CN112402942A - VR game machine adopting shoulder-back rod device to link with omnidirectional running platform - Google Patents

Abstract

The invention discloses VR (virtual reality) experience equipment for linking an omnidirectional running platform by adopting a shoulder and back rod device, which relates to the field of human engineering and adds one more control capability to a human body except for heads, waists and the like of four limbs; the player can use the direction of the shoulder-back control running machine to synchronously control the feet in front; various postures of the player can be transmitted in real time through the antenna backpack type device; the shoulder-back rod device gives a player a firm bearing and support in the movement, can clamp the player to experience a soaring feeling, and also has a reliable anti-falling function, the main controller can intelligently and auxiliarily correct the orientation of the treadmill according to the running habit of the player, the player can be immersed into a virtual space, and the player can move forward to run and turn on a comfortable E-TPU running belt; the player can also move sideways, move backwards, squat or crawl forwards, or experience soaring and jolting, and can meet the requirements of electric competition or military training; the invention has great market potential.

Description

VR game machine adopting shoulder-back rod device to link with omnidirectional running platform

Technical Field

The invention relates to a VR game machine, equipment for experiencing virtual reality, a treadmill, a control lever and the field of human engineering.

Background

Firstly, all the prior walking VR experience machines or game machines with head displays still have great limitation on the movement of the human body of a player; one is that only a player is allowed to walk on a rigid longitudinal and transverse crawler belt in a small range, a ring enclosing rod or a waist restraining ring is needed, the direction of the player is identified slowly, the follow-up speed of the crawler belt is slow, the player can only walk and can not run and jump, and the manufacturing cost is high; the other is that the radial radiation direction of the running platform is divided into a plurality of areas, and independent tracks are respectively arranged in the areas, when a player walks to any area, the tracks in the area are triggered to run and send the player back to the central area, the player easily loses the center of gravity, the operation is unsafe, the player can only walk with a wing with a small mind by half squatting, and the player cannot run and jump; according to the equipment, a player cannot sense the position of the player in the real space, can fall down and bump on the nearby objects, and cannot realize squatting actions; the other one can only slide in a pot-shaped running platform by using the sole, and the user can just like fingers to slide the screen of the mobile phone without walking or running; most of the existing devices realize virtual role jumping by pulling a soft rope by a waist ring to lift an identification sliding block on the periphery, and feel overstaffed and unnatural.

The second point is in the aspect of attitude position tracking and identification, and the non-contact attitude position tracking and identification cannot have a satisfactory effect; when the gyroscope, the infrared ray, the camera, the imaging recognition, the acceleration sensor, the geomagnetic sensor and the like have failures, a blind area or the loss of connection and the coordinate jump caused by the interruption of tracking due to interference occurs; the increase of the number of the detection probes or the enlargement of the scanning range can increase the cost and can not be popularized; in addition, many systems need to perform modeling calculation by a quite complex algorithm, and need to record displacement, compare the displacement with the previous and next systems, automatically supplement frames for vacant positions, need to calculate time, need to estimate displacement values by multiple data, and estimate angles and distances, so that delay or failure is caused, or positioning is not accurate due to low accuracy; the laser radar is accurate and rapid, but the manufacturing cost is high, and the laser radar can be interfered; moreover, the large amount of calculation increases the power consumption.

The third point is that VR experience easily causes dizziness, a stress reaction is caused when a player sees the feeling inconsistent with the normal movement of the body, and the head-mounted display of the mobile phone box easily causes dizziness; by rotating the head to move the visual angle, the head and the neck can be fatigued due to dizziness, the head is too heavy and uncomfortable, and the binding band is too stiff and uncomfortable.

Disclosure of Invention

In order to overcome the defects of the prior art, the invention firstly proposes a device which can stably support and bear a human body and can be used by the shoulder and back of the human body as a control lever in turn from the consideration of ergonomics, and the device is called as a shoulder and back rod device A; the player can tie an antenna backpack, the backpack A3 is stably sleeved on the backpack clamping frame A2 and is connected with the antenna rod A1 into a whole, and the whole human body can be stably hoisted; the mast a1 extends vertically upward from the top of backpack A3 until properly grasped by the upper clamp and lift device B2.

The shoulder-back rod device A supports a human body, and realizes real-time monitoring of the orientation of the human body in an XY-axis plane, pressure sensing of front-back left-right movement or swinging, and real-time monitoring of Z-axis height changes such as standing posture, kneeling posture, lying on the ground, jumping, falling and the like through the rotation and pressure sensing device B1 above the shoulder-back rod device A.

When the shoulder-back rod device A clamps and supports the body of a player, the player can rotate the shoulders by taking the antenna rod A1 behind the cervical vertebra as the center, the antenna rod A1 is controlled to rotate synchronously, and the rotation of the upper part and the rotation of the steering slide sheet of the pressure sensing device B1 can be driven by a part meshing mode by slightly increasing the rotation amplitude.

The player can lean forward and backward, lean left and right by touching the rotation and pressure sensor B1 via the antenna stick a1, and output pressure signals in front, back, left, and right directions via the piezoelectric film.

Then, the treadmill C of the present invention supports the treadmill C2 with a pivoting chassis C1; the swivel chassis C1 drives the wheels to follow in the same direction according to the angular signal from the swivel and pressure sensing device B1, so that the treadmill C2 is maintained in the same orientation as the player's forward direction.

Furthermore, because the advancing direction is not changed when the upper body is rotated in certain scenes, the invention is provided with a function button, the advancing direction can be locked by pressing the function button with one hand, and a player can freely swing the upper body left and right when continuing to move forwards; the function can be applied to shooting left and right when the museum moves forward, or appreciating exhibits on both sides when the museum moves forward, or turning the head to see a plurality of pictures on the side without hitting the wall; the rotary head is not bound with the advancing direction and is closer to the daily habit, so that the player can be prevented from dizziness.

The treadmill C2 adopts the running belt of foaming thermoplastic polyurethane (E-TPU) material preparation, and other VR experience equipment are incomparable in the aspect of the travelling comfort, and can reduce the impact of running to knee joint etc. give consideration to body-building usage really.

Treadmill C2 defaults to 2-3 degrees of recline, making it more comfortable for the player to run.

An electric push rod is arranged between the rotating chassis C1 and the supported treadmill C2 in the front-back direction, and the inclination angle of the treadmill C2 can be changed or the treadmill C2 can move up and down by the extension and contraction of the two electric push rods; the forward tilting or backward tilting of the treadmill C2 can be started by the master controller when the virtual scene is in a climbing or downhill state; a bumpy effect can also be achieved.

Treadmill C2 includes a reluctance device that provides resistance to rotation of the tread belt for a better running experience.

Treadmill C2 includes an automatic run-up device that can be used in more scenarios, such as when a player is able to enjoy VR programming while running and exercising efficiently in a fitness mode.

In addition, when the player leans his or her body to the left or right, the player character of the virtual space is controlled to step to the left or right by the signal of the rotation and pressure sensing means B1, in addition to running forward; when the player leans back to his or her upper body, the player character in the virtual space is controlled to move backward by the signal of the rotation and pressure sensor B1, that is, the body of the virtual character does not rotate but can move left and right or backward.

Furthermore, in order to enable players to feel constraint omnidirectionally and feel natural and comfortable, the antenna rod A1 is designed to be rigid and flexible; the antenna rod A1 main body part is assembled by a plurality of tube rod sections A11 and a plurality of silica gel rings A12; the pipe rod sections A11 are made of high-strength light alloy such as titanium-aluminum alloy, each pipe rod section A11 is buckled end to end from top to bottom, the buckling position can slightly swing radially, and the swing of a shoulder clamping frame A2 with the bottom end tightly buckled with the shoulder of a player can reach an applicable range when a plurality of sections are overlapped; the gap between each tube rod section A11 is tightly sealed by a silica gel ring A12, the gap can be filled by the good elasticity of the silica gel, and other parts which can be contacted by the silica gel can smoothly slide or roll.

Further, considering that part of players need to squat or lie on the ground to crawl forward, the invention arranges a joint A13 between the antenna A1 and the shoulder and back clamping frame A2, and the joint A13 contains a joint automatic locking pin; when the player is in a standing position, the joint A13 is locked and can not rotate, and the player is firmly fixed with the antenna rod A1 through the backpack A3 and the backpack clamping frame A2; when a player bends downwards to a certain low position, the automatic locking pin is pulled upwards to be separated from the rotary pusher dog on the joint A13, at the moment, the player already starts to bend downwards, the combination of the backpack A3 and the shoulder clamping frame A2 can swing backwards around the joint to remove the vertical constraint with the antenna rod A1, and at the moment, the player can smoothly bend downwards to squat and even lie on the stomach; when the player stands up to straighten the waist and joint a13 moves up a certain height, the rotary fingers are reset to re-hook the automatic locking pin and joint a13 is locked.

Still further, in order to provide the antenna mast a1 with sufficient length and flexibility in use and to prevent the top of the antenna mast a1 from rising too high when standing or jumping, a bottom mast is provided for the antenna mast a1 and the joint a13, which can extend downward in response to the release of the automatic locking pin of the joint a13, and which can be retracted and re-locked when the player stands up; the antenna rod A1 has enough length when the player is in a state of lying on the ground; the common player does not need to lie prone or crawl forward, and the design mainly considers the application of military simulation training or electric competition; if the space in the field is enough, the antenna A1 does not need to be provided with a telescopic section, and extra weight is not added.

A clamping and lifting device B2 is arranged above the rotating and pressure sensing device B1; the clamping and lifting device B2 comprises a clamping component B21, an anti-falling component B22 and a lifting electric push rod B3; the lead of the lifting electric push rod B3 is about 35 cm to 50 cm.

The clamping member B21 of the clamping and lifting device B2 has three clamping states; the normal state is light clamping, the vertical antenna rod A1 can be in a static state, and the antenna rod A1 can be hung and fixed with other lower parts in an unloaded state; the strength of the light clamp is not large, the antenna rod A1 can slide down when the player pulls down with both hands, and the height of the backpack can be adjusted to be suitable for players with different heights; the second state is clamping, and the antenna rod A1 is clamped at the moment, so that 100 kilograms of human bodies can be lifted without any thread; in this state, when it is detected that the player jumps up to a certain height, i.e. the antenna a1 quickly rises to the highest point of the jump and then falls down, the clamping and lifting device B2 clamps the antenna a1 and slowly falls down to the initial standing height, so that the player can get a sense of emptiness. The third state is released, and can be used when the lifting electric push rod B3 is reset to the high position.

The clamping and lifting device B2 is embedded with an anti-falling component B22 at the clamping end; the anti-falling component B22 is internally provided with three rows of axial steel column caulking grooves forming a funnel shape, and a plurality of high-acceleration-resistant steel balls are arranged in the grooves; when the player is in motion, the grip member B21 remains lightly gripped; at the moment, the falling-down prevention component B22 lightly clings to the antenna rod A1 along with the clamping component B21, and the antenna rod A1 can smoothly move up and down like a piston; the fall-down prevention principle is that when a player falls down in motion, a high acceleration falling is generated in a short time, and the shoulder and back part moves down for a long distance; the three rows of steel column caulking grooves are funnel-shaped, slightly wide at the top and narrow at the bottom, and when the antenna rod A1 moves upwards, the steel balls are slightly driven to slightly move upwards along the steel column caulking grooves; when the antenna rod A1 moves downwards for a long distance at a higher speed, the steel balls can slightly move downwards along the funnel-shaped caulking groove to clamp the antenna rod A1, so that the antenna rod A1 is prevented from moving downwards, and the falling prevention effect is achieved; if the antenna rod A1 moves upwards again, the steel column is released upwards immediately, and the antenna rod A1 returns to move; when the antenna rod A1 moves downwards at a slow speed or moves downwards at a high speed for a short distance, the steel ball cannot be clamped.

The invention also provides another fall-down prevention mode, when the player moves, the clamping component B21 keeps the releasing state; an electric eye sensor or a grating displacement sensor is arranged on the clamping and lifting device B2, when the position mark on the antenna rod A1 is scanned twice within 1 second, the clamping part B21 starts the clamping action, the antenna rod A1 is prevented from moving downwards for about 1 second and then is released, and the player can continue normal experience after recovering the normal posture; the player squats normally at a slow speed, and if no two position markers pass through the electric eye monitoring position within 1 second, the clamping part B21 is not triggered to start the clamping action.

For the display device E, because the omnidirectional running platform C rotates synchronously along with the player direction as a whole, the display device E can be mounted on the periphery of the rotating chassis by a bracket, namely, the display device E rotates synchronously right in front of the omnidirectional running platform C, besides the head-mounted display E1, the arc screen E2 or the quarter inner spherical screen can be mounted on the periphery of the rotating chassis by a bracket, the player can wear polarization or red-green 3D glasses, or the naked eye 3D technology is adopted, the head-mounted device can be omitted, the head and the neck do not need to bear weight, discomfort caused by tightening the belt can be avoided, the experience time can be greatly prolonged, and the omnidirectional running platform E is more suitable for fitness in entertainment.

Aiming at the problem that the cable is wound due to partial position rotation, firstly, a spiral spring cable is adopted; the master controller D1 will then record the sum of the angles of rotation from the original orientation, prompting the player to notice a reverse turn by voice or on-screen information.

The main controller D1 receives signals sent by each sensor, calculates and identifies the motion intention of a player according to the change and the rule of the data of the rotating and pressure sensing device B1, the speed of the comprehensive running belt movement and the like, automatically corrects the orientation of the rotating chassis C1, and increases or decreases the steering; for example, when the straight-ahead running speed is high, the left-right swinging amplitude of the shoulders and the backs of the player is large, but the rotating chassis C1 should not swing left and right at the moment; firstly, the rotation of the antenna rod A1 is a regular left-right swing, secondly, because the forward tilting force of the player is large when the running speed is high, the pressure applied to the rotation and pressure sensing device B1 by the antenna rod A1 is larger, the set pressure exceeds a certain value, the main controller D1 can temporarily increase the angle threshold of steering response, and the rotating chassis C1 is prevented from making wrong left-right swing when the player runs forwards. When the received pressure value of the rotating and pressure sensing device B1 is reduced or the steering angle of the antenna mast A1 is obviously increased, the main controller D1 immediately starts the rotating chassis C1 to track and steer the slide and the orientation of the angle sensor B11; the master controller D1 can also convert the intelligently calculated player's motion intention into the control signals for each device to control. The trend of VR development is to follow the natural actions and reactions of the human body as much as possible, so that it can be developed continuously.

Master D1 may also integrate data to interact online with masters of other devices or external servers.

In summary, it can be understood that in the present invention, backpack A3 is used as the common origin of coordinates for real and virtual players, and both spaces in player awareness in the first person's vision are located by this backpack A3; the player can freely run or turn forwards in the virtual space, and because the backpack gives the player a firm dependence for the real space, the player can also take one's legs to run in the real space without needing 36433the hand 36433the foot can not cause fatigue and boredom due to the worry of falling or collision with the surrounding, and the player can be immersed into the virtual space; the invention has the value that the control and movement of the player are very close to the instinctive daily habits of the human body, and the player can successfully get on the hand after short-time experience training to start VR human-computer interaction experience; the invention also has the value that the shoulder and back rod device A adds one more control capability to the human body except the head, the waist and the like of the four limbs; the disabled can drive the electric wheelchair or the automobile by using the shoulder-back rod device A, and the electric wheelchair or the automobile is visual and simple as two hands; the elector sits in front of the computer for a long time to affect health, and the shoulder and back rod device A can do multi-exercise to the shoulder and the back, which is beneficial to the health of the shoulder, the back and the cervical vertebra.

Drawings

Fig. 1 is a schematic view of the overall structure of the present invention.

Fig. 2 shows the lower part of the shoulder-back rod device a of the present invention, which comprises a shoulder-back clamping frame a2, a backpack A3, a joint a13, a tube-rod joint a11, and a silicone ring a 12.

FIG. 3 shows an embodiment of the invention in which 9 tube-rod segments A11 are swung forward at an angle of 0.4 degrees, and the joint A13 is moved forward by 3 cm, wherein the player model is 1.8 m in height.

FIG. 4 shows an embodiment of the present invention in which the player model is 1.8 meters in height with the joint A13 moved 6 centimeters backward when the player reclines.

Fig. 5 shows a rotation and pressure sensing device B1 in the present invention.

Fig. 6 shows a clamping and lifting device B2 in the present invention.

Figure 7 shows the apparatus and player in full view as they lie prone to ground creeping.

Fig. 8 shows a partial view of a player lying prone.

Figure 9 shows a curved screen E2 mounted in brackets over the outer perimeter of the rotating chassis.

Reference symbols in the drawings correspond to part names:

an A1 antenna rod, an A11 tube rod section, an A12 silica gel ring and an A13 joint;

a2 shoulder and back clamping frame;

a3 backpack;

b1 rotation and pressure sensing device, B11 steering slide and angle sensor, B12 pressure sensor;

b2 clamping and lifting device, B21 clamping component, B22 anti-falling component;

b3 lifting and lowering the electric push rod;

a B4 strut;

c1 swivel chassis, C2 treadmill;

d1 a master controller;

d2 spring signal line and spring wire.

Detailed Description

Embodiments of the present invention will now be described in some detail with reference to the accompanying drawings.

The attached figure shows the VR game machine and a player with the height of 1.8 meters according to the real-size modeling, the equipment is compatible and adaptive according to the deviation of the height of the player from 1.5 meters to 1.95 meters, the upper limit of the jump height is 40 centimeters, and the function of lying on the ground is also achieved, so that the antenna rod A1 is shown to extend upwards to a higher position in the figure.

Firstly, after a player is on the computer, the player fastens the backpack and stands well, and the starting equipment firstly scans in an initial state, measures the height of the player by electric eye scanning, and is preliminarily designed to be suitable for the player with the height of 1.5-1.95 m; the upper limit of the general jump height is about 40 cm; the rotary and pressure sensing device B1 is the basic configuration of the invention, if the functions of crouching on the ground, jumping and the like are not provided, the equipment is lighter and lower in cost, and the basic configuration can also meet the use requirements of common players and amusement places, so that the market potential is large.

Fig. 2 shows the lower part of the piggyback bar arrangement a, comprising piggyback clip a2, backpack A3, joint a13, tube-bar joint a11, silicone ring a 12; the backpack A3 and the backpack clamping frame A2 are separated, and the backpack is designed to be quickly disassembled and assembled, so that players of different sizes can conveniently replace backpacks with large sizes or small sizes, and the upper body can be stably bound.

Fig. 3 shows an embodiment in which the joint a13 is moved forward by 3 cm when 8 tube rod segments a11 are all swung forward by an angle of 0.4 degrees, wherein the height of the player model is 1.8 m, and the swinging diameter of the front, back, left and right can reach 6 cm, which is basically enough to give the player a natural experience.

FIG. 4 shows an embodiment where joint A13 is 3 cm off center as the player moves backward, where the player model is 1.8 meters in height.

FIG. 5 shows a steering slide and angle sensor B11, wherein the radially slidable steering slide is coupled to a pressure sensor B12 for synchronous rotation; the radial sliding sheet can be seen to form a meshing with four axial grooves on the periphery of the antenna rod A1 with certain gaps, and the radial sliding sheet can be linked and output an angle signal; a certain gap is reserved, on one hand, the antenna rod A1 is guaranteed to move up and down smoothly, on the other hand, a smaller angle threshold value is set, and the player swings the shoulder and back with a smaller amplitude, so that the orientation of the steering sliding sheet is not changed; and the steering slide sheet can slide in the radial direction to enable the antenna rod A1 to be capable of pressing and contacting the pressure sensor B12 in the front, back, left and right directions.

FIG. 6 shows a clamping member B21, an anti-fall member B22 in a clamping and lifting device B2; the main controller can also judge whether the player starts to fall down according to the change of the up-and-down moving speed of the antenna rod A1, and can control the clamping component B21 to start short-time clamping, so that the anti-falling supporting function is achieved.

FIG. 7 shows the apparatus and a full view of a player when the player is lying down on the ground to crawl; at this time, the lifting electric push rod B3 of the clamping and lifting device B2 is contracted to the shortest.

Fig. 8 shows that when the player lies prone on the ground and crawls, the shoulder and back clamping frame A2 swings backwards with the joint A13 as the center, so that the player can lie prone smoothly.

Fig. 9 shows that the arc screen E2 is mounted on the periphery of the rotating chassis by a bracket, and is located right in front of the omnidirectional running platform C, that is, rotates synchronously right in front of the player, and the player can wear polarized or red-green 3D glasses or adopt naked eye 3D technology, so that the head-wearing device can be eliminated, the head and the neck do not need to bear weight, and the user is not afraid of tightening the belt to cause discomfort, the experience time can be greatly prolonged, and the table is more suitable for fitness in entertainment.

The main controller D1 receives signals sent by each sensor, calculates and identifies the motion intention of a player according to the change and the rule of the data of the rotating and pressure sensing device B1, the speed of the comprehensive running belt movement and the like, automatically corrects the orientation of the rotating chassis C1, and increases or decreases the steering; for example, when the straight-ahead running speed is high, the left-right swinging amplitude of the shoulders and the backs of the player is large, but the rotating chassis C1 should not swing left and right at the moment; firstly, the rotation of the antenna rod A1 is a regular left-right swing, secondly, because the forward tilting force of the player is large when the running speed is high, the pressure applied to the rotation and pressure sensing device B1 by the antenna rod A1 is larger, the set pressure exceeds a certain value, the main controller D1 can temporarily increase the angle threshold of steering response, and the rotating chassis C1 is prevented from making wrong left-right swing when the player runs forwards. When the received pressure value of the rotating and pressure sensing device B1 is reduced or the steering angle of the antenna mast A1 is obviously increased, the main controller D1 immediately starts the rotating chassis C1 to track and steer the slide and the orientation of the angle sensor B11; the master controller D1 can also convert the intelligently calculated player's motion intention into the control signals for each device to control.

Claims (8)

1. A VR game machine adopting a shoulder-back rod device to link with an omnidirectional running platform is characterized by comprising a shoulder-back rod device A, a rotation and pressure sensing device B1, a clamping and lifting device B2, an omnidirectional running platform C, a support column B4, a bottom frame, a display device E, a function button and a master controller D1;

the shoulder-back rod device A comprises an antenna rod A1, a shoulder-back clamping frame A2 and a backpack A3;

the antenna rod A1 comprises a plurality of tube rod sections A11, a plurality of silica gel rings A12, a joint A13, a top rod, a bottom rod and the like;

the joint A13 contains a joint automatic locking pin;

the clamping and lifting device B2 comprises a clamping component B21, an anti-falling component B22 and a lifting electric push rod B3;

the anti-falling component B22 is internally provided with a funnel-shaped axial steel column caulking groove and a plurality of high-acceleration-resistant steel balls;

the omnidirectional running platform C comprises a running machine C2, a rotating chassis C1 and two bottom support electric push rods in the front-back direction;

the treadmill C2 comprises a running belt, a reluctance device and an automatic run-up device;

the two electric push rods of the front and back bottom support rotate integrally with the treadmill C2, and the extension and contraction of the two electric push rods can change the inclination angle of the treadmill C2 or move the treadmill C2 up and down.

2. The VR game console with the shoulder-back bar linkage omnidirectional running platform of claim 1, wherein the plurality of tube bar sections A11 are buckled end to end, the buckled positions can radially swing at a small angle, and gaps at the buckled positions are tightly sealed by the silica gel ring A12.

3. The VR game console with shoulder-back bar linkage omni-directional running platform of claim 1, wherein the rotation and pressure sensing device can rotate along with the rotation of the shoulder-back bar device a.

4. The VR game console with shoulder-back bar linkage omnidirectional treadmill of claim 1, wherein treadmill C2 uses a running belt made of foamed thermoplastic polyurethane (E-TPU) material.

5. The VR game console of claim 1 with shoulder-back bar linkage omni-directional treadmill, wherein backpack A3 is sized and is quick detachable from shoulder-back clamp A2.

6. The VR game console of claim 1 with shoulder-back bar linkage omni-directional treadmill, wherein the display device is head mounted E1, or a cambered E2 or quarter inner spherical screen.

7. The VR game console with shoulder-back bar linkage omnidirectional treadmill of claim 1, wherein the function button locks the omnidirectional treadmill C from the shoulder-back swing.

8. The VR game console with shoulder-back bar linkage omnidirectional running platform of claim 1, wherein the main controller D1 receives signals from the sensors, calculates and identifies the player's movement intention according to the orientation data of the devices and the moving speed of the running belt during operation, automatically modifies the direction of the rotating chassis C1, intelligently adjusts the control angle threshold, or converts the calculated player's movement intention into corresponding control signals of other devices.

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