Spatial simulation and interaction system based on virtual reality technology and control method therefor

Abstract

The present invention provides a spatial simulation and interaction system based on a virtual reality technology, comprising a head-mounted display device and a simulation device. The head-mounted display device is communicatively connected to the simulation device, and the head-mounted display device is used for providing a virtual space picture. The simulation device comprises a first driving mechanism, a second driving mechanism, a third driving mechanism and a control mechanism; the first driving mechanism comprises a rotating ring and a first driving assembly; the second driving mechanism comprises a rotating frame and a second driving assembly; the third driving mechanism comprises a seat and a third driving assembly; the control mechanism is used for executing at least one of the following operations: controlling the first driving assembly to drive the rotating ring to rotate around a Y axis, controlling the second driving assembly to drive the rotating frame to rotate around an X axis, and controlling the third driving assembly to drive the seat to rotate around a Z axis. According to the spatial simulation and interaction system provided by the present invention, by driving the simulation device to operate, a user can achieve forward and reverse 360° controllable omnidirectional rotation on three axes, greatly improving the user experience.

Description

Space simulation and interactive system based on virtual reality technology and its control method Technical Field

[0001] The present invention relates to the field of virtual reality technology, and in particular to a space simulation and interaction system based on virtual reality technology and a control method thereof. Background Art

[0002] Virtual reality technology, also known as VR, uses computer systems and sensor technology to generate a three-dimensional environment, creating a new form of human-computer interaction. By engaging the user's various senses (sight, hearing, touch, smell, etc.), VR technology offers a more realistic and immersive experience. With the advancement of hardware performance and significant cost reductions, VR technology has seen widespread development in recent years. However, head-mounted displays (HMDs) can only provide visual signals of the virtual space. Only with the addition of a spatial simulator that allows the human body to detect changes in gravity balance and acceleration can a truly immersive experience be achieved. This can also prevent and mitigate dizziness and discomfort caused by a mismatch between visual signals and information received by other organs. However, most current spatial simulators are only available in laboratories, professional training centers, and dedicated gaming centers. Their complex structures, large size, and high cost make them unattainable for the general public. Furthermore, most spatial simulators offer a poor user experience, offering limited rotation angles and failing to achieve full, controllable 360° rotation along three axes.

[0003] Summary of the Invention

[0004] In view of this, the present invention provides a space simulation and interaction system based on virtual reality technology and a control method thereof.

[0005] In a first aspect, the present invention provides a space simulation and interaction system based on virtual reality technology, comprising: a head-mounted display device and a simulation device, wherein the head-mounted display device is communicatively connected to the simulation device, the head-mounted display device is configured to provide a virtual image, and the simulation device comprises:

[0006] a first driving mechanism, comprising a rotating ring and a first driving assembly, wherein the first driving assembly is connected to the rotating ring and is used to drive the rotating ring to rotate around the Y-axis;

[0007] a second driving mechanism comprising a rotating frame and a second driving assembly, wherein the rotating frame is disposed inside the rotating ring, and the second driving assembly is installed between the rotating frame and the rotating ring, and the second driving assembly is used to drive the rotating frame to rotate around the X-axis;

[0008] A third drive mechanism includes a seat and a third drive assembly, wherein the seat is provided on the inner side of the rotating frame and is used to carry a user, and the third drive assembly is installed between the rotating frame and the seat, and the third drive assembly is used to drive the seat to rotate about the Z axis;

[0009] A control mechanism is communicatively connected with the first drive mechanism, the second drive mechanism, the third drive mechanism, and the head-mounted display device, and is used to control the operation of the first drive mechanism, the second drive mechanism, and the third drive mechanism.

[0010] In a second aspect, the present invention provides a control method for a space simulation and interaction system based on virtual reality technology, wherein the space simulation and interaction system further includes a hand manipulator and a foot manipulator, and the control method comprises:

[0011] The hand manipulator generates an operation instruction in response to the user's hand operation, and the operation instruction is used to control the simulation device to perform at least one of the following actions: controlling the first drive component to drive the rotation around the Y axis, controlling the second drive component to drive the rotating frame to rotate around the X axis, controlling the third drive component to drive the seat to rotate around the Z axis, controlling the rotation speed of the first drive component to drive the rotation around the Y axis, controlling the rotation speed of the second drive component to drive the rotating frame to rotate around the X axis, and controlling the rotation speed of the third drive component to drive the seat to rotate around the Z axis; and / or,

[0012] The foot manipulator is operable by the user's foot to generate an operation instruction, wherein the operation instruction is used to control the simulation device to perform at least one of the following actions: controlling the rotation speed of the first drive component driving the rotation around the Y axis, controlling the rotation speed of the second drive component driving the rotating frame around the X axis, and controlling the rotation speed of the third drive component driving the seat around the Z axis; and / or,

[0013] The head display device automatically generates an operation instruction according to the virtual scene screen, wherein the operation instruction is used to control the simulation device to perform at least one of the following actions: controlling the first drive component to drive the rotation around the Y axis, controlling the second drive component to drive the rotating frame to rotate around the X axis, controlling the third drive component to drive the seat to rotate around the Z axis, controlling the rotation speed of the first drive component driving the rotation around the Y axis, controlling the rotation speed of the second drive component driving the rotating frame to rotate around the X axis, and controlling the rotation speed of the third drive component driving the seat to rotate around the Z axis; and / or,

[0014] The simulation device obtains the user's operation action information and posture information through the hand manipulator 60 and the foot manipulator 70, and generates an operation instruction based on the operation action information and the posture information. The simulation device transmits the operation instruction to the head display device so that the head display device generates a virtual screen synchronized with the user's operation action according to the operation instruction.

[0015] The present invention provides a space simulation and interaction system based on virtual reality technology and its control method. When a user sits in a chair, puts on a head-mounted display (HMD), and activates the simulation device, the user manipulates hand and foot manipulators to perform corresponding operations based on the virtual space image provided by the HMD, and generates operation instructions based on communication information sent by the HMD. A control mechanism, based on the generated operation instructions, is configured to perform at least one of the following operations: controlling a first drive component to rotate the turret around the Y-axis, controlling a second drive component to rotate the turret around the X-axis, and controlling a third drive component to rotate the seat around the Z-axis, thereby simulating the realistic posture and movement of the virtual space character in the HMD. Compared to existing technologies, the space simulation and interaction system provided by the present invention has a simple structure and low cost. It also enables users to achieve 360° controllable rotation along three axes, greatly enhancing user participation and a realistic experience. Furthermore, its low energy consumption, low cost, small size, and easy operation make space simulators suitable for home use. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the following is a brief introduction to the drawings required for use in the description of the embodiments. Obviously, the drawings described below are some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained from these drawings without any creative work.

[0017] FIG1 is a schematic structural diagram of a space simulation and interaction system based on virtual reality technology provided by an embodiment of the present invention;

[0018] FIG2 is a schematic structural diagram of a base provided by an embodiment of the present invention;

[0019] 3 is a schematic structural diagram of a first drive mechanism, a second drive mechanism, and a third drive mechanism provided in one embodiment of the present invention;

[0020] FIG4 is a schematic structural diagram of a first drive motor, a fixed wheel assembly, and a tensioning wheel assembly provided by another embodiment of the present invention;

[0021] FIG5 is a schematic structural diagram of a first driving mechanism provided in one embodiment of the present invention;

[0022] FIG6 is a schematic diagram of the coordination of the fixed wheel assembly and the rotating ring provided in one embodiment of the present invention;

[0023] FIG7 is a partial enlarged view of point C in FIG6;

[0024] FIG8 is a schematic structural diagram of a tensioning wheel assembly provided in one embodiment of the present invention;

[0025] FIG9 is an exploded schematic diagram of a rotating ring and a rotating frame provided in one embodiment of the present invention;

[0026] FIG10 is a schematic structural diagram of a space simulation and interaction system based on virtual reality technology provided by another embodiment of the present invention;

[0027] FIG11 is a schematic structural diagram of a base provided by another embodiment of the present invention;

[0028] 12 is a schematic structural diagram of a first drive mechanism, a second drive mechanism, and a third drive mechanism provided by another embodiment of the present invention;

[0029] FIG13 is an exploded schematic diagram of a rotating ring and a rotating frame provided in another embodiment of the present invention;

[0030] FIG14 is a BB cross-sectional view of FIG10;

[0031] FIG15 is a partial enlarged view of point D in FIG14;

[0032] FIG16 is a partial enlarged view of point E in FIG14;

[0033] FIG17 is a schematic diagram of the coordination of a rotating ring, a driving wheel assembly, and a third driving motor provided in another embodiment of the present invention;

[0034] FIG18 is a schematic structural diagram of a driven wheel assembly provided by another embodiment of the present invention;

[0035] FIG19 is a schematic diagram of the assembly of a seat, a lifting drive assembly, a head-mounted display device, a hand manipulator, a foot manipulator, and a safety protection assembly according to an embodiment of the present invention;

[0036] FIG20 is a schematic structural diagram of a seat and a lifting drive assembly provided in one embodiment of the present invention;

[0037] FIG21 is a schematic structural diagram of a seat, a third drive assembly, and a horizontal drive assembly provided in one embodiment of the present invention;

[0038] FIG22 is a partial enlarged view of point F in FIG21;

[0039] FIG23 is a schematic diagram of the internal connections of a control mechanism provided by one embodiment of the present invention;

[0040] FIG. 24 is a schematic diagram of the internal connections of a control mechanism provided in another embodiment of the present invention. DETAILED DESCRIPTION

[0041] The following will be combined with the drawings in the embodiments of this application to clearly and completely describe the technical solutions in the embodiments of this application. Obviously, the embodiments described are part of the embodiments of this application, not all of them. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of this application.

[0042] The embodiments of the present application provide a spatial simulation and interaction system based on virtual reality technology. As shown in Figures 1 and 10, the proposed spatial simulation and interaction system includes a simulation device 100 and a head-mounted display device 200. The head-mounted display device 200 is communicatively connected to the simulation device 100 and is used to provide a spatial virtual image. The simulation device 100 includes a first drive mechanism 10, a second drive mechanism 20, a third drive mechanism 30, and a control mechanism 40. The first drive mechanism 10 includes a rotating ring 11 and a first drive assembly 12. The first drive assembly 12 is connected to the rotating ring 11 and is used to drive the rotating ring 11 to rotate about the Y axis. The second drive mechanism 20 includes a rotating frame 21 and a second drive assembly 22. The rotating frame 21 is disposed inside the rotating ring 11, and the second drive assembly 22 is installed between the rotating frame 21 and the rotating ring 11 and is used to drive the rotating frame 21 to rotate about the X axis. The third drive mechanism 30 includes a seat 31 and a third drive assembly 32. The seat 31 is located inside the rotating frame 21 and is used to support the user. The third drive assembly 32 is installed between the rotating frame 21 and the seat 31 and is used to drive the seat 31 to rotate about the Z-axis. The control mechanism 40 is communicatively connected to the first drive mechanism 10, the second drive mechanism 20, the third drive mechanism 30, and the head-mounted display device 200. The control mechanism 40 is used to control the operation of the first drive mechanism 10, the second drive mechanism 20, and the third drive mechanism 30.

[0043] It should be noted that the X-axis, Y-axis, and Z-axis are based on the center of the simulation device 100 as the coordinate origin, and the X-axis, Y-axis, and Z-axis are perpendicular to each other. The left and right direction of the user is the X-axis direction, the axial direction of the rotating ring 11 is the Y-axis direction, and the up and down direction of the user is the Z-axis direction. When the user follows the rotation of the seat 31, the X-axis, Y-axis, and Z-axis remain unchanged relative to the user. At the same time, the user's coordinate position is always synchronized with the coordinate position of the virtual space screen of the head display device 200. Therefore, the rotation angle of the rotating ring 11, the rotating frame 21, and the seat 31 can be accurately controlled by rotating along the three axes of X, Y, and Z.

[0044] It should also be noted that the head-mounted display device 200 can be a standalone integrated head-mounted display system or a separate system with a host computer and head-mounted display. The head-mounted display device 200 includes a display screen for displaying a virtual space image. The head-mounted display device 200 communicates with the control mechanism 40 to provide spatial posture, position, and motion information of a virtual character. The control mechanism 40 issues commands to control the operation of the first drive mechanism 10, the second drive mechanism 20, and the third drive mechanism 30 to simulate the spatial posture, position, and motion of the character within the head-mounted display device 200.

[0045] It should also be noted that the head display device 200 provides the user with a virtual space screen including a virtual character synchronized with the user's movements and a specific application scene screen. The specific application scenarios include but are not limited to various scenes such as flight driving, amusement parks, car driving, games, shooting, fighting, surfing, bungee jumping, and skydiving.

[0046] For example, a user is secured to a chair 31 and wears a head-mounted display 200. The head-mounted display 200 provides the user with a virtual space image via a display screen. Based on the displayed virtual space image, the control mechanism 40 controls the first drive assembly 12 to rotate the rotating ring 11 about the Y axis, / or the second drive assembly 22 to rotate the rotating frame 21 about the X axis, and / or the third drive assembly 32 to rotate the chair 31 about the Z axis, thereby synchronizing the virtual space image with the user's real-world movements. In this embodiment, the 360° controllable forward and reverse rotation along the X, Y, and Z axes significantly enhances the user experience.

[0047] In one embodiment, the simulation device 100 and the head-mounted display device 200 transmit signals to each other via a wireless Bluetooth / WiFi connection. The head-mounted display device 200 is worn on the user's head, and the seat 31 provides an auxiliary mechanism for supporting the head-mounted display device 200 to reduce the user's wearing burden. Of course, as an alternative embodiment, the simulation device 100 and the head-mounted display device 200 can also be connected via a wired electrical connection. For example, the head-mounted display device 200 is mounted on the seat 31, which provides a power supply and data transmission interface for the head-mounted display device 200. The head-mounted display device 200 is connected to the simulation device 100 via a communication interface.

[0048] It should be noted that the head-mounted display 200 and the simulation device 100 can be independently used as two products of the spatial simulation and interaction device, with data transmission between the head-mounted display 200 and the simulation device 100 being achieved through a data transmission interface and protocol. Of course, as an alternative embodiment, the head-mounted display 200 and the simulation device 100 can also be integrated into a single product, and the head-mounted display 200 and the simulation device 100 can directly transmit data.

[0049] As shown in Figures 1 and 2, in one embodiment, the first drive mechanism 10 further includes a fixed base 13, and the rotating ring 11 is rotatably connected to the fixed base 13. The fixed base 13 includes a first limiting portion 1311 and a second limiting portion 1312, which are spaced apart along the Y-axis direction. The bottom of the rotating ring 11 is embedded between the first limiting portion 1311 and the second limiting portion 1312. In this embodiment, the simulation device 100 is fixed to the ground via the fixed base 13, and the rotating ring 11 is disposed on the fixed base 13. The fixed base 13 limits the rotation range of the rotating ring 11 via the first limiting portion 1311 and the second limiting portion 1312, ensuring that the rotating ring 11 rotates in the correct position on the fixed base 13, preventing the rotating ring 11 from accidentally detaching from the fixed base 13, thereby improving user safety.

[0050] As shown in Figures 3 and 4, in one embodiment, the first drive assembly 12 includes a first drive motor 121, a first pulley 122, and a transmission belt 123. The first drive motor 121 and the first pulley 122 are mounted on the fixed base 13. The first drive motor 121 is connected to the first pulley 122, and the transmission belt 123 surrounds the outer surfaces of the rotating ring 11 and the first pulley 122. In this embodiment, the first drive motor 121 drives the first pulley 122 to rotate, and the first pulley 122 drives the transmission belt 123 to rotate through friction. The transmission belt 123 drives the rotating ring 11 to rotate about the Y-axis. In this embodiment, the transmission of kinetic energy through the transmission belt 123 can reduce impact and vibration, making the rotating ring 11 more stable during rotation and reducing noise.

[0051] It should be noted that the first drive assembly 12 is not limited to the above embodiment. In another embodiment, the first drive assembly 12 includes a first drive motor 121 and a friction wheel. The first drive motor 121 and the friction wheel are mounted on the fixed base 13. The first drive motor 121 is connected to the friction wheel, and the friction wheel abuts the outer surface of the rotating ring 11. In this embodiment, the first drive motor 121 drives the friction wheel to rotate, and the friction wheel drives the rotating ring 11 to rotate about the Y-axis through friction.

[0052] It should also be noted that the first drive assembly 12 is not limited to the above embodiment. In another embodiment, the first drive assembly 12 includes a first drive motor 121 and a gear. The first drive motor 121 and the gear are mounted on the fixed base 13. The first drive motor 121 is connected to the gear. The rotating ring 11 has an annular rack on its outer surface, and the gear meshes with the annular rack. In this embodiment, the first drive motor 121 drives the gear to rotate, and the gear drives the rotating ring 11 to rotate about the Y-axis via the annular rack.

[0053] In one embodiment, as shown in Figures 2 to 7, the first drive assembly 12 further includes a fixed wheel assembly 124, which is rotatably mounted on the fixed seat 13. The fixed wheel assembly 124 includes a second pulley 1241 and two first conical wheels 1242 coaxially spaced apart from the second pulley 1241. The second pulley 1241 is located between the two first conical wheels 1242. The two first conical wheels 1242 are symmetrically arranged. The second pulley 1241 abuts against the transmission belt 123, and the first conical wheels 1242 abut against the outer surface of the rotating ring 11. The outer side surface of the rotating ring 11 is provided with a first inclined surface 111 that matches the outer side surface of the first conical wheels 1242. In this embodiment, the two first conical wheels 1242 are disposed below the rotating ring 11. On the one hand, they are used to support the rotating ring 11, and on the other hand, they can also limit the rotation range of the rotating ring 11 to prevent the rotating ring 11 from shifting during rotation.

[0054] In one embodiment, as shown in Figures 3 and 8, the first drive assembly 12 further includes a tensioning wheel assembly 125, which includes a first connecting member 1251, a third pulley 1252, and a first elastic member 1253. The first connecting member 1251 is rotatably mounted on the fixed seat 13, the third pulley 1252 is rotatably connected to the first connecting member 1251 and abuts against the transmission belt 123, and the first elastic member 1253 is connected between the first connecting member 1251 and the fixed seat 13. In this embodiment, since the transmission belt 123 may become loose during operation, thereby affecting the transmission effect, the elastic force of the first elastic member 1253 is used to keep the third pulley 1252 pressed against the transmission belt 123 at all times, thereby ensuring that the transmission belt 123 is always in a tensioned state during operation, thereby improving the transmission effect of the transmission belt 123.

[0055] In one embodiment, as shown in Figures 1 and 3 , the simulation device 100 has a vertical symmetry plane AA. The first drive motor 121, first pulley 122, fixed pulley assembly 124, and tensioning pulley assembly 125 are each two in number. The two first pulleys 122, two fixed pulley assemblies 124, and two tensioning pulley assemblies 125 are symmetrically distributed relative to the vertical symmetry plane AA. This embodiment can provide a more regular layout of the first drive assembly 12 and improve power transmission.

[0056] Of course, in specific applications, there may be no limitation on the number and layout of the first drive motor 121, the first pulley 122, the fixed pulley set 124, and the tensioning pulley set 125. For example, as shown in FIG4 , in another embodiment, the number of the first drive motor 121, the first pulley 122, and the tensioning pulley set 125 is one, and the number of the fixed pulley sets is two. This embodiment significantly reduces costs by reducing the number of the first drive motor 121, the first pulley 122, and the tensioning pulley set 125.

[0057] In one embodiment, as shown in Figures 5 and 23, the control mechanism 40 includes a first control assembly 41, a second control assembly 42, a conductive assembly 43, a first contact assembly 44, and a second contact assembly 45. The first control assembly 41 is electrically connected to the first drive assembly 12 and is used to control the operation of the first drive assembly 12. The second control assembly 42 is electrically connected to the second drive assembly 22 and the third drive assembly 32 and is used to control the operation of the second drive assembly 22 and the third drive assembly 32. The conductive assembly 43 is mounted on the rotating ring 11 along the circumference thereof and is electrically connected to the second control assembly 42. The first contact assembly 44 is electrically connected to the first control assembly 41 and is in electrical contact with the conductive assembly 43. The second contact assembly 45 is connected between the conductive assembly 43 and the second control assembly 42.

[0058] It should be noted that the first contact assembly 44 is an elastic contact. The first contact assembly 44 is always in electrical contact with the conductive assembly 43 under the action of elastic force.

[0059] It should also be noted that there are two first contact assemblies 44 and two second contact assemblies 45, and that the conductive assembly 43 includes two conductive rings. Each first contact assembly 44 is electrically connected to a conductive ring, and each second contact assembly 45 is also connected to a conductive ring. This creates a closed circuit between the first control assembly 41 and the second control assembly 42.

[0060] Illustratively, a first contact assembly 44 is fixed to the base, and a conductive assembly 43 surrounds the outside of the rotating ring 11. The first contact assembly 44, under the action of a spring force, ensures that the rotating ring 11 maintains electrical contact with the conductive assembly 43 during rotation. A second contact assembly 45 is disposed within the second drive assembly 22 and ensures that the second contact assembly 45 maintains electrical contact with the conductive assembly 43 during rotation of the rotating frame 21. The arrangement of the first contact assembly 44, the second contact assembly 45, and the conductive assembly 43 enables the transmission of electrical signals between the first control assembly 41 and the second control assembly 42, ensuring the normal operation of the rotating ring 11 and the rotating frame 21.

[0061] In another embodiment, as shown in Figures 10 and 11, the first driving mechanism 10 further includes a fixed seat 13 and a fixed ring 14, the fixed seat 13 is fixedly connected to the fixed ring 14, and the rotating ring 11 is rotatably arranged on the inner side of the fixed ring 14 and coaxially arranged with the fixed ring 14.

[0062] In this embodiment, the fixing base 13 includes a first fixing portion 131 and a second fixing portion 132. The first fixing portion 131 includes a first limiting portion 1311 and a second limiting portion 1312. The first limiting portion 1311 and the second limiting portion 1312 are spaced apart along the Y-axis, and the bottom of the second fixing portion 132 is embedded between the first limiting portion 1311 and the second limiting portion 1312. The second fixing portion 132 includes a third limiting portion 1321 and a fourth limiting portion 1322. The third limiting portion 1321 and the fourth limiting portion 1322 are spaced apart along the Y-axis, and a portion of the fixing ring 14 is embedded between the third limiting portion 1321 and the fourth limiting portion 1322. The fixed seat 13 limits the rotation area of ​​the rotating ring 11 through the first limiting part 1311, the second limiting part 1312, the third limiting part and the fourth limiting part 1322, ensuring that the rotating ring 11 rotates in the correct position on the fixed ring 14 to prevent the rotating ring 11 from accidentally detaching from the fixed seat 13, thereby improving user safety.

[0063] In another embodiment, as shown in FIG12 , the first drive assembly 12 includes a second drive motor 126 and a driving wheel set 127. The driving wheel set 127 is rotatably mounted on the rotating ring 11 and abuts against the inner surface of the fixed ring 14. The second drive motor 126 is connected to the driving wheel set 127. The second drive motor 126 drives the driving wheel set 127 to rotate along the inner side of the fixed ring 14, thereby achieving rotation of the rotating ring 11 around the Y-axis.

[0064] It should be noted that the second drive motor 126 is a rotor motor, which is arranged inside the driving wheel group 127. The rotor motor includes a rotor 1262 and a stator 1261. When the rotor 1262 rotates, it drives the driving wheel group 127 to rotate synchronously. With this implementation, the structure is simple, the transmission efficiency is high, and the energy consumption is low.

[0065] In one embodiment, as shown in Figures 14 to 16, the fixed ring 14 includes a first annular protrusion 141, which is provided on the inner surface of the fixed ring 14. The outer surface of the driving wheel assembly 127 has a first annular groove 1271, which is embedded in the first annular protrusion 141. In this embodiment, the driving wheel assembly 127 is engaged with the first annular protrusion 141 via the first annular groove 1271, which prevents the rotating ring 11 from shifting during rotation, increases the stability of the rotating ring 11 during rotation, and improves user safety.

[0066] In one embodiment, as shown in Figures 15 and 17, the driving wheel assembly 127 includes two coaxially spaced second conical wheels 1272. The diameter of each second conical wheel 1272 gradually increases from the axial direction toward the center of the driving wheel assembly 127. The inner side surface of the fixed ring 14 has a second inclined surface 142 that cooperates with the second conical wheels 1272. The provision of the second conical wheels 1272 and the second inclined surface 142 increases the stability of the rotating ring 11 during rotation and reduces energy loss.

[0067] In one embodiment, as shown in FIG12 , the first drive assembly 12 further includes a driven wheel assembly 128, which is disposed between the fixed ring 14 and the rotating ring 11. The driving wheel assembly 127 and the driven wheel assembly 128 are arranged at intervals with the center of the rotating ring 11 as the center. In this embodiment, there is one driving wheel assembly 127 and two driven wheel assemblies 128, and the one driving wheel assembly 127 and the two driven wheel assemblies 128 are arranged in a triangle with the center of the rotating ring 11 as the center.

[0068] It should be noted that the number of driven wheel groups 128 is not limited to two. The number of driven wheel groups 128 can be N (N is an integer not less than 2). One driving wheel group 127 and N driven wheel groups 128 are arranged at intervals with the center of the rotating ring 11 as the center.

[0069] It should also be noted that it is also possible not to set the driven wheel set 128. In another embodiment, the number of the driving wheel set 127 is three. The second driving motor 126 directly drives the three driving wheels to rotate, thereby driving the rotating ring 11 to rotate around the Y axis.

[0070] In one embodiment, as shown in FIG18 , the driven wheel assembly 128 includes a driven wheel 1282, a second connecting member 1283, and a second elastic member 1284. The second connecting member 1283 is mounted on the rotating ring 11. The outer surface of the driven wheel 1282 has a second annular groove 1281. The driven wheel 1282 is rotatably connected to the second connecting member 1283 and embedded in the first annular protrusion 141. The second elastic member 1284 is inserted through the connecting member and abuts against the driven wheel 1282. In this embodiment, the elastic force of the second elastic member 1284 causes the driven wheel 1282 to always press against the inner surface of the fixed ring 14, making the rotating ring 11 more stable during rotation and preventing slipping.

[0071] In one embodiment, as shown in Figures 15, 16, and 24, the simulation device 100 further includes a first control assembly 41, a second control assembly 42, a conductive assembly 43, a first contact assembly 44, and a second contact assembly 45. The first control assembly 41 is electrically connected to the first drive assembly 12 and is used to control the operation of the first drive assembly 12. The second control assembly 42 is used to control the operation of the second drive assembly 22 and the third drive assembly 32. The conductive assembly 43 is mounted on the fixed ring 14 along its circumference and is electrically connected to an external circuit. The first contact assembly 44 is electrically connected to the first control assembly 41 and in electrical contact with the conductive assembly 43. The second contact assembly 45 is connected between the first control assembly 41 and the second control assembly 42.

[0072] It should be noted that the first contact assembly 44 is an elastic contact. When the first contact assembly 44 is acted upon by elastic force, the first elastic contact is always in electrical contact with the conductive assembly 43 .

[0073] It should also be noted that there are two first contact assemblies 44 and two second contact assemblies 45, and that the conductive assembly 43 includes two conductive rings. Each first contact assembly 44 is electrically connected to a conductive ring, and each second contact assembly 45 is also connected to a conductive ring. This creates a closed circuit between the first control assembly 41 and the second control assembly 42.

[0074] Illustratively, the first contact assembly 44 is mounted on the stator 1261 of the second drive motor 126, and the conductive assembly 43 is mounted on the first annular protrusion 141 of the fixed ring 14 along the circumference of the fixed ring 14. Under the action of elastic force, the first contact assembly 44 ensures that the rotating ring 11 is always in electrical contact with the conductive assembly 43 during rotation. The second contact assembly 45 is disposed within the second drive assembly 22 and ensures that the second contact assembly 45 is always in electrical contact with the conductive assembly 43 during rotation of the rotating frame 21. The arrangement of the first contact assembly 44, the second contact assembly 45, and the conductive assembly 43 enables the transmission of electrical signals between the first control assembly 41 and the second control assembly 42, ensuring the normal operation of the rotating ring 11 and the rotating frame 21.

[0075] In one embodiment, as shown in Figures 3 and 12, the second drive assembly 22 includes a third drive motor 221, which is installed between the rotating frame 21 and the rotating ring 11. In this embodiment, the operation of the third drive motor 221 is controlled by the control mechanism 40, and the third drive motor 221 drives the rotating frame 21 to rotate about the X-axis, thereby rotating the seat 31 and the user in the seat 31 about the X-axis.

[0076] For example, as shown in FIG9 , the inner surface of the rotating ring 11 has two first connecting portions 112, and the rotating frame 21 has two second connecting portions 211. The two first connecting portions 112 are rotatably connected to each second connecting portion 211, and the inner side of the first connecting portion 112 has a first annular rack 115. The third drive motor 221 has a first gear 2211, which is mounted on the rotating shaft of the second drive motor 126. The second drive motor 126 is mounted on the second connecting portion 211. The second drive motor 126 is used to drive the first gear 2211 to rotate around the inner side of the first annular rack 115, thereby driving the rotating frame 21 to rotate about the X-axis.

[0077] For example, as shown in FIG13 , the inner surface of the rotating ring 11 has a third connecting portion 113 and a fourth connecting portion 114, and the rotating frame 21 has a fifth connecting portion 212 and a sixth connecting portion 213. The third connecting portion 113 is rotatably connected to the fifth connecting portion 212, and the fourth connecting portion 114 is rotatably connected to the sixth connecting portion 213. A second drive motor 126 and a fixed wheel assembly 124 are mounted on the third connecting portion 113. The second drive assembly 22 is mounted between the fourth connecting portion 114 and the sixth connecting portion 213. The brake assembly 50 is mounted between the fourth connecting portion 114 and the sixth connecting portion 213. The third drive motor 221 has a first gear 2211 mounted on its shaft. The third drive motor 221 is mounted on the fourth connecting portion 114. The third drive motor 221 is configured to drive the first gear 2211 to rotate about the inner side of the first annular rack 115, thereby driving the rotating frame 21 to rotate about the X-axis.

[0078] In one embodiment, as shown in Figures 21 and 22, the third drive assembly 32 includes a rotating disk 321 and a fourth drive motor 322. The rotating disk 321 is connected to the seat 31, and the fourth drive motor 322 is connected to the rotating disk 321. The fourth drive motor 322 is used to drive the rotating disk 321 to rotate so that the seat 31 and the user on the seat 31 rotate around the Z axis.

[0079] In one embodiment, as shown in Figures 19 and 20, the third drive mechanism 30 also includes a lifting drive assembly 33, the lifting drive assembly 33 includes a support rod 331, a lifting frame 332 and a fifth drive motor 333, the support rod 331 is installed between the rotating frame 21 and the seat 31, the lifting frame 332 is installed between the rotating frame 21 and the seat 31, the fifth drive motor 333 is connected to the lifting frame 332, and the fifth drive motor 333 is used to drive the lifting frame 332 to lift or lower the seat 31 so that the seat 31 and the user on the seat 31 move along the Z-axis direction.

[0080] It should be noted that the lifting drive assembly 33 is not limited to the above-mentioned embodiment. In another embodiment, the lifting drive assembly 33 includes a telescopic rod and a fifth drive motor 333. The telescopic rod is installed between the rotating frame 21 and the seat 31. The fifth drive motor 333 is connected to the telescopic rod. The fifth drive motor 333 is used to drive the telescopic rod to extend and retract along the Z-axis direction, so that the seat 31 and the user on the seat 31 move along the Z-axis direction.

[0081] It should also be noted that the lifting drive assembly 33 is not limited to the above-mentioned embodiment. In another embodiment, the lifting drive assembly 33 includes a telescopic rod and an oil cylinder or an air cylinder. The telescopic rod is installed between the rotating frame 21 and the seat 31, and the oil cylinder or the air cylinder is connected to the telescopic rod. The oil cylinder or the air cylinder is used to drive the telescopic rod to extend and retract along the Z-axis direction, so that the seat 31 and the user on the seat 31 move along the Z-axis direction.

[0082] In one embodiment, as shown in Figures 21 and 22, the third drive mechanism 30 further includes a horizontal drive assembly 34, which includes a slide rail 341, a slider 342, a sixth drive motor 343, and a support platform 344. The slide rail 341 is fixedly connected to the bottom of the seat 31, the slider 342 is mounted on the support platform 344 and is movably connected to the slide rail 341, and the sixth drive motor 343 is connected to the slide rail 341 and is used to drive the slide rail 341 to move along the Y-axis. The guide direction of the slide rail 341 is parallel to the Y-axis.

[0083] Exemplarily, the sixth drive motor 343 is a lead screw motor. Control mechanism 40 controls the operation of the lead screw motor, which drives slide rail 341 along the Y-axis via the lead screw, thereby moving seat 31 and the user on seat 31 along the Y-axis. Using a lead screw motor provides a simple structure, high transmission efficiency, and smooth motion.

[0084] In one embodiment, as shown in FIG19 , the simulation device 100 further includes a safety protection component 50 , which is installed on the seat 31 . The safety protection component 50 is used to fix the user's head, hands, feet and body, thereby greatly improving the user's safety during the experience.

[0085] In one embodiment, the simulation device 100 and the head-mounted display 200 further include posture sensors for collecting user posture and position data. In this embodiment, the simulation device 100 and the head-mounted display 200 are independent devices. When the head-mounted display 200 is mounted on a chair or worn and secured to a chair by the user, it moves in sync with the user. Therefore, the posture and position data collected by the posture sensors on both devices are synchronized, thereby ensuring that the state of the character in the virtual scene provided by the head-mounted display 200 is synchronized with the state of the real user. Of course, in specific applications, the simulation device 100 and the head-mounted display 200 can also be connected via communication.

[0086] It should be noted that, as an alternative embodiment, the head-mounted display device 200 may not have a posture sensor. For example, in another embodiment, the head-mounted display device 200 is directly connected to the simulation device 100. The posture sensor transmits the collected user posture and position data to the control mechanism 40. Simultaneously, the control mechanism 40 controls the simulation device 100 to perform corresponding actions based on the character's motion information in the virtual scene input by the head-mounted display device 200, thereby ensuring synchronization between the character's state in the virtual scene provided by the head-mounted display device 200 and the real user's state.

[0087] In one embodiment, the simulation device 100 further includes a virtual environment feedback unit connected to the output of the control mechanism 40. The virtual environment feedback unit is configured to simulate at least one of the following virtual environments: impact, vibration, heat and cold, and airflow. Based on the virtual scene image communication data provided by the head-mounted display device 200, the virtual environment feedback unit simulates a corresponding real-world scene, immersing the user in the scene and enhancing the user's sense of reality.

[0088] In one embodiment, as shown in FIG19 , the spatial simulation and interaction system further includes a hand manipulator 60 and a hand manipulator 70, which are connected to the output end of the control mechanism 40. The hand manipulator 60 is used to generate operation instructions in response to the user's hand operation, and the hand manipulator 70 is used to generate operation instructions in response to the user's foot operation. The generated operation instructions are used to control the operation of the simulation device 100.

[0089] It should be noted that the hand controller 60 and the hand controller 70 can be directly mounted on the seat 31. For example, the hand controller 60 is a joystick mounted on the armrest of the seat 31, and the hand controller 70 is a foot pedal. Of course, as an alternative embodiment, the hand controller 60 and the hand controller 70 can also be wireless controllers that can be held in the hand.

[0090] The embodiments of the present application provide a control method for a space simulation and interaction system based on virtual reality technology, including:

[0091] The hand manipulator 60 generates an operation instruction in response to the user's hand operation, and the operation instruction is used to control the simulation device 100 to perform at least one of the following actions: controlling the first drive component 12 to drive the rotating ring 11 to rotate around the Y axis, controlling the second drive component 22 to drive the rotating frame 21 to rotate around the X axis, controlling the third drive component 32 to drive the seat 31 to rotate around the Z axis, controlling the rotation speed of the rotating ring 11 driven by the first drive component 12 to rotate around the Y axis, controlling the rotation speed of the rotating frame 21 driven by the second drive component 22 to rotate around the X axis, controlling the rotation speed of the seat 31 driven by the third drive component 32 to rotate around the Z axis, and / or,

[0092] The hand manipulator 70 is operated by the user's foot to generate an operation instruction, and the operation instruction is used to control the simulation device 100 to perform at least one of the following actions: controlling the rotation speed of the first drive component 12 driving the rotating ring 11 to rotate around the Y axis, controlling the rotation speed of the second drive component 22 driving the rotating frame 21 to rotate around the X axis, controlling the rotation speed of the third drive component 32 driving the seat 31 to rotate around the Z axis, and / or,

[0093] The head-mounted display device 200 automatically generates an operation instruction based on the virtual scene screen, wherein the operation instruction is used to control the simulation device 100 to perform at least one of the following actions: controlling the first drive component 12 to drive the rotating ring 11 to rotate around the Y axis, controlling the second drive component 22 to drive the rotating frame 21 to rotate around the X axis, controlling the third drive component 32 to drive the seat 31 to rotate around the Z axis, controlling the rotation speed of the rotating ring 11 driven by the first drive component 12 to rotate around the Y axis, controlling the rotation speed of the rotating frame 21 driven by the second drive component 22 to rotate around the X axis, controlling the rotation speed of the seat 31 driven by the third drive component 32 to rotate around the Z axis, and / or,

[0094] The simulation device 100 obtains the user's operation action information and posture information through the hand manipulator 60, the hand manipulator 70 and the posture sensor, and generates corresponding operation instructions based on the obtained operation action information and posture information. The simulation device 100 transmits the operation instructions to the head display device 200, so that the head display device 200 generates a virtual screen synchronized with the user's operation action according to the operation instructions.

[0095] For example, when the user sits on the seat 31, puts on the head display device 200, and starts the simulation device 100, the user performs corresponding operations by manipulating the hand manipulators 60 and 70 according to the virtual space picture provided by the head display device 200 to generate operation instructions. The control mechanism 40 controls the operation of the first drive mechanism 10, the second drive mechanism 20, and the third drive mechanism 30 according to the generated operation instructions, and at the same time drives the user to rotate during the operation of the first drive mechanism 10, the second drive mechanism 20, and the third drive mechanism 30. In addition, the control mechanism 40 can also collect the user's operation action information to control the virtual space picture displayed on the head display device 200, so that the user's real operation action is synchronized with the virtual space picture provided by the head display device 200, greatly improving the user's sense of participation and real experience.

[0096] The embodiment of the present application provides a control method for a space simulation and interaction system based on virtual reality technology, further comprising:

[0097] When the user just sits on the seat 31, the control mechanism 40 obtains the posture data of the seat 31 and the user and the torque data of the third drive motor 221 through the posture sensor, and generates a center of gravity leveling instruction. The center of gravity leveling instruction is used to control the simulation device 100 to perform the following actions:

[0098] The control mechanism 40 controls the horizontal drive assembly 34 to drive the seat 31 to move along the Y-axis until the center of gravity of the user, the seat 31, and the rotating frame 21 is aligned with the rotational center of gravity of the simulation device 100.

[0099] The control mechanism 40 controls the third driving assembly 32 to drive the rotating frame 21 to rotate around the X-axis to a preset angle;

[0100] The control mechanism 40 controls the lifting drive assembly 33 to drive the seat 31 to move along the Z-axis direction until the overall center of gravity of the user, the seat 31 and the rotating frame 21 coincides with the rotation center of gravity of the simulation device 100 .

[0101] In this embodiment, since the weight of each user is different, it is necessary to perform automatic calibration and leveling of the center of gravity before starting the simulation device 100, so that the overall center of gravity of the user, the seat 31 and the rotating frame 21 is on the same vertical line as the rotation center of gravity of the simulation device 100. After the center of gravity is automatically calibrated and leveled, the power utilization of the simulation device 100 can be maximized during operation, thereby achieving the purpose of energy conservation, emission reduction and reducing the overall cost of the system.

[0102] Those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples without mutual contradiction.

[0103] The above description is merely a specific embodiment of the present application, but the scope of protection of the present application is not limited thereto. Any person skilled in the art can easily conceive of various equivalent modifications or substitutions within the technical scope disclosed in the present application, and such modifications or substitutions should be included in the scope of protection of the present application. Therefore, the scope of protection of the present application should be based on the scope of protection of the claims.

Claims

1. A space simulation and interaction system based on virtual reality technology, characterized in that: The device comprises a head display device and a simulation device, wherein the head display device is communicatively connected with the simulation device, the head display device is used to provide a virtual space image, and the simulation device comprises: A first driving mechanism, comprising a rotating ring and a first driving assembly, wherein the first driving assembly is connected to the rotating ring, and the first driving assembly is used to drive the rotating ring to rotate around the Y axis; The second driving mechanism comprises a rotating frame and a second driving assembly, wherein the rotating frame is arranged on the inner side of the rotating ring, and the second driving assembly is installed between the rotating frame and the rotating ring, and the second driving assembly is used to drive the rotating frame to rotate around the X-axis; A third driving mechanism, comprising a seat and a third driving assembly, wherein the seat is arranged on the inner side of the rotating frame, the seat is used to carry a user, the third driving assembly is installed between the rotating frame and the seat, and the third driving assembly is used to drive the seat to rotate around the Z axis; A control mechanism, wherein the control mechanism is communicatively connected with the first drive mechanism, the second drive mechanism, the third drive mechanism and the head display device, and the control mechanism is used to control the operation of the first drive mechanism, the second drive mechanism and the third drive mechanism.

2. The space simulation and interaction system based on virtual reality technology according to claim 1, characterized in that: The first driving mechanism further comprises a fixed seat, and the rotating ring is rotatably connected to the fixed seat; The first driving assembly includes a first driving motor, a first pulley and a transmission belt, wherein the first driving motor and the first pulley are mounted on the fixing seat, the first driving motor is connected to the first pulley, the transmission belt surrounds the rotating ring and the outer surface of the first pulley, and the first driving motor is used to drive the first pulley to rotate and drive the transmission belt to rotate; or, The first driving assembly includes a first driving motor and a friction wheel, the first driving motor and the friction wheel are installed on the fixing seat, the first driving motor is connected to the friction wheel, the friction wheel abuts against the outer surface of the rotating ring, and the first driving motor is used to drive the friction wheel to rotate so as to drive the rotating ring to rotate; or, The first driving assembly includes a first driving motor and a gear, the first driving motor and the gear are installed on the fixed seat, the first driving motor is connected to the gear, the outer surface of the rotating ring has a ring rack in the circumference, the gear is meshed with the ring rack, and the first driving motor is used to drive the gear to rotate to drive the rotating ring to rotate.

3. The space simulation and interaction system based on virtual reality technology as claimed in claim 2, characterized in that: The first driving assembly also includes a fixed wheel group, which is rotatably mounted on the fixed seat, and the fixed wheel group includes a second pulley and two first cone wheels coaxially and spaced apart from the second pulley, the second pulley is located between the two first cone wheels, the two first cone wheels are symmetrically arranged, the second pulley abuts against the transmission belt, the first cone wheel abuts against the outer surface of the rotating ring, and the outer side surface of the rotating ring is provided with a first inclined surface matching the outer side surface of the first cone wheel; and / or, The first drive assembly further includes a tensioning wheel assembly, the tensioning wheel assembly including a first connecting member, a third A pulley and a first elastic member, the first connecting member is rotatably mounted on the fixed seat, the third pulley is rotatably connected to the first connecting member and abuts against the transmission belt, the first elastic member is connected between the first connecting member and the fixed seat, and the first elastic member is used to provide elastic force to enable the third pulley to press the transmission belt.

4. The space simulation and interaction system based on virtual reality technology as claimed in claim 2, characterized in that: The control mechanism also includes: a first control component, the first control component is electrically connected to the first drive component, and the first control component is used to control the operation of the first drive component; a second control component, the second control component being electrically connected to the second drive component and the third drive component, and the second control component being used to control the operation of the second drive component and the third drive component; A conductive component, which is mounted on the rotating ring along the circumference of the rotating ring and is electrically connected to the second control component; a first contact assembly, the first contact assembly being electrically connected to the first control assembly and in electrical contact with the conductive assembly; A second contact component is connected between the conductive component and the second control component.

5. The space simulation and interaction system based on virtual reality technology according to claim 1, characterized in that: The first driving mechanism further comprises a fixed seat and a fixed ring, wherein the fixed seat is fixedly connected to the fixed ring, and the rotating ring is rotatably arranged inside the fixed ring and is coaxially arranged with the fixed ring; The first driving assembly includes a second driving motor and a driving wheel group. The driving wheel group is rotatably mounted on the rotating ring and abuts against the inner surface of the fixed ring. The second driving motor is connected to the driving wheel group. The first driving motor is used to drive the driving wheel group to rotate circumferentially along the inner surface of the fixed ring so that the rotating ring rotates relative to the fixed ring.

6. The space simulation and interaction system based on virtual reality technology as claimed in claim 5, characterized in that: The fixing ring comprises a first annular protrusion, the first annular protrusion is arranged on the inner surface of the fixing ring, the outer surface of the driving wheel set has a first annular groove, the first annular groove is embedded in the first annular protrusion; and / or, The driving wheel set includes two coaxially spaced second cone wheels, the diameter of each second cone wheel gradually increases from the axial direction of the driving wheel set to the middle, and the inner side surface of the fixing ring has a second inclined surface matched with the second cone wheel.

7. The space simulation and interaction system based on virtual reality technology according to claim 6, characterized in that: The first driving assembly further comprises a driven wheel set, wherein the driving wheel set and the driven wheel set are arranged at intervals with the center of the rotating ring as the center; The driven wheel assembly includes a driven wheel, a second connecting member and a second elastic member, wherein the second connecting member is installed on the rotating ring, and the outer surface of the driven wheel has a second annular groove, the driven wheel and the second connecting member are rotatably connected and embedded in the first annular protrusion, the second elastic member is passed through the connecting member and abuts against the driven wheel, and the second elastic member is used to provide elastic force to press the driven wheel against the on the inner surface of the fixing ring.

8. The space simulation and interaction system based on virtual reality technology as claimed in claim 5, characterized in that: The control mechanism comprises: a first control component, the first control component is electrically connected to the first drive component, and the first control component is used to control the operation of the first drive component; a second control component, the second control component being used to control the operation of the second drive component and the third drive component; A conductive component, the conductive component is installed on the fixing ring along the circumference of the fixing ring, and the conductive component is electrically connected to an external circuit; a first contact assembly, the first contact assembly being electrically connected to the first control assembly and in electrical contact with the conductive assembly; A second contact assembly is connected between the first control assembly and the second control assembly.

9. The space simulation and interaction system based on virtual reality technology as claimed in claim 1, characterized in that: The second driving assembly includes a third driving motor, which is installed between the rotating frame and the rotating ring. The third driving motor is used to drive the rotating frame to rotate around the X-axis.

10. The space simulation and interaction system based on virtual reality technology according to claim 1, characterized in that: The third driving assembly includes a rotating disk and a fourth driving motor. The rotating disk is connected to the seat. The fourth driving motor is connected to the rotating disk. The fourth driving motor is used to drive the rotating disk to rotate so that the seat rotates around the Z axis.

11. The space simulation and interaction system based on virtual reality technology according to claim 1, characterized in that: The third driving mechanism also includes a lifting driving assembly; The lifting drive assembly includes a support rod, a lifting frame and a fifth drive motor, wherein the support rod is installed between the rotating frame and the seat, the lifting frame is installed between the rotating frame and the seat, and the fifth drive motor is connected to the lifting frame, and the fifth drive motor is used to drive the lifting frame to lift or descend so as to move the seat along the Z-axis direction; or, The lifting drive assembly includes a telescopic rod and a fifth drive motor, wherein the telescopic rod is installed between the rotating frame and the seat, and the fifth drive motor is connected to the telescopic rod, and the fifth drive motor is used to drive the telescopic rod to extend and retract along the Z-axis direction so as to move the seat along the Z-axis direction; or, The lifting drive assembly includes a telescopic rod and an oil cylinder or an air cylinder. The telescopic rod is installed between the rotating frame and the seat. The oil cylinder or the air cylinder is connected to the telescopic rod. The oil cylinder or the air cylinder is used to drive the telescopic rod to extend and retract along the Z-axis direction so that the seat moves along the Z-axis direction.

12. The space simulation and interaction system based on virtual reality technology according to claim 1, characterized in that: The third driving mechanism also includes a horizontal driving component, which includes a slide rail, a slider, a sixth driving motor and a support platform, the slide rail is fixedly connected to the bottom of the seat, the slider is installed on the support platform and is movably connected to the slide rail, the sixth driving motor is connected to the slide rail, and the sixth driving motor is used to drive the slide rail to move along the Y-axis direction so that the seat moves along the Y-axis direction; wherein the guide direction of the slide rail is parallel to the Y-axis.

13. A control method for a space simulation and interaction system based on virtual reality technology according to any one of claims 1 to 12, characterized in that: The space simulation and interaction system further comprises a hand manipulator and a foot manipulator, and the control method comprises: The hand manipulator generates an operation instruction in response to the user's hand operation, and the operation instruction is used to control the simulation device to perform at least one of the following actions: control the first drive component to drive the rotation around the Y axis, control the second drive component to drive the rotating frame to rotate around the X axis, control the third drive component to drive the seat to rotate around the Z axis, control the rotation speed of the first drive component to drive the rotation around the Y axis, control the rotation speed of the second drive component to drive the rotating frame to rotate around the X axis, and control the rotation speed of the third drive component to drive the seat to rotate around the Z axis; and / or, The foot manipulator should be operated by the user's foot to generate an operation instruction, and the operation instruction is used to control the simulation device to perform at least one of the following actions: controlling the rotation speed of the first drive component to drive the rotation around the Y axis, controlling the rotation speed of the second drive component to drive the rotating frame to rotate around the X axis, and controlling the rotation speed of the third drive component to drive the seat to rotate around the Z axis; and / or, The head display device automatically generates an operation instruction according to the virtual scene screen, wherein the operation instruction is used to control the simulation device to perform at least one of the following actions: control the first drive component to drive the rotation around the Y axis, control the second drive component to drive the rotating frame to rotate around the X axis, control the third drive component to drive the seat to rotate around the Z axis, control the rotation speed of the first drive component to drive the rotation around the Y axis, control the rotation speed of the second drive component to drive the rotating frame to rotate around the X axis, and control the rotation speed of the third drive component to drive the seat to rotate around the Z axis; and / or, The simulation device obtains the user's operation action information and posture information through the hand manipulator 60 and the foot manipulator 70, and generates an operation instruction based on the operation action information and the posture information. The simulation device transmits the operation instruction to the head display device so that the head display device generates a virtual screen synchronized with the user's operation action according to the operation instruction.

14. The control method of the space simulation and interactive system based on virtual reality technology according to claim 13, characterized in that: The third driving mechanism further includes a lifting driving mechanism and a horizontal driving mechanism. The control method further includes acquiring the posture data of the seat and the rotation torque data of the third driving motor, and generating a center of gravity leveling instruction, wherein the center of gravity leveling instruction is used to control the simulation device to perform the following actions: Controlling the horizontal driving assembly to drive the seat to move along the Y-axis direction until the overall center of gravity of the user, the seat and the rotating frame is on the same vertical line as the rotation center of gravity of the simulation device; Control the third driving assembly to drive the rotating frame to rotate around the X-axis to a preset angle; The lifting drive assembly is controlled to drive the seat to move along the Z-axis direction until the overall center of gravity of the user, the seat and the rotating frame coincides with the rotation center of gravity of the simulation device.

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