Body modular sensory simulation device
Through the body modular sensory simulation device, the user's lower limb movement is detected and the force is output in reverse. Combined with virtual reality technology, the problem of limited stride and limited application scenarios of virtual reality treadmills is solved, and a diverse virtual reality experience is achieved.
Patent Information
- Application Number
- CN202421364577.6
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-06-16
- Publication Date
- 2025-06-20
- Estimated Expiration
- 2034-06-16
AI Technical Summary
The existing virtual reality treadmill requires the user to stand firmly in a specific area, which limits the user's movement stride and requires a bracket to fix the body parts, which limits the diversity of virtual application scenarios.
It provides a somatic modular sensory simulation device that allows the user to experience the real state of motion in a virtual environment by detecting the movement changes of the user's lower limbs and outputting the force in reverse, combined with equipment such as a head-mounted display.
This device can provide users with a variety of virtual reality simulation environments, with advantages such as small usage space, diverse experiences, low costs, and consistency of different user experiences, and overcomes the problems of limited virtual application scenarios in the prior art.
Smart Images
Figure CN222998255U_ABST
Abstract
Description
Technical Field
[0001] The utility model relates to the technical field of virtual reality, in particular to a body modular sensory simulation device. Background Art
[0002] Virtual Reality (VR) technology is a computer technology that simulates a virtual environment. It provides users with a scene to interact with the virtual environment through a head-mounted display and a control device to meet the needs of users in aspects such as leisure and entertainment, sports games, etc. Existing related products include simulation games based on virtual reality to simulate actual scenes, VR treadmills for virtual reality scenes, etc. Taking the virtual reality treadmill as an example, the user stands in the middle of the treadmill, wears a VR display, and makes simulated actions such as walking, jumping up, and squatting to experience the environmental changes in real sports. Since the VR treadmill requires the user to stand fixed in a specific area with a sunken bottom, the user's moving stride cannot be too large, and a bracket needs to be set to fix the user's body parts, and the virtual application scenarios it can provide are extremely limited. Therefore, it is necessary to provide a new virtual reality product. Summary of the Utility Model
[0003] The purpose of the utility model is to provide a body modular sensory simulation device, thereby at least to a certain extent overcoming the above problems caused by the limitations and defects of related technologies. Brief Description of the Drawings
[0004] Figure 1 It is a schematic structural diagram of a body modular sensory simulation device in an exemplary embodiment of the utility model.
[0005] Figure 2 It is a partial structural schematic diagram of a body modular sensory simulation device in an exemplary embodiment of the utility model.
[0006] Figure 3 It is a schematic structural diagram of a third support device of a body modular sensory simulation device in an exemplary embodiment of the utility model. Detailed Description of the Embodiment
[0007] In order to make the objectives, features, and advantages of the present utility model more obvious and understandable, the technical solutions in the embodiments and examples of the present utility model will be clearly and completely described below in conjunction with the accompanying drawings. However, the exemplary embodiments and examples can be implemented in various forms and should not be construed as limited to the examples set forth herein; on the contrary, these embodiments and examples are provided so that the present utility model will be more comprehensive and complete, and the concept of the exemplary embodiments and examples will be fully conveyed to those skilled in the art. The features, structures, or characteristics described in the present utility model can be combined in any suitable manner in one or more embodiments and examples. In the following description, numerous specific details are provided to give a full understanding of the embodiments and examples of the present utility model. However, those skilled in the art will realize that the technical solutions of the present utility model can be practiced with the omission of one or more of the specific details, or other methods, components, devices, steps, etc. can be adopted. In other cases, well-known technical solutions are not shown or described in detail to avoid obscuring the various aspects of the present utility model.
[0008] In addition, the accompanying drawings are only schematic diagrams of the present utility model and are not necessarily drawn to scale. The same reference numerals in the drawings denote the same or similar parts, and thus their repeated description will be omitted. Although the steps of the method in the present utility model are described in a specific order in the accompanying drawings, this does not require or imply that these steps must be executed in that specific order, or that all the steps shown must be executed to achieve the desired result. The flowcharts shown in the accompanying drawings are only illustrative and do not necessarily include all the steps. For example, some steps can be decomposed, while some steps can be combined or partially combined, so the actual execution order may change according to the actual situation. Some of the block diagrams shown in the accompanying drawings are functional entities and do not necessarily correspond to physically or logically independent entities. These functional entities can be implemented in software form, or in one or more hardware modules or integrated circuits, or in different networks and / or processor devices and / or microcontroller devices.
[0009] Virtual Reality (VR) technology is a computer technology that simulates a virtual environment. It provides users with a scenario to interact with the virtual environment through a head-mounted display and control devices to meet the needs of users in aspects such as leisure and entertainment, sports games, etc. Existing related products include simulation games based on virtual reality to simulate actual scenarios, VR treadmills for virtual reality scenarios, etc. Taking the VR treadmill as an example, the user stands in the middle of the treadmill, wears a VR display, and makes simulated actions such as walking, jumping up, and squatting to experience the environmental changes in real sports. Since the VR treadmill requires the user to stand fixed in a specific area with a sunken bottom, the user's moving stride cannot be too large, and a bracket needs to be set to fix the user's body parts, so the virtual application scenarios it can provide are extremely limited.
[0010] Based on the above-mentioned defects in the related technology, the present utility model provides a body modular sensory simulation device, which can calculate and output a reverse force control acting on the user according to the movement changes of the user's body, enabling the user to experience the real movement state in the virtual environment. When the user controls the movement of the lower limb part in the case of configuring the misdirection simulation device, the device can detect the state change of the user's lower limb and reversely output the acting force of the motor. The user's induction of this acting force is combined with devices such as a head-mounted display to experience the situation of moving in the virtual reality. The body modular sensory simulation device can provide multiple virtual reality simulation environments for users, and has the advantages of small use space, diverse feelings, low cost, high consistency of different user experiences, etc.
[0011] An exemplary embodiment of the present utility model provides a body modular sensory simulation device, Figure 1 which is a schematic structural diagram of a body modular sensory simulation device in an exemplary embodiment of the present utility model; Figure 2 which is a partial structural diagram of a body modular sensory simulation device in an exemplary embodiment of the present utility model; As Figure 1 and Figure 2 shown, the body modular sensory simulation device includes:
[0012] A supporting device 1, which is used to provide force support for the lying posture of the user's body and balance the use posture;
[0013] A connecting device 2, which is movably connected to the supporting device 1 and the first driving device 3 respectively, and is used to control the first driving device 3 to move relative to the supporting device 1 in the first direction; wherein, the supporting device 1 is provided with an opening groove along the first direction; Exemplarily, as Figure 1In the coordinate system marking, the first direction is the marking direction of the z-axis in the coordinate system. The connecting device 2 can be connected by a motor or other means such as bolts. By adjusting the connecting device 2, the leg device can be moved in the z-axis direction to adapt to the hip width of the user;
[0014] The first driving device 3, connected to the connecting device 2, is used to perform axial rotation in the user's lying plane with the connecting device 2 as the axis point, so as to realize the movement form of the user's legs separating and closing;
[0015] The second driving device 4, one end of which is axially rotatably connected to the first driving device 3, is used to rotate in the first direction with the first driving device 3 as the axis point, so as to realize the rotation of the user's legs in the lying position; The first direction is as Figure 1 marked as the z-axis direction, that is, the user rotates laterally in the xz plane in the lying posture;
[0016] The third driving device 5, one end of which is connected to the second driving device 4, is used to rotate in the second direction with the second driving device 4 as the axis point, so as to realize the movement form of the user's legs lifting and lowering (contracting and stretching, that is, simulating walking) in the lying position; The second direction is as Figure 1 marked as the x-axis direction, and the second direction is perpendicular to the plane where the user lies;
[0017] The first supporting device 6, connected to the third driving device 5, is used to provide force support for the user's thigh according to the axial rotation of the third driving device 5;
[0018] The fourth driving device 7, respectively connected to the first supporting device 6 and the second supporting device 8, is used to control the second supporting device 8 to rotate in the second direction with the first supporting device 6 as the axis point, so as to realize the movement of the user's legs in the lying position;
[0019] The second supporting device 8, is used to provide force support for the user's calf according to the axial rotation of the fourth driving device 7;
[0020] A plurality of fifth driving devices 9, respectively arranged on both sides of the second supporting device 8, are used to control the telescopic movement of the flexible connecting body;
[0021] The third supporting device 10, connected to the fifth driving device 9 through the flexible connecting body, is used to provide force support for the user's foot according to the telescopic amplitude of the flexible connecting body.
[0022] Exemplarily, gyroscope modules are respectively arranged in the first support device 6 and the second support device 8 for detecting the angle between the first support device 6 and the horizontal direction, and the angle between the second support device 8 and the horizontal direction; gyroscope modules are arranged at each connection point between the third support device 10 and the flexible connection body for detecting the angle between each connection point and the horizontal direction; when the user's limb moves, the device can detect the movement amplitude (i.e., angle change) of the user and provide corresponding force support for the user's body part through each support device. The connection device and each driving device in the device can be implemented by motors, and the inner shafts or outer shafts of the motors are connected to each other or connected to other components.
[0023] In an exemplary embodiment, the operation processes of the third driving device 5 and the fourth driving device 7 are as follows: Define the mass of the human thigh part and the first support device 6 as m1, the mass of the human calf part and the second support device 8 as m2, the length of the human thigh part as l1 (i.e., the distance length from the user's hip to the knee), the length from the human calf part to the sole of the foot as l2, and the gravitational acceleration as g, where both the thigh part and the calf part are assumed to be homogeneous cylinders (the center of gravity is at 1 / 2); in the technology of virtual perception when the user combines with the VR device, the mass of the human calf part in the virtual environment is M2, the gravitational acceleration in the virtual environment is G, and the distance from the human calf part to the sole of the foot is L2; optionally, the first support device 6 and the second support device 8 can be set as two-stage telescopic structures, and their telescopic structures 13 and 14 are adjusted to adapt to the user's leg length; by measuring the angle θ1 between the human thigh part and the horizontal line through the gyroscope module arranged in the first support device 6, the output torque T1 of the third driving device 5 can be determined, and by detecting the angle θ2 between the calf part and the horizontal direction through the gyroscope module arranged in the second support device 8, the output torque T2 of the fourth driving device 7 can be determined. Since the calf part is fixed to the second support device 8, the downward weight of the leg is subject to this torque whether it is lifted or pressed down. In addition, when the second driving device 4 rotates, the output torques of the third driving device 5 (the motor below the knee) and the fourth driving device 7 (the motor under the crotch) can also be reduced according to the change value of the angle.
[0024] T1 = L1((m1 * g * cosθ1) / 2 - (M1 * G * sinθ1)) + ((L1 * cosθ1) / 2 + L2cosθ2) * m2g - (L1sin
[0025] θ1 + (L2θ2) / 2) * m2g;
[0026] T2 = L2((m2 * g * cosθ2) / 2 - (M2 * G * sinθ2)).
[0027] In an embodiment, the structure of the fifth support device 10 is as Figure 3 shown. Taking the center of gravity of the fifth support device 10 as the center point, it is divided into 4 regions. When a user with a body weight of 60 kg stands upright, the weight borne by each foot is 30 kg. Correspondingly, the 4 fifth driving devices 9 connected to the fifth support device 10 need to provide a force of 300 N (gravitational acceleration is 10 m / s 2 ²), and the fifth driving device 9 controls the expansion and contraction of the flexible connecting body (such as a triangular belt, a traction cable, etc.) through a rotating shaft to apply a force to the fifth support device 10. The output torque T3 of the fifth driving device 9 = (F 上 / sinθ3)*r; where r is the radius of the rotating shaft of the fifth driving device 9, θ3 is the angle value between the connection point and the horizontal direction, F 上 = 75 N, and F 上 is the vertical component of the gravity direction of each motor in the virtual environment.
[0028] When simulating the state of a user walking horizontally in a real environment through the device, during the process of the user lifting the right leg, the right foot sole first separates from the third support device 10 (i.e., it is detected that the angle of the gyroscope module at the connection point of the sole part with the horizontal direction changes). The pressure of 600 N brought by the weight of the whole body is shared by 4 areas of the left foot and 2 areas of the right foot heel. At this time, a force of 100 N is applied to each connection point by the fifth driving device 9. At this time, no force needs to be applied to the two connection points of the right foot sole part. Correspondingly, the two fifth driving devices 9 maintain a high-speed and low-torque state, so that the third support device 10 always fits the sole of the foot and moves synchronously during the movement of the user's foot. At the next moment, the right foot is completely lifted (when it is calculated that the distance from the hip to the sole of the foot is less than the distance of l1 + l2). Only the left foot is in contact with the third support device 10 and bears the entire weight of the body. Therefore, a force of 150 N is provided by each connection point of the left foot. Similarly, at this time, no force is applied to the connection points of the right foot, and the corresponding four fifth driving devices 9 all maintain a high-speed and low-torque state, so that the third support device 10 fits the foot and moves synchronously with the sole of the foot. At the next moment, the right foot steps forward and lands (when it is calculated that the distance from the hip to the sole of the foot is the distance of l1 + l2). The vibration module (such as a vibration motor, etc.) set in the third support device 10 simulates the speed of the sole of the foot in the virtual environment when landing to give vibration feedback to simulate the impact force. At the same time, the weight of each connection point returns to 75 N. Similarly, when simulating the state of a user walking on an inclined plane through the device, a force is applied through the fifth driving device 9 at the heel part or the fifth driving device 9 at the sole part of the foot, so that the user has the perception state of being on an inclined plane. During the movement, for the change of the force on each connection point, it is always changed on the basis of the force that enables the user to perceive the inclined plane mentioned above. Due to the existence of this force, the user can always perceive the moving state of moving on an inclined plane. During the process of simulating walking, when it is judged that the front sole touches the ground by measuring the angle change and distance change, the fifth driving device 9 controls the third support device 10 to apply a force to the front sole. At the same time, the center of gravity of the human model is controlled according to the magnitude of this force, that is, the third driving device 5 drives the user's legs to move in the opposite direction to keep the relative distance between the two feet unchanged, and only changes the distance from the user's torso with the change of the calculated center of gravity movement distance.
[0029] When simulating the state of a user jumping in a real environment through the device, since the contraction speed of the user's legs is relatively stable, the force exerted by the third support device 10 on the feet is consistent with the user's body weight; during the process of the user's legs stretching to simulate jumping, the gyroscope modules provided in the first support device 6, the second support device 8, and the third support device 10 can detect the angle changes of each part in real time, calculate the jumping speed through the angle changes, calculate the force on the soles of the feet based on this speed, and then apply this force to the user's feet through the fifth driving device, so that the user can obtain the state perception of jumping in a real environment. Further, it is also possible to judge whether the entire soles of the feet are on the ground or the two toes touch the ground first through real-time angle changes. For example, when the toes touch the ground first, the fifth driving device only evenly applies the calculated force value to the four connection points of the toe part. In the calculation end, that is, in the virtual world, each part of the character model controlled by the user corresponds to the motor of this device, that is, the rotation angles of each part in the calculation end correspond to the motors in the device.
[0030] In an exemplary embodiment, a waist support device 11 and a waist support device 12 are further provided on one side of the support device 1. The waist support device 11 and the waist support device 12 are respectively provided with a pressure detection module and a height adjustment module. The waist support device 11 and the waist support device 12 can be adjusted in height relative to the support device 1. When the user's body rotates sideways, the waist support device 11 and the waist support device 12 adjust their heights relative to the support device 1 according to the detected pressure changes. Exemplarily, motors are provided in the waist support device 11 and the waist support device 12. When the user turns to the side of the waist support device 12, the height value of the side of the waist support device 11 away from the waist support device 12 is increased through the motor control to achieve the supporting effect on the user's body. When the user's body rotates sideways, the center of gravity of the body changes, and the waist pad pressing plate on the side to which the user turns receives more pressure. The lifting height of the waist pad on the other side is calculated based on this pressure value to enhance the user's perception of body side rotation. When the user lies on the device and makes a side-turning movement, the pressure value detected by the waist support device on the side to which the user turns increases. To enable the user to obtain the state perception of side-turning, the height of the waist support device relative to the support device 1 is adjusted according to the detected pressure value. For example, the height value of the side to which the user turns is decreased, and the height value of the other side is increased. For example, to enable the user to obtain a side-turning amplitude of 40 degrees, assuming that the user extends the right foot 40 degrees to the right front, at this time, the right waist pad is lifted 20 degrees, and the user's foot actually extends outward only 20 degrees. In addition, during the process of the user turning, the second driving device 4 can also be combined to control the user's legs to turn sideways to achieve a better turning perception.
[0031] The specific details of each module / unit in the above device have been described in detail in the corresponding method section and will not be elaborated here. It should be noted that although several modules or units of the device for action execution are mentioned in the above detailed description, such a division is not mandatory. In fact, according to the embodiments of the present invention, the features and functions of two or more modules or units described above can be embodied in one module or unit. Conversely, the features and functions of one module or unit described above can be further divided and embodied by multiple modules or units.
[0032] In addition to the above methods and devices, an embodiment of the present invention may also be a computer program product, which includes computer program instructions that, when run by a processor, cause the processor to execute the steps in the methods according to various embodiments of the present invention described in the above "Exemplary Method" section of this specification.
[0033] The computer program product can be written in any combination of one or more programming languages for programming code to execute the operations of the embodiments of the present invention. The programming languages include object-oriented programming languages such as Java, C++, etc., and also include conventional procedural programming languages such as the C language or similar programming languages. The programming code can be executed entirely on the user's computing device, partially on the user's device, executed as an independent software package, partially on the user's computing device and partially on a remote computing device, or entirely on a remote computing device or server.
[0034] Another embodiment of the present invention provides an electronic device that can be used to execute all or part of the steps of the method described in this exemplary embodiment. The device includes: at least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor so that the at least one processor can execute the steps in the methods according to various embodiments of the present invention described in the above "Exemplary Method" of this specification.
[0035] Another embodiment of the present invention provides a computer-readable storage medium, on which computer program instructions are stored, and when the computer program instructions are run by a processor, the processor is caused to execute the steps in the methods according to various embodiments of the present invention described in the above "Exemplary Method" of this specification.
[0036] The computer-readable storage medium may adopt any combination of one or more readable media. The readable media may be a readable signal medium or a readable storage medium. The readable storage medium may include, for example, but is not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination of the above. More specific examples (a non-exhaustive list) of the readable storage medium include: an electrical connection having one or more wires, a portable disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above.
[0037] The basic principles of the present utility model have been described above in conjunction with specific embodiments. However, it should be noted that the advantages, benefits, effects, etc. mentioned in the present utility model are only examples and not limitations. It cannot be considered that these advantages, benefits, effects, etc. are essential for each embodiment of the present utility model. Additionally, the specific details disclosed above are only for illustrative and easy-to-understand purposes and are not limitations. These details do not limit the present utility model to necessarily adopt the above specific details for implementation. The block diagrams of the devices, apparatuses, equipment, and systems involved in the present utility model are only exemplary examples and do not intend to require or imply that they must be connected, arranged, and configured in the manner shown in the block diagrams. As those skilled in the art will recognize, these devices, apparatuses, equipment, and systems can be connected, arranged, and configured in any manner. Words such as "including", "comprising", "having", etc. are open-ended terms meaning "including but not limited to" and can be used interchangeably with each other. The word "or" and "and" used herein refer to the word "and / or" and can be used interchangeably with each other unless the context clearly indicates otherwise. The word "such as" used herein refers to the phrase "such as but not limited to" and can be used interchangeably with each other.
[0038] After considering the specification and practicing the utility model disclosed herein, those skilled in the art will readily conceive of other embodiments of the present utility model. The present utility model is intended to cover any variations, uses, or adaptations of the present utility model that follow the general principles of the present utility model and include the common general knowledge or conventional technical means in the technical field not disclosed in the present utility model. The specification and embodiments are only regarded as exemplary, and the true scope and spirit of the present utility model are pointed out by the following claims. It should be understood that the present utility model is not limited to the precise structures described above and shown in the drawings, and various modifications and changes can be made without departing from its scope. The scope of the present utility model is only limited by the appended claims.
Claims
1. A somatic modular sensory simulation device, characterized in that: include: The supporting device (1) is used to provide strength support and a balanced use posture for the user's body in a lying position; A connecting device (2) is movably connected to the supporting device (1) and the first driving device (3) respectively, and is used to control the first driving device (3) to move relative to the supporting device (1) in a first direction; A first driving device (3) connected to the connecting device (2) and used for rotating the connecting device (2) as an axis point within a plane where the user lies; A second driving device (4), one end of which is rotatably connected to the axis of the first driving device (3) and is used to rotate in a first direction with the first driving device (3) as an axis point; a third driving device (5), one end of which is connected to the second driving device (4) and is used for axially rotating the second driving device (4) in a second direction with the second driving device (4) as an axis point; A first supporting device (6) is connected to the third driving device (5) and is used to provide force support for the thigh area of the user according to the rotation of the axis of the third driving device (5); a fourth driving device (7), connected to the first supporting device (6) and the second supporting device (8) respectively, and used for controlling the shaft to rotate in the second direction with the first supporting device (6) as the axis point; A second supporting device (8) is used to provide force support for the user's calf area according to the shaft rotation of the fourth driving device (7); A plurality of fifth driving devices (9), respectively arranged on both sides of the second supporting device (8), for controlling the telescopic movement of the flexible connecting body; A third supporting device (10), connected to the fifth driving device (9) via the flexible connecting body, and used to provide force support to the user's foot according to the extension and contraction range of the flexible connecting body; When a user wears the modular body sensory simulation device and exercises, the movement amplitude of the user's body is determined by detecting the angle changes of the first supporting device (6), the second supporting device (8), and the third supporting device (10), and the third driving device (5), the fourth driving device (7), and the fifth driving device (9) provide force support for the user's body parts according to the movement amplitude.
2. The somatic modular sensory simulation device according to claim 1, characterized in that: The first supporting device (6) and the second supporting device (8) are respectively provided with a gyroscope module for detecting the angle between the first supporting device (6) and the horizontal direction, and the angle between the second supporting device (8) and the horizontal direction.
3. The somatic modular sensory simulation device according to claim 1, characterized in that: Each connection point between the third supporting device (10) and the flexible connecting body is provided with a gyroscope module for detecting the angle between each connection point and the horizontal direction.
4. The somatic modular sensory simulation device according to claim 1, characterized in that: The third supporting device (10) is provided with a vibration module for transmitting a ground contact feedback signal to the user's foot.
5. The somatic modular sensory simulation device according to claim 1, characterized in that: The first supporting device (6) is provided with a first telescopic structure (13) for adjusting the first supporting device (6) to adapt to the length of the user's legs.
6. The somatic modular sensory simulation device according to claim 1, characterized in that: The second supporting device (8) is provided with a second telescopic structure (14) for adjusting the second supporting device (8) to adapt to the length of the user's legs.
7. The somatic modular sensory simulation device according to claim 1, characterized in that: The first supporting device (6) and the second supporting device (8) are provided with binding straps for fixing the user's legs to the first supporting device (6) and the second supporting device (8).
8. The somatic modular sensory simulation device according to claim 1, characterized in that: The first drive device (3), the second drive device (4), the third drive device (5) and the fourth drive device (7) are motors with an inner shaft and an outer shaft structure.
9. The somatic modular sensory simulation device according to any one of claims 1 to 8, characterized in that: A waist support device (11) and a waist support device (12) are provided on one side of the supporting device (1) for providing strength support to the user's body.
10. The somatic modular sensory simulation device according to claim 9, characterized in that: The waist support device (11) and the waist support device (12) are respectively provided with a pressure detection module, which is used to detect that the user's body has turned sideways and adjust the height values of the waist support device (11), the waist support device (12) and the supporting device (1) according to the detected pressure value.