CN112190957A

CN112190957A - VR simulation wing

Info

Publication number: CN112190957A
Application number: CN202011003640.XA
Authority: CN
Inventors: 刘益群; 王震洲; 邓德腾
Original assignee: Zhongke Digital Sports Zhongshan Technology Co ltd
Current assignee: Zhongke Digital Sports Zhongshan Technology Co ltd
Priority date: 2020-09-22
Filing date: 2020-09-22
Publication date: 2021-01-08

Abstract

The invention provides a VR simulation wing, which belongs to the field of VR input equipment and comprises a wearing mechanism, a motion sensor and a controller, wherein the wearing mechanism comprises two arm components used for being worn by two arms of an experiencer respectively and an intermediate component used for connecting the two arm components; the motion sensor is arranged on the arm component and/or the middle component and is used for acquiring motion signals when the two arm components move relative to the middle component; the motion signal comprises a displacement signal and/or an acceleration signal; the controller comprises a processor, a memory, a sensor interface and a communication interface; the processor reads and executes memory-stored instructions that cause the processor to receive motion signals of the motion sensor and send the motion signals to the VR system via the communication interface. The technical scheme of the invention aims to solve the problem of simulating the wing experience in bird flying equipment so as to obtain the feeling of flying wings in the air like a bird.

Description

VR simulation wing

Technical Field

The invention belongs to the field of VR input equipment, and particularly relates to a simulation wing serving as an independent component for providing a wing swinging action signal for a VR system.

Background

In the prior art, the simulated flying equipment connected with the VR system is a floor type flight simulation device, and a person needs to lie on the equipment and pull rigid wings. This kind of wing, only can arrange on fixed ground a relevant equipment on, on the one hand the flexibility is poor, the operation is inconvenient, experience is poor, on the other hand must integrate and use in a simulation equipment that flies, lacks the mobility, can not realize the nimble experience that birds fly.

Disclosure of Invention

The invention aims to provide a backpack wing, and aims to solve the problem of simulating the wing experience in bird flying equipment so as to obtain the sensation of flying the wing in the air like a bird.

The technical scheme provided by the invention is that the VR simulation wing comprises:

the wearing mechanism comprises two arm components used for being worn by two arms of an experiencer respectively, and an intermediate component connecting the two arm components; each arm component and the middle component form a space kinematic pair with more than three degrees of freedom;

the motion sensor is arranged on the arm component and/or the middle component and is used for acquiring motion signals when the two arm components move relative to the middle component; the motion signal comprises a displacement signal and/or an acceleration signal;

and the number of the first and second groups,

a controller comprising a processor, a memory, a sensor interface, and a communication interface; the processor reads and executes the memory-stored instructions that cause the processor to receive a motion signal of the motion sensor and send the motion signal to a VR system through the communication interface.

Further, the motion sensor includes one or more types of 9-axis sensor, a photoelectric sensor, and a torque sensor.

Further, a force feedback mechanism is arranged on the arm component or the middle component; the processor reads and executes the memory-stored instructions that cause the processor to receive a force feedback signal obtained by the communication interface from the VR system and control the force feedback mechanism to perform a force feedback action.

Further, the force feedback mechanism comprises a fixed magnet and a movable magnet, and a current output end connected with the fixed magnet and the movable magnet; the current output outputs a current that controls the magnetic field strength and direction of the stationary magnet and/or the moving magnet to cause the moving magnet to move relative to the stationary magnet.

Further, the space kinematic pair comprises a ball head pair.

Further, the spatial kinematic pair comprises two revolute pairs with orthogonal axes.

Further, one end of the arm component far away from the middle component and one end of the arm component close to the middle component form a sliding pair.

Furthermore, one end of the arm component far away from the middle component and one end of the arm component close to the middle component form a space kinematic pair with one degree of freedom of sliding.

In some embodiments of the above aspects, the intermediate member is fixed to a backrest of a chair for carrying the experiential person, the chair being suspended from the ground by a flexible cable.

In some embodiments of the above aspects, the intermediate member is secured to the shoulders of a wing garment worn by the experiential person, the wing garment being suspended from the ground by a flexible cable.

The technical scheme of the invention has the beneficial effects of, but not limited to: the VR simulation wing can be used as an independent device to be connected with a VR system, and can also be used as an independent part to be combined with lifting parts such as a hanging strip, a seat and a base to form various types of devices, so that an experiencer can experience flying in various postures such as standing, sitting, lying and lying.

Drawings

FIG. 1 is a schematic diagram of an embodiment of a VR simulated wing of the present invention in use in a VR simulated flight system;

FIG. 2 is a schematic diagram illustrating the installation state of VR simulation wings in the embodiment of FIG. 1;

FIG. 3 is a schematic structural diagram of a wearing mechanism of the VR simulated wing in the embodiment of FIG. 1;

FIG. 4 is a schematic diagram of a spatial kinematic pair in an embodiment of a VR simulated wing of the present invention;

FIG. 5 is a schematic diagram of a spatial kinematic pair in another embodiment of a VR simulated wing of the present invention;

FIG. 6 is a schematic diagram illustrating communication of VR simulated wing usage status in an embodiment of the VR simulated wing in accordance with the present invention;

FIG. 7 is a schematic diagram illustrating communication of VR simulated wing usage status in another embodiment of the VR simulated wing in accordance with the present invention;

FIG. 8 is a schematic diagram of the force feedback mechanism operating in one embodiment of a VR simulated wing in accordance with the present invention;

FIG. 9 is a schematic structural diagram of the force feedback unit in the embodiment of FIG. 8;

the device comprises a motor 1, a speed reducer 2, a safety housing 3, a stand column 4, a rope disc 5, a pulley 6, a flexible rope 7, wings 8, a bone rod 9, a handle 10, a hinge 11, a seat 12, a sensor 13 and screws 14.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

The terms "first," "second," and the like in the description and in the claims, and in the drawings described above, are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It will be appreciated that the data so used may be interchanged under appropriate circumstances such that the embodiments described herein may be practiced otherwise than as specifically illustrated or described herein. Furthermore, the terms "comprise," "include," and "have," and any variations thereof, are intended to cover non-exclusive inclusions, such that a process, method, system, article, or apparatus that comprises a list of steps or modules is not necessarily limited to those steps or modules expressly listed, but may include other steps or modules not expressly listed or inherent to such process, method, article, or apparatus, the division of modules herein shown is merely a logical division and may be implemented in a practical application in a different manner, such that multiple modules may be combined or integrated into another system or certain features may be omitted or not implemented, and such that mutual or direct coupling or communicative coupling between the modules shown or discussed may be through interfaces, and indirect coupling or communicative coupling between the modules may be electrical or other similar, are not intended to be limiting herein. Moreover, the modules or sub-modules described as separate components may or may not be physically separated, may or may not be physical modules, or may not be separated into multiple circuit modules, and some or all of the modules may be selected according to actual needs to achieve the purpose of the embodiment of the present invention.

Example one

As shown in fig. 1 and 2, the present embodiment is a VR simulated wing, which is installed in a VR simulated flying system as a separate component, worn by an experiencer and provides an action signal for the VR system of the VR simulated flying system when being operated.

The VR simulation flying system of this embodiment includes three independent actuating mechanism of group, and every actuating mechanism of group comprises motor 1, speed reducer 2 and safety housing 3, receive and releases three strands of flexible cables 7 respectively according to different control signal. Wherein, the support is composed of a vertical column 4, a V-shaped base below the vertical column 4 and a Y-shaped pulley yoke above the vertical column 4. The upright 4 and the Y-shaped pulley yoke are hollow for the movement of the wire 7 inside. The ends of two side branches of the Y-shaped pulley frame are respectively provided with a flexible cable outlet I, III, the flexible cable outlet I, III is respectively provided with a pulley 6, the pulley 6 is a single-groove fixed pulley, and the side fixed pulley is respectively taken as a side square fixed pulley to be wound with a side flexible cable 7. The Y-shaped pulley frame is provided with a plurality of rope reels 5 between two side branches, the rope reels 5 are three-groove fixed pulleys, the middle groove of the three-groove fixed pulleys is used as a leveling fixed pulley for winding a leveling flexible rope 7, the grooves on the two sides are respectively wound with a lateral flexible rope 7 and a lateral flexible rope 7, the rope reel 5.2 is arranged at the outlet II of the flexible rope, the rope reel 5.1 is arranged at the joint of the Y-shaped pulley frame and the upright post 4, and a third rope reel is arranged at the lower end of the upright post 4 close to the speed reducer 2. The three groups of independent driving mechanisms respectively provide a first output end, a second output end and a third output end which independently run, wherein the first output end is connected with the leveling flexible cable, the second output end is connected with the lateral flexible cable on one side of the hoisting part, and the third output end is connected with the lateral flexible cable on the other side of the hoisting part. The flexible cables led out from the output ends are respectively wound in three grooves of a third rope pulley, continue to extend along the upright post 4 by changing the direction, extend along the middle branch of the Y-shaped pulley frame after changing the direction for the second time at the rope pulley 5.1 at the top end of the upright post 4, wind the rope pulley 5.2 at the outlet II of the flexible cables, wherein the leveling flexible cables 7 directly hang down from the outlet II of the flexible cables and are connected with the middle part of the chair back of the chair 12, the two side flexible cables 7 respectively extend to the outlet I, III of the end part flexible cables of the two side branches along the two side branches of the Y-shaped pulley frame and are respectively wound on the pulleys 6, and then respectively hang down from the outlet I, III of the flexible cables and are connected with the left side and the right side of the chair 12. In the operation of the equipment, along with the positive and negative rotation of the displacement output end, the three strands of flexible cables are simultaneously folded and unfolded, and the seat 12 runs up and down as a whole bearing experiencer of the hoisting part.

In the embodiment, the three flexible cables are respectively connected at the displacement output end, then the three flexible cables are placed along the same stand column by virtue of the three-groove rope disc, and the three motors are used for respectively driving and pulling, so that the attitude change of the simulated flight is realized, and the simplified support structure with three-dimensional dynamic experience of front-back, left-right and up-down is provided.

As shown in fig. 2 and 3, the VR simulated wing of the present embodiment is fixed on the backrest of the chair 12 for carrying the experiential person through the middle member 91, and the handle 10 for providing the force point for the experiential person is arranged on the bone rod 9 of the wing 8 so as to be grasped by the experiential person. The arm component is composed of a bone rod 9, a sensor 13 and a fixed end of a hinge 11, the hinge 11 is installed at one end of the bone rod 9 close to the middle component 91, the wings 8 are connected with the bone rod 9 through screws 14 to form a basically rigid integral component, the hinge 11 supports swinging in the up-down direction, the front-back direction and rotation with the bone rod 9 as an axis, wherein the middle component 91 is used as the fixed end, the side, far away from the middle component 91, of the wings 8 is used as a free end, and three degrees of freedom of movement are realized. In some embodiments, as shown in fig. 4, the hinge 11 employs the three-degree-of-freedom spatial kinematic pair structure with a rotating plane bearing 111 and a pivot shaft, wherein the plane bearings 111 on both sides of the pivot shaft are respectively rotatably connected with the arm member and the middle member, so that the pivot shaft can freely rotate relative to the arm member and the middle member, and the rotating axes of the plane bearings 111 on both sides of the pivot shaft are substantially orthogonal to the pivot shaft at any position. In other embodiments, as shown in fig. 5, the hinge 11 is a ball-head pair, and two parts of the ball-head pair are respectively fixed with one arm member and the middle member, so that the arm member and the middle member form a three-degree-of-freedom space kinematic pair structure. In other embodiments, the hinge 11 may further comprise a sliding pair, such as the arm member itself further comprises a sliding pair structure, for example, a sliding pair structure formed by an end of the arm member away from the middle member and an end close to the middle member, or a spatial motion pair structure comprising a sliding degree of freedom formed by an end of the arm member away from the middle member and an end close to the middle member, so as to optimize the difference of the rotation radius formed by the rotation pivot of the arm of the experiencer and the rotation pivot of the arm member being eccentric when the experiencer drives the arm member to rotate relative to the middle member. It can be understood that the wearing mechanism in the embodiment comprises an arm member worn by two arms of the experiencer respectively, and an intermediate member connecting the two arm members; the arm component and the middle component form a space kinematic pair with three degrees of freedom. In other embodiments an intermediate member may be added to achieve more than three degrees of spatial movement of the arm member relative to the fixed intermediate construct.

Illustratively, the present embodiment employs a system configuration as shown in FIG. 6, wherein when the experiencer operates the handle 10 to fly the wings 8, the sensor 13 generates a signal as a motion sensor, the processor of the controller reads and executes instructions stored in the memory thereof, the instructions stored in the memory cause the processor to receive the motion signal from the motion sensor 13 and transmit the motion signal to the VR system via the communication interface, so that the VR system controls the wings in the virtual environment to generate corresponding sounds and/or images, and the experiencer obtains a virtual experience from the sounds and/or images of the VR system. The sensor is a plurality of infrared angle sensor in this embodiment, through gathering a plurality of two-dimensional angles of wing and back of the chair, gathers the wing with relative displacement's signal between the hoist and mount portion to through the transmission of wired or wireless transmission mode directly or through the controller transfer to the VR system, be used for control the wing action is waved in VR system output. In other embodiments, the infrared angle sensor may be replaced by a plurality of hall sensors or pull-cord sensors for detecting the relative displacement. In another embodiment, the motion sensor is composed of a single or a group of photosensors, the photosensors are provided with a light emitting diode and an optical sensor on one member of the kinematic pair, the light emitting diode projects pulsed light, which may be red light, infrared light, laser light, etc., onto the surface of the other member of the kinematic pair, and the optical sensor receives the reflected pulsed light to obtain the displacement of the surface relative to the first member, as in the ball-head pair configuration, the photosensor driving configuration of the trackball mouse may be used, and the motion sensor generates a signal to control the virtual wing "fan" when the arm member relatively moves around the axis relative to the intermediate member. In other embodiments, the infrared angle sensor may be replaced by a three-axis acceleration sensor to obtain an acceleration signal of the flapping and to integrate the obtained displacement signal. In some arm member complex scenarios relative to the intermediate member, the motion sensor may be an integrated 9-axis sensor, including a 3-axis acceleration sensor (i.e., accelerometer), a 3-axis angular rate sensor (i.e., gyroscope), a 3-axis magnetic induction sensor (i.e., magnetometer).

It will be appreciated that the motion sensor is not limited to being provided on the arm member, and in some embodiments may also be provided on the intermediate member, and these prior art sensors acquire motion signals, including displacement signals or acceleration signals, of the two arm members moving relative to the intermediate member due to different acquisition principles, i.e. are considered as equivalents of the present embodiment.

Example two

As shown in fig. 7, the present embodiment differs from the first embodiment in that the VR simulated wing of the present embodiment further includes a force feedback member disposed in the arm member such that the processor of the controller reads and executes its memory-stored instructions that cause the processor to receive a force feedback signal obtained by the communication interface from the VR system and control the force feedback mechanism to perform a force feedback action.

Specifically, as shown in fig. 8 and 9, in the present embodiment, the force feedback mechanism of the VR simulated wing includes a first power module 100, a first control module 101, a feedback unit 103, and a wireless transmission unit 106 disposed in the hollow bone rod. The force feedback unit 103 comprises electromagnets P1, P2, P3, whose respective magnetic field strength and direction are controlled by the output currents of the current output terminals of the adjustable power supply devices U1, U2, U3. The electromagnets P1 and P3 are fixed magnets with fixed positions, the electromagnet P2 is a movable magnet, and the electromagnet P1 and the electromagnet P3 reciprocate along a preset track under the control of a magnetic field; the controller comprises a current output end; the current output terminal outputs a current for controlling the fixed magnet and/or the moving magnet so as to cause the moving magnet to move relative to the fixed magnet.

Specifically, in this embodiment, the force feedback mechanism includes a first power module 100, a first control unit 101 electrically connected to the first power module, a feedback unit 103 electrically connected to the first control unit, and a wireless transmission unit 106. The controller includes a second power module 104 and a second control unit 105 electrically connected to the second power module 104. The wireless transmission unit 106 is communicatively connected to the second control unit 105, and receives the force feedback signal from the second control unit 105, and controls the output currents of the current output terminals of the adjustable power devices U1, U2, and U3 according to the force feedback signal.

In this embodiment, the first power module 100 and the second power module 104 are respectively provided with a serial bus interface for communication and power supply. Various control schemes can be implemented according to the configuration, and exemplarily, when the wired transmission device is adopted, the serial bus interface of the first power module 100 supplies power to the first control unit 101 on one hand and communicates with the first control unit 101 on the other hand. Exemplarily, when the wireless transmission device is used, the first power module 100 only supplies power to the first control unit 101, and only plays a role of supplying power; when the wireless transmission device is used, the second power supply module 104 supplies power to the second control unit 105, and the second control unit 105 communicates with the first control unit 101 through the wireless transmission unit 106 and further acts on the feedback unit 103.

In this embodiment, the feedback unit 103 completes the adjustment work of the internal impact force feedback according to the signal transmitted by the first control unit 101 or the second control unit 105. The electromagnetic control system comprises an electromagnet P1, an electromagnet P2, an electromagnet P3, an adjustable power supply device U1 for controlling the electromagnet P1, an adjustable power supply device U2 for controlling the electromagnet P2 and an adjustable power supply device U3 for controlling the electromagnet P3. The electromagnet P1, the electromagnet P2 and the electromagnet P3 are respectively provided with an N pole and an S pole, the electromagnet P2 is positioned between the electromagnet P1 and the electromagnet P1, the three electromagnets are positioned on the same horizontal plane in the same space, and the N pole and the S pole of the electromagnet P2 are respectively close to the S pole of the electromagnet P1 and the N pole of the electromagnet P3.

In this embodiment, the electromagnets P1, P2, and P3 in the feedback unit 103 are respectively composed of an iron block and a coil for winding the iron block, and the coils of the three electromagnets P1, P2, and P3 are respectively energized by the adjustable power supply unit U1, the adjustable power supply unit U2, and the adjustable power supply unit U3 to respectively generate the N pole and the S pole, and the distance between each two of the three electromagnets P1, P2, and P3 is kept at the maximum distance when the critical point of electromagnetic attraction is maintained.

In this embodiment, when the polarity of the current supplied to the adjustable power supply U1 for controlling the electromagnet P1, the adjustable power supply U2 for controlling the electromagnet P2, and the adjustable power supply U3 for controlling the electromagnet P3 are adjusted respectively, that is, when the polarity of the voltage of the adjustable power supply U1 is changed or the adjustable power supply U1 is zero, and the adjustable power supply U3 is not changed, the electromagnet P2 is in a state between the electromagnets P1 and P3 due to the magnetic force balance at the initial position, and the following changes occur: moves to the position of electromagnet P3 and collides with electromagnet P3. And then, the direction of the positive electrode and the negative electrode of the voltage of the adjustable power supply U3 is changed or the voltage of the adjustable power supply U3 is zero, and the adjustable power supply U1 recovers the normal power supply at the moment, and the following changes occur: at this time, the electromagnet P2 moves from the position of the electromagnet P3 toward the electromagnet P1 and collides with the electromagnet P1.

Through the above-mentioned a series of control regulation, realize that magnet P2 realizes reciprocating motion and the collision with electro-magnet P1 and electro-magnet P3 in feedback unit 103, be the force feedback of striking formula promptly, make VR experience more true finally.

It is understood that the fixed magnets and the moving magnets of the force feedback mechanism are not limited to the number and position in the present embodiment. In other embodiments, a multi-directional impact experience may be achieved by designing the moving magnet with multiple moving dimensions. In other embodiments, where the number of moving magnets may be increased to achieve a faster or more complex sustained impact experience, it may be desirable to provide more fixed magnets to provide complex magnetic field variations.

In this embodiment, in order to increase the force response condition of the force feedback, the motion sensor further includes a torque sensor disposed on the bone rod to provide a signal of the pivoting torque, and the controller provides a corresponding force feedback signal according to the signal.

In some improved embodiments, the control system of the VR simulated on-wing force feedback mechanism may include a wired transmission device and a wireless transmission device, and exemplarily, the wired transmission unit includes a first power module 100, a first control unit 101 electrically connected to the first power module, and a feedback unit 103 electrically connected to the first control unit; the wireless transmission unit comprises a second power supply module 104, a second control unit 105 electrically connected with the second power supply module, and a wireless transmission unit 106 electrically connected with the second control unit, wherein the wireless transmission unit is electrically connected with the first control unit; the first power supply module and the second power supply module are respectively provided with a serial bus interface for communication and power supply; the feedback unit completes the adjustment of the feedback of the internal impact force according to the signal transmitted by the first control unit or the second control unit. It can be understood that the force feedback mechanism in the embodiment and the improved embodiment can solve the problem of the lack of the force feedback complexity and the experience effect in the virtual reality device technology in the current market, solve the instant strong impact experience function of the entertainment experience device through the impact between the electromagnets to give the sense of reality,

EXAMPLE III

The embodiment is a VR simulated wing mounted on a wing, and is different from the first embodiment in that in the first embodiment, the intermediate member is fixed on a backrest of a chair for bearing an experiencer, and the chair is lifted off the ground through a flexible cable; in this example, the intermediate member is secured to the shoulders of a wing suit worn by the experiential person, the wing suit being suspended from the ground by a flexible cable. Because the wing is soft, the middle component of the embodiment provides a rigid support at the shoulder of the wing, so that when the arm component moves along with the arm of the experiencer, the arm component generates movement relative to the middle component, and the movement signal can be collected through the motion sensor.

In the foregoing embodiments, the descriptions of the respective embodiments have respective emphasis, and for parts that are not described in detail in a certain embodiment, reference may be made to related descriptions of other embodiments.

It is clear to those skilled in the art that, for convenience and brevity of description, the specific working processes of the above-described systems, apparatuses and units may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again.

In the several embodiments provided in the present application, it should be understood that the disclosed system, apparatus and method may be implemented in other manners. For example, the above-described apparatus embodiments are merely illustrative, and for example, the division of the units is only one logical division, and other divisions may be realized in practice, for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or units, and may be in an electrical, mechanical or other form.

Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.

Claims

1. A VR simulated wing comprising:

and the number of the first and second groups,

2. The VR simulated wing of claim 1, wherein: the motion sensor includes one or more types of 9-axis sensors, photoelectric sensors, and torque sensors.

3. The VR simulated wing of claim 1, wherein: a force feedback mechanism is arranged on the arm component or the middle component; the processor reads and executes the memory-stored instructions that cause the processor to receive a force feedback signal obtained by the communication interface from the VR system and control the force feedback mechanism to perform a force feedback action.

4. The VR simulated wing of claim 3, wherein: the force feedback mechanism comprises a fixed magnet, a movable magnet and a current output end connected with the fixed magnet and the movable magnet; the current output outputs a current that controls the magnetic field strength and direction of the stationary magnet and/or the moving magnet to cause the moving magnet to move relative to the stationary magnet.

5. The VR simulated wing of claim 1, wherein: the space motion pair comprises a ball head pair.

6. The VR simulated wing of claim 1, wherein: the spatial kinematic pair comprises two revolute pairs with orthogonal axes.

7. The VR simulated wing of claim 1, wherein: and one end of the arm component far away from the middle component and one end of the arm component close to the middle component form a sliding pair.

8. The VR simulated wing of claim 1, wherein: and one end of the arm component far away from the middle component and one end of the arm component close to the middle component form a space kinematic pair with one sliding freedom degree.

9. The VR simulated wing of claim 1, wherein: the intermediate member is fixed to the back of a chair carrying the experiencer, the chair being suspended from the ground by a flexible cable.

10. The VR simulated wing of claim 1, wherein: the intermediate member is secured to the shoulders of a wing suit worn by the experiential person, the wing suit being suspended from the ground by a flexible cable.