CN100595722C - Virtual reality travelling gear - Google Patents
Virtual reality travelling gear Download PDFInfo
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- CN100595722C CN100595722C CN200810238610A CN200810238610A CN100595722C CN 100595722 C CN100595722 C CN 100595722C CN 200810238610 A CN200810238610 A CN 200810238610A CN 200810238610 A CN200810238610 A CN 200810238610A CN 100595722 C CN100595722 C CN 100595722C
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- walking
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Abstract
The invention discloses a virtual reality walking device. The walking device has the advantages of simple fabrication process, low manufacturing cost, less occupied space for use and storage, high simulation, safe application and the like. The invention adopts the structure that the walking device comprises a walking board fixed on the ground, a restraining frame capable of fixing a back of humanbody and a pair of positioning boots on the human feet, wherein, the positioning boots are contacted with the walking board, the restraining frame is mutually matched with a fixation rack, a sensing device and a braking device are arranged on the positioning boots, and a jumping and squatting sensing device is mounted on the restraining frame.
Description
Technical field
The present invention relates to a kind of control device of handling by walking movement, relate in particular to a kind of virtual reality walking device of in virtual reality, realizing controlling virtual walking by real walking movement.
Background technology
Model and man-machine interaction that virtual reality technology (Virtual reality is called for short VR) promptly goes out a simulating reality by technical construction such as computer graphics, mechanical ﹠ electrical technology, electronic technology, produce with real world in identical feedback information, make people obtain with real world in same impression.This Study on Technology begins the sub-sixties, because this technical difficulty is big, the scope that relates to is wide, and computing power is required height, therefore is used for military flight simulation and nuclear reaction research the earliest.Along with display technique, high speed graphic are quickened developing rapidly of aspects such as treatment technology, multimedia technology, tracker technology, and parallel processing technique, with the traditional program method for designing the development of different Object-Oriented Programming method, virtual reality technology is applied in the fields such as Aero-Space, building, medical treatment, education, art, physical culture gradually and begins the universalness development.
The people is a large amount of in real world to pass through hand, pin is finished motion, walking, handled tasks such as driving instrument, in an outstanding immersive VR system, also should finish man-machine interaction by real-life mode.Existing virtual reality technology obtains huge achievement at aspects such as environment generation and displaying, surround sounds, the input equipment of virtual reality is that the human-computer interaction aspect all has breakthrough progress aspect the motion detection of handling pilot instrument, hand and arm in actual applications, but, as one of indispensable action of the mankind-walking, good solution is not arranged also.
Known immersive VR walking input equipment comprises that notification number is 1271581 a kind of comprehensive walking freely machine, its cardinal principle is to trample two mobile pedals by bipod to finish the walking detection, this mode mechanism complexity, realize difficulty, only can accomplish that detecting human forward-reverse turns to, and can't detect actions such as the user jumps, squats down, turn-takes.International publication number is that the virtual reality system of utilizing pressure sensing mat of WO2004/099966 moves interface, its pressure sensing mat cost height, and manufacturing materials requires harsh, can't detect user's squatting motion that jumps.Application number/patent No. is that 96196308 big spheroid system build is huge, to the making precision and the material requirements harshness of spheroid, makes difficult, and the user is difficult to grasp balance.It is bulky for the universal pad equipment that utilizes pickup camera to judge to move the user position, and people's rapid movement thereon is easy to fall down.
Summary of the invention
Purpose of the present invention is exactly to provide a kind of walking is become slip in order to address the above problem, detect the slip data, have simple in structure, easy to use, the virtual reality walking device of advantage such as fidelity is good, and is safe in utilization.
For achieving the above object, the present invention adopts following technical scheme:
A kind of virtual reality walking device, but it comprises the contained frame at the walking plate fixing human back that is fixed on ground and is worn in the location boots of people's pin; Wherein locate boots and contact, restrain frame and match, on the boots of location, be provided with position sensing device and brake gear, restrain jump, the sensing device of squatting down are installed on the frame with a fixed mount with the plate of walking.
Described walking plate is a plate body, is provided with around it to reserve the bolt mouth.
Described location boots comprise the footwear pedestal, and the footwear base bottom is provided with running gear; What described position sensor arrangement comprised the displacement/rotational sensor that is arranged on the footwear pedestal outside and footwear base bottom surface steps on the ground sensor; Bottom at the footwear pedestal is provided with steering wheel, and it is connected with brake gear by linkage assembly.
Two pairs of universal ball wheels arranged side by side before and after described running gear comprises, each universal ball wheel is connected with corresponding ball wheeling supporting frame.
Described running gear is a slide block.
Described brake gear is the brake video disc.
The U-shaped frame that described contained frame is a side is being equipped with vertical slide between lower baffle plate on the U-shaped frame, and this device is connected with the human body fixed head, and the human body fixed head is provided with restrains band; Also install by the restraint weight compensation means on the vertical slide simultaneously, the jump sensor is installed and the sensor of squatting down respectively on the riser of U-shaped frame, the protection sensor of squatting down was installed on lower baffle.
Described vertical slide comprises a pair of rail plate, and vertical sliding platform is installed on it; Vertical sliding platform is connected with the human body fixed head by the motion separator tube.
Described motion separator tube is a pair of sleeve I that arranges up and down, and the buffer spring platform that they pass through separately respectively is connected with vertical sliding platform.
Described restraint weight compensation means is a sleeve II, and its upper end is connected with overhead gage, and the lower end is connected with vertical sliding platform.
Among the present invention, the user wears the location boots, fixes by restraining frame.The location boots comprise sliding system, can allow the user be expert in the limp to do the original place with less damping slide and simulate walking.Restrain the down fixing of frame, the power of user's walking will make sliding shoe and ground do slip.Every location boots are settled the displacement transducer more than two, and each displacement transducer can detect the displacement that slides, and the data volume by difference can obtain whole displacement and amount of spin.Above gained data are directly transmitted or in device, establish and send host computer to after simply handling in the processor.For the use sense of reality and the enhancing security that strengthen the user, movable pulley is provided with brake system.The brake system brake of can halting, and come the suitable increase and decrease and the friction on ground according to the ground damping information that host computer transmits, formation damping simulation system strengthens the sense of reality of emulation.When slipping when operator's out of trim; find to be in the state of squatting down at the pick-up unit of restraining on the frame; start the protection of squatting down this moment; make sliding shoe be in braking state; and recover the both feet back time-delay regular hour releasing device again of standing the operator; constituting thus squats down promptly slides into protection, increases user's safety coefficient.
Contained frame mainly is responsible for the regular user, the user is fixed by the human body fixed head, human body fixed head and motion separator tube join, the user can be by the significantly action of motion separator tube buffering, make health movable up and down rather than stiff being fixed on the device by a small margin, strengthen the sense of reality and prevent from significantly to move making device damage human body.Rail plate can make motion buffering separator tube and human body fixed head certain scope that moves up and down, above vertical sliding bar, be provided with restraint weight compensating spring, the operator is under the normal stand state, the weight compensating spring will hold up motion buffering separator tube and the human body fixed head that is connected by slide assemblies, alleviate by device to bear sense to what the operator brought.Be provided with also on the vertical sliding bar that detecting jumps and squat down and cross the device of squatting down, judge whether to takeofing, squat down or user's slipping state by detecting the position that is connected assembly of sliding.
The walking plate is positioned at restrains the frame below, can fix with ground, and the user can wear sliding shoe and stand in virtual walking on the walking plate, and the reservation bolt mouth that is connected with other instruments is arranged at walking plate bottom.
Principle of work of the present invention is: human walking is promptly for displacement has taken place in people and ground, and in the actual life, human walking is to lift with ground by a pin to do relative motion, and the another the feet step on the ground moves ahead health by the friction with ground.The mankind have realized walking by constantly repeating above method.
In reality environment, often need in small size, simulate huge virtual environment, simulate the target direction that large moving range is each virtual reality instrument with little range of movement.This device is Promethean realizes the walking collection of virtual reality by obtaining the slip data.The user wears sliding shoe, and it is contained that the health quilt is restrained frame, and when the user did the walking action on the suitable walking plate of damping, the pin of pedaling ground slided because of the slide assemblies and the generation of walking plate of sliding shoe.Be not enough to allow the user shake off the constraint of restraining frame to break away from contained frame owing to the resistance that causes sliding panel to provide of sliding has been provided, the pin that ground will occur pedaling is expert at and is slided in the limp, and the distance of slip is identical with the distance of reality walking, and direction is opposite.Displacement, the corner equivalence on pin and ground when we can obtain sliding by equipment such as photoelectric sensor, trace ball composition array, for example at least two photoelectric sensors are placed in every sliding shoe outside, each sensor can both detect the displacement on self and ground, behind distance between known two sensors and separately displacement, can calculate the deflection angle of two straight lines that sensor was linked to be, be the corner amount of pin, detect the user whether in virtual reality system the original place turn-take or turn to while walking.In this system, also have one to be used to detect the whether liftoff sensor of pin, if pin of sensor is liftoff, with regard to the releasing of brake system, record does not leave data that the sliding shoe on ground detects as the walking data, and the data that the sliding shoe on ground obtains are left in shielding.If it is liftoff that two pin all do not have, the user is at standing state in expression, and this moment, pin can not have slip with ground, otherwise just different with reality, and fell down when user's out of trim easily.This device can enter brake mode after the user is in the attitude of standing.And all liftoff expression of bipod is in the jump state, if can not be in brake mode when landing, it is injured that the user is slipped.Same meeting enter brake mode and buffering a period of time ability releasing of brake sheet after landing when jumping.
Restrain the frame regular user, make the user when virtual walking, produce slip.Can produce among a small circle during human the walking and rock, the user can make health movable up and down rather than stiff being fixed on the device by a small margin by the action of giving of motion separator tube, strengthens the sense of reality and prevent from significantly to move making device damage human body.Restrain frame and can allow the user up and down, promptly realize jumping and squatting down, place sensor, just can obtain jump and the information of squatting down and be communicated to host computer and carry out activity-triggered at the two ends of vertical sliding system by vertical sliding system.Be provided with restraint weight compensating spring below vertical sliding bar, the operator is under the normal stand state, and the weight compensating spring will hold up motion buffering separator tube and the human body fixed head that is connected by slide assemblies, alleviates by installing to what the operator brought to bear sense.
The walking plate can be the suitable plane backing plate of a damping, and the device that also can connect other simulation terrain slope angle is realized the inclination simulation on ground.Enhancing is to user's the sense of reality.
The invention has the beneficial effects as follows: it can be used for detecting walker run trace and corner, the detection of jumping and squat down.It is little that the space is taken up an area of in the present invention, can be stored in the cubic meter space, highly relative user exceeds only tens centimetres during use, the common buildings space can be used fully, equipment complex structure degree is low, overwhelming majority parts can use existing product and technology, and the manufactured materials cheapness is for large-scale popularization is had laid a good foundation.Whether whether energy measurement user of the present invention rotates in the original place or rotates while walking, can detect the user and jump and squatting down or even slip, and triggers thereby carry out corresponding action by host computer, and it is better to reach fidelity, uses safer characteristics.
Description of drawings
Fig. 1 is the side structure synoptic diagram of location boots;
Fig. 2 is the cut-open view of Fig. 1;
Fig. 3 is boots bottom surface, location structural representation;
Fig. 4 is for restraining the shelf structure synoptic diagram;
Fig. 5 is the side structure synoptic diagram of Fig. 4;
Fig. 6 is the structural representation of walking plate and fixed mount;
Fig. 7 is user mode figure of the present invention.
Wherein, 1. the footwear pedestal is 2. stepped on the ground sensor; 3. ball wheeling supporting frame, 4. steering wheel, 5. linkage assembly; 6. brake video disc, 7. universal ball wheel, 8. displacement/rotational sensor; 9. jump sensor, 10. restraint weight compensation means, 11. vertical sliding platforms; 12. motion separator tube; 13. the human body fixed head, 14. restrain band, 15. sensors of squatting down; 16. cross the protection sensor of squatting down; 17. rail plate, 18. sleeve I, 19. buffer spring platforms; 20. sleeve II; 21. the walking plate, 22. reserve bolt mouth, 23. fixed mounts.
Embodiment
The invention will be further described below in conjunction with accompanying drawing and embodiment.
As Fig. 1, Fig. 2, shown in Figure 3, foot support part of the present invention is realized by footwear pedestal 1.User's pin directly penetrates on the footwear pedestal 1.Ball wheeling supporting frame 3 and universal ball wheel 7 are supportting footwear pedestal 1, finally realize supporting user and realize the condition that simulation is walked, as shown in Figure 7.
Displacement/rotational sensor 8 is positioned at footwear pedestal 1 both sides, steps on ground sensor 2 and is positioned at footwear pedestal 1 bottom surface.Ball wheeling supporting frame of the present invention 3 tops adopt bolt fixing with footwear pedestal 1, and inner ring contacts with universal ball wheel 7, in fixing universal ball wheel 7, also take turns for ball a space that is free to slide is provided, and it can be slided to any direction.The ball wheeling supporting frame of being made up of outer ring and inner ring 3 has played the effect that is connected footwear pedestal 1 and universal ball wheel 7.Universal ball wheel 7 of the present invention is installed on ball wheeling supporting frame 3 inner rings, not only can bear the load on the vertical direction, can also be on space three-freedom rotation arbitrarily, making between location boots and the ground can free relative motion, thus the relative motion situation the on when anthropomorphic dummy walks and ground.Brake video disc 6 of the present invention is installed in footwear pedestal 1 bottom, connects steering wheel 4 and brake video disc 6 by linkage assembly 5, and controls brake by steering wheel 4.Brake video disc 6 utilizes friction force to suppress location boots slip when steering wheel 4 produces brake.Steering wheel 4 of the present invention is fixed on the footwear pedestal 1 by trip bolt, just produces action when receiving brake signal, and the output torque promotes linkage assembly 5 and compresses brake video disc 6 contact universal ball wheels 7, utilizes friction force to suppress the location boots and slides.
Among Fig. 4, Fig. 5; contained frame is that the experimenter is when carrying out virtual walking; for the experimenter provides a support; the platform of fixation; be the U-shaped structure, it comprises human body fixed head 13 and restrains and be with 14, restrains and is with 14 the experimenter is fixed on the human body fixed head 13; make it can retrain in the simulation walking user's displacement, human body fixed head 13 can also provide protection for the experimenter in some cases simultaneously.
Vertical sliding platform 11 is connected with rail plate 17, can freely slide up and down, and simulates situations such as squatting down/jump.Rail plate 17 is installed between the last lower baffle plate of U-shaped frame.
Human body fixed head 13 is connected with vertical sliding platform 11 by motion separator tube 12.Motion separator tube 12 is a pair of sleeve I18, and they are connected with vertical sliding platform 11 by buffer spring platform 19 separately.When human body is restrained plate and vertical sliding platform 11 is had relative motion, be compressed or draw high,, reach the purpose of simulating reality and buffer protection for human body provides a restoring force.Buffer spring platform 19 usefulness double-screw bolts are fixed on the vertical sliding platform 11, can regulate the reduction length of sleeve I18, in order to regulate buffer spring prestress, enable to be operated under the optimum situation.
The top of vertical sliding platform 11 is connected with sleeve II20, and sleeve II20 forms restraint weight compensation means 10.Restraint weight compensation means 10 can provide a part of anchorage force with vertical sliding platform 11 for human body fixed head 13, alleviates experimenter's back load in the simulation walking, makes it lighter.Before the experimenter began experiment, machine was in light condition, and II20 provides support power by sleeve.Sleeve II20 is fixed on the U-shaped frame, but extended outside U type frame when being subjected to upwards thrust.Sleeve II20 is stretched when the experimenter squats down, for the experimenter provides restoring force upwards; Sleeve II20 reaches outside the vertical sliding platform 11 when the experimenter jumps, provides restoring force by terrestrial gravitation.
Among Fig. 6, fixed mount 23 can be fixed on wall or the bracing frame, plays the effect of supporting the remaining part of restraining frame, can heighten.Walking plate 21 is positioned at restrains the frame below, can fix with ground, and the user can wear the location boots and stand in virtual walking on the walking plate 21, and the reservation bolt mouth 22 that is connected with other instruments is arranged at walking plate 21 bottoms.
Each sensor is sent the signal that produces into external computing machine, and computing machine utilizes software to produce the action and the real-time status information of simulation.
Claims (5)
1. a virtual reality walking device is characterized in that, it comprises the walking plate (21) that is fixed on ground but the contained frame at fixing human back and be worn in the location boots of people's pin; Wherein locate boots and contact, restrain frame and match, on the boots of location, be provided with position sensing device and brake gear, restrain jump, the sensing device of squatting down are installed on the frame with a fixed mount (23) with the plate (21) of walking; Described location boots comprise footwear pedestal (1), and footwear pedestal (1) bottom is provided with running gear; Described position sensing device sensor (2) with comprising stepping on of the displacement/rotational sensor (8) that is arranged on footwear pedestal (1) outside and footwear pedestal (1) bottom surface; Be provided with steering wheel (4) in the bottom of footwear pedestal (1), brake gear is brake video disc (6), brake video disc (6) is installed in footwear pedestal (1) bottom, steering wheel (4) is connected with brake video disc (6) by linkage assembly (5), and steering wheel (4) generation brake promotion linkage assembly (5) compresses brake video disc (6) contact running gear and brakes; The U-shaped frame that described contained frame is a side is being equipped with vertical slide between lower baffle plate on the U-shaped frame, and vertical slide is connected with human body fixed head (13), and human body fixed head (13) is provided with restrains band (14); On the vertical slide restraint weight compensation means (10) is installed also simultaneously, jump sensor (9) and the sensor of squatting down (15) are installed respectively on the riser of U-shaped frame, the protection sensor (16) of squatting down was installed on lower baffle.
2. virtual reality walking device as claimed in claim 1 is characterized in that, described walking plate (21) is a plate body, is provided with around it to reserve bolt mouth (22).
3. virtual reality walking device as claimed in claim 1 is characterized in that, two pairs of universal ball wheels arranged side by side (7) before and after described running gear comprises, and each universal ball wheel (7) is connected with corresponding ball wheeling supporting frame (3).
4. virtual reality walking device as claimed in claim 1 is characterized in that, described vertical slide comprises a pair of rail plate (1 7), and vertical sliding platform (11) is installed on it; Vertical sliding platform (11) is connected with human body fixed head (13) by motion separator tube (12).
5. virtual reality walking device as claimed in claim 4 is characterized in that, described motion separator tube (12) is a pair of sleeve I (18) that arranges up and down, and the buffer spring platform (19) that they pass through separately respectively is connected with vertical sliding platform (11); The restraint weight compensation means is a sleeve II (20), and its upper end is connected with overhead gage, and the lower end is connected with vertical sliding platform (11).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN200810238610A CN100595722C (en) | 2008-12-17 | 2008-12-17 | Virtual reality travelling gear |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN200810238610A CN100595722C (en) | 2008-12-17 | 2008-12-17 | Virtual reality travelling gear |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN101446858A CN101446858A (en) | 2009-06-03 |
| CN100595722C true CN100595722C (en) | 2010-03-24 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN200810238610A Expired - Fee Related CN100595722C (en) | 2008-12-17 | 2008-12-17 | Virtual reality travelling gear |
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| Country | Link |
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| CN (1) | CN100595722C (en) |
Families Citing this family (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104546378B (en) * | 2014-12-10 | 2017-03-22 | 常州市钱璟康复股份有限公司 | Walking training system and weight losing mechanism thereof |
| CN105974946B (en) * | 2016-07-16 | 2018-12-07 | 杭州虚现科技有限公司 | A kind of movement judges limiter |
| CN106445162A (en) * | 2016-10-12 | 2017-02-22 | 大连文森特软件科技有限公司 | VR (Virtual Reality) scenery travelling system with online editing function |
| CN106445161B (en) * | 2016-10-12 | 2019-05-24 | 快创科技（大连）有限公司 | The comprehensive game system of VR with online visual edit function |
| US10843081B2 (en) | 2016-10-14 | 2020-11-24 | Shenzhen Realis Multimedia Technology Co., Ltd. | Method and apparatus for virtual walking |
| CN106621319A (en) * | 2016-10-18 | 2017-05-10 | 李佳熙 | Separating type analog walking device for virtual reality |
| CN106621343B (en) * | 2016-10-19 | 2018-08-21 | 天津奇幻岛科技有限公司 | A kind of wearable climb and fall simulator |
| CN106548677B (en) * | 2017-01-23 | 2023-06-13 | 云南电网有限责任公司玉溪供电局 | Planar multi-ball universal action platform capable of safely moving up and down |
| CN112401387B (en) * | 2020-10-19 | 2021-12-07 | 深圳市太和世纪文化创意有限公司 | Digital immersion system and method based on LED main body |
| CN113686256A (en) * | 2021-08-19 | 2021-11-23 | 广州偶游网络科技有限公司 | Intelligent shoe and squatting action identification method |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6219625B1 (en) * | 1998-11-17 | 2001-04-17 | Shehnaz Saini Singh | Shoe including weight and distance traveled monitor |
| US6493652B1 (en) * | 1997-10-02 | 2002-12-10 | Personal Electronic Devices, Inc. | Monitoring activity of a user in locomotion on foot |
| CN1804762A (en) * | 2006-01-23 | 2006-07-19 | 浙江理工大学 | Foot force feedback device for fictitious walking |
-
2008
- 2008-12-17 CN CN200810238610A patent/CN100595722C/en not_active Expired - Fee Related
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6493652B1 (en) * | 1997-10-02 | 2002-12-10 | Personal Electronic Devices, Inc. | Monitoring activity of a user in locomotion on foot |
| US6219625B1 (en) * | 1998-11-17 | 2001-04-17 | Shehnaz Saini Singh | Shoe including weight and distance traveled monitor |
| CN1804762A (en) * | 2006-01-23 | 2006-07-19 | 浙江理工大学 | Foot force feedback device for fictitious walking |
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| CN101446858A (en) | 2009-06-03 |
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