration piece power supply, and the temperature sensor, the acceleration sensor, the pressure sensor and the gyroscope are electrically connected to the MCU through an AD conversion circuit or are directly electrically connected to the MCU. The MCU is electrically connected to the four motors of the motion driving system, the motors of the four weight distribution adjusting devices and the plurality of pressure driving devices through the motor driving circuit, and drives these motors to work. The MCU drives the semiconductor refrigeration piece to work through the semiconductor refrigeration piece power supply, and switches the heating or cooling function of the shoe cavity by switching the electrodes of the semiconductor refrigeration piece. It can be understood that in some embodiments, the VR shoes can be connected to an external power supply through a power line to realize power supply of the VR shoes. A battery and a battery management system can also be arranged in the sole of the VR shoes to realize wireless use by power supply. In some embodiments, the control system can further include a wireless communication module, and the MCU communicates with the host computer through the wireless communication module to obtain the ground parameters in the virtual environment and the temperature information of the virtual environment, so as to control the ground touch and temperature of the virtual environment to be simulated by the touch simulation system and the temperature simulation system, and feed back the movement direction and speed of the user and other parameters to the host computer to realize the movement control of the virtual image of the user in the virtual environment.

[0035] The VR shoes of the embodiment of the application are controlled in the following manner. First, the motion parameters of the shoe body 100 are collected by the motion sensor, and the motion parameters of the shoe body 100 include the speed, acceleration, speed direction, angular velocity, angular acceleration, pitch angle and roll angle of the shoe body 100. The above-mentioned parameters are obtained by the acceleration sensor and the gyroscope, and in this embodiment, in order to eliminate noise and avoid noise interference affecting the subsequent control process, the parameters collected by the acceleration sensor, the gyroscope, the temperature sensor and the pressure sensor are all subjected to filtering processing by digital filtering technologies such as FIR filtering, IIR filtering, band-pass filtering or LMS algorithm.

[0036] Subsequently, the motion posture of the user is predicted according to the above-mentioned motion parameters. Specifically, the motion posture of the user can be predicted by a neural network model trained by a large amount of human walking posture data, and the motion path of the user's foot in the subsequent process is predicted according to the input motion path of the foot, so as to subsequently calculate the rotation speed and rotation direction of each Mecanum wheel 200 required to offset the movement of the user according to the predicted motion path of the foot.

[0037] Then, the control system calculates the rotation speed and rotation direction of each Mecanum wheel 200 required to offset the user's movement according to the predicted movement path of the user's feet, and controls the motor of each Mecanum wheel 200 through the motion driving system according to the calculated rotation direction and rotation speed, so that the Mecanum wheel 200 moves according to the calculated rotation direction and rotation speed, thereby offsetting the user's movement.

[0038] Specifically, the walking process of the human body can be divided into two processes of lifting the leg and taking a step. Since the two feet are alternately off the ground during the walking process of the human body, in fact, when the left leg lifts and takes a step, the rotation speed and rotation direction of the four Mecanum wheels 200 of the right foot need to be calculated to offset the user's movement; conversely, when the right leg lifts and takes a step, the rotation speed and rotation direction of the four Mecanum wheels 200 of the left foot need to be calculated. Among them, during the process of lifting the leg, the foot on the ground does not need to move a large range, and the four Mecanum wheels 200 of the VR shoes of the foot on the ground are controlled to move slightly to assist the user to keep balance; when the user starts to take a step, the control system needs to drive the foot on the ground to move in the opposite direction of the user's movement direction to offset the user's movement, so as to realize walking in place.

[0039] Specifically, in the present embodiment, an analog annealing algorithm is used to solve the rotation speed and rotation direction of the Mecanum wheels 200 of the VR shoes worn by the landing foot. First, a set of control parameters of the Mecanum wheels 200 is generated by a random method as a starting solution; then a new set of control parameters is generated as a new solution by making a small adjustment to the current control parameters, such as increasing or decreasing a preset gradient value, in the neighborhood of the current control parameters. The Metropolis criterion is used to evaluate and decide whether to accept the new solution. In the evaluation process, the stability of the new solution needs to be compared. In the present embodiment, the stability of the new solution is evaluated by the center of gravity offset of the user after execution. The center of gravity offset after execution of the new solution can be predicted by a neural network model and compared with the center of gravity offset of the old solution. If the center of gravity offset is smaller, it means that the user is more likely to maintain balance after execution, which means that the new solution is more stable. In the present embodiment, the power consumption required for execution is also considered in the evaluation process. Even if the stability of the new solution may be slightly lower than that of the old solution, but the power consumption of execution is much lower than that of the old solution, the new solution can still be accepted. In the evaluation process, even if the stability and power consumption of the new solution are not good compared with the old solution, the preset probability can still be used to decide whether to accept the new solution to avoid falling into local optimum. By repeatedly iterating the above neighborhood search and Metropolis criterion-based acceptance process, the global optimal solution is gradually approached. After each iteration, the "temperature" of the system needs to be updated according to the preset cooling strategy, that is, the probability of accepting the difference solution is adjusted. In the present embodiment, the probability of accepting the difference solution is reduced according to an exponential function, and the decay rate of the cooling is set to 0.97. When the temperature is reduced to a threshold value or the number of iterations reaches a preset number, the search is stopped and the final optimal solution is output.

[0040] In the present embodiment, in the process of solving the rotation speed and rotation direction of the Mecanum wheels 200 of the VR shoes that touch the ground, the movement amount and movement direction of each counterweight 400 are also solved by the analog annealing algorithm. The counterweights 400 are used to assist in adjusting the center of gravity of the user to prevent the user from falling down due to excessive center of gravity offset. The movement amount and movement direction of the four counterweights 400 on the two VR shoes, and the rotation speed and rotation direction of the four Mecanum wheels 200 of the VR shoes that touch the ground form a set of solutions, which are iterated together to search for new solutions in the neighborhood and accept the process based on the Metropolis criterion.

[0041] In some embodiments, when it is judged according to the motion parameters of the shoe body 100 that the user is about to fall down, the micro pressure column 300 on the side of the falling direction can be quickly raised to assist the user in adjusting the center of gravity and further prevent the user from falling down.

[0042] The VR shoes calculate the height of each micro pressure column 300 according to the virtual ground parameters at the feet of the virtual image of the user in the virtual environment, and control the corresponding pressure driving device according to the calculated height, to simulate the ruggedness of the virtual ground, and realize the tactile simulation of the virtual ground of the virtual environment. It can be understood that the virtual ground parameters can include a three-dimensional point cloud of the virtual ground and a material of the virtual ground, the VR shoes take the center of the user's feet as the alignment center, match each micro pressure column 300 with a point in the three-dimensional point cloud, and adjust the height of the micro pressure column 300 according to the height of the matched point, so that the curved surface formed by the top end of the micro pressure column 300 can be basically fitted with the curved surface formed by the three-dimensional point cloud, so as to realize the simulation of the ruggedness of the virtual ground through the micro pressure column 300. The control system queries the output torque of the pressure driving device according to the material of the virtual ground obtained from the host computer, according to the preset mapping relationship between the material and the torque, to simulate the touch of the virtual ground. The control system can communicate with the host computer through a wired or wireless manner, to obtain the virtual ground parameters of the virtual ground near the feet of the virtual image.

[0043] In some embodiments, in order to further improve the immersion of the user, the control system controls the semiconductor refrigeration sheet to adjust the temperature in the shoe cavity according to the virtual temperature of the virtual environment set in the host computer, so that the temperature in the shoe cavity approaches the temperature of the virtual environment.

[0044] Based on the same inventive concept, referring to Figure 5 The embodiments of the present application also provide a virtual reality system, which comprises a pair of the above-mentioned VR shoes, a host computer and a VR helmet, the VR shoes and the VR helmet are in communication connection with the host computer, the host computer sends the picture and sound of the virtual environment to the VR helmet, and sends the virtual temperature of the virtual environment and the virtual ground parameters of the feet of the virtual image to the control system of the VR shoes, the control system of the VR shoes controls the height of the micro pressure column 300 and the output torque of the pressure driving device according to the virtual ground parameters, and controls the semiconductor refrigeration sheet to adjust the temperature in the shoe cavity according to the temperature of the virtual environment, to simulate the touch of the virtual ground of the virtual environment and the temperature of the virtual environment, and improve the immersion of the user. The virtual reality system can realize stable in-place walking with a relatively simple structure and a relatively low cost, and is conducive to the popularization of the virtual reality technology.

[0045] It should be noted that, in the description of the present application, if there is a description of the orientation, such as the orientation or position relationship indicated by the upper, lower, front, rear, left, right and the like, it is based on the orientation or position relationship shown in the drawings, and is only for the convenience of describing the present application and simplifying the description, and cannot be understood as indicating or implying that the indicated device or element must have a specific orientation, be constructed or operated in a specific orientation, and cannot be understood as a limitation on the present application.

[0046] In the description of the present application, the meaning of one or more is one or more, the meaning of multiple is two or more, greater than, less than, more than, etc. is understood as not including the number, above, below, within, etc. is understood as including the number. If there is a description of first or second, etc., it is only for the purpose of distinguishing technical features, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of indicated technical features or implicitly indicating the order of the indicated technical features.

[0047] In the description of the present application, unless otherwise expressly limited, the words such as setting, installing, connecting, etc. should be broadly understood, and those skilled in the art can reasonably determine the specific meaning of the above words in the present application in combination with the specific content of the technical scheme.

[0048] The above embodiments are only preferred embodiments of the present application, and cannot be used to limit the scope of protection of the present application. Any non-essential changes and substitutions made by those skilled in the art on the basis of the present application are within the scope of protection of the present application.

Claims

1. A VR shoe, characterized in that: The invention comprises a shoe body (100), four Mecanum wheels (200), a motion drive system, a motion sensor, a tactile simulation system and a control system, wherein the four Mecanum wheels (200) are arranged on the bottom surface of the shoe body (100), the Mecanum wheels (200) rotate under the drive of the motion drive system, the motion sensor is used to collect the motion state of the shoe body (100), the tactile simulation system is arranged on the bottom surface of the shoe cavity of the shoe body (100), the tactile simulation system comprises a plurality of micro pressure columns (300) and a plurality of pressure drive devices, the micro pressure columns (300) are mechanically connected to the pressure drive devices in a one-to-one correspondence, the pressure drive devices are used to drive the micro pressure columns (300) to perform lifting motion, and the motion drive system, the motion sensor and the pressure drive devices are all electrically connected to the control system and are controlled by the control system.

2. The VR shoes according to claim 1, characterized in that The tactile simulation system further comprises a plurality of pressure sensors, wherein the pressure sensors are arranged at the top or bottom of the micro pressure column (300), and the pressure sensors are electrically connected to the control system.

3. The VR shoes according to claim 1, characterized in that: The tactile simulation system further comprises a sensing membrane surface (320), a plurality of the micro pressure columns (300) are connected via the sensing membrane surface (320), the sensing membrane surface (320) contacts the sole of the user's foot, and a traction wire is provided on the sensing membrane surface (320), and the traction wire is provided on the sensing membrane surface (320) along the walking force line of the foot.

4. The VR shoes according to claim 1, characterized in that The shoe further comprises a balance control system, the balance control system being arranged on the shoe body (100), the balance control system comprising a plurality of counterweight blocks (400) and a plurality of counterweight distribution adjustment devices, the counterweight blocks (400) being mechanically connected to the corresponding counterweight distribution adjustment devices, the counterweight distribution adjustment devices being used to adjust the distribution positions of the counterweight blocks (400) on the shoe body (100), and the counterweight distribution adjustment devices being electrically connected to the control system.

5. The VR shoes according to claim 1, characterized in that: A tactile bowl (310) made of a flexible material is detachably provided on the top of each of the micro pressure columns (300), with the mouth of the tactile bowl (310) facing the corresponding micro pressure column (300).

6. The VR shoes according to claim 1, characterized in that: The shoe body (100) further comprises a temperature simulation system, wherein the temperature simulation system comprises a temperature sensor and a semiconductor refrigeration plate, wherein the semiconductor refrigeration plate is arranged in the upper of the shoe body (100), and the temperature sensor is arranged in the shoe cavity, and the semiconductor refrigeration plate and the temperature sensor are both electrically connected to the control system.

7. A method for controlling VR shoes according to any one of claims 1 to 6, characterized in that: The steps include: Collecting motion parameters of the shoe body (100) through a motion sensor; Predicting the motion posture of the user's foot based on the motion parameters of the shoe body (100); Calculating the rotation speed and rotation direction of each Mecanum wheel (200) required to offset the user's movement according to the user's movement posture, and controlling the motion drive system according to the calculated rotation speed and rotation direction; obtaining virtual ground parameters at the feet of the user's avatar in the virtual environment; The height of each micro pressure column (300) is calculated according to the virtual ground parameters, and the corresponding pressure driving device is controlled according to the calculated height of each micro pressure column (300).

8. The VR shoe control method according to claim 7, characterized in that: The following steps are also included: Calculating the user's center of gravity offset based on the motion parameters of the shoe body (100); The adjustment amount of the counterweight blocks (400) required to restore the balance of the shoe body (100) is calculated according to the center of gravity offset of the user, and the corresponding counterweight distribution adjustment device is controlled according to the adjustment amount of each counterweight block (400).

9. The VR shoe control method according to claim 7, characterized in that: The following steps are also included: Get the virtual temperature of the virtual environment; The semiconductor refrigeration plate is controlled according to the difference between the virtual temperature and the actual temperature in the shoe cavity detected by the temperature sensor, so that the actual temperature in the shoe cavity approaches the virtual temperature.

10. A virtual reality system, characterized in that: Comprising the VR shoes according to any one of claims 1 to 6.

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