CN210583486U - VR human-computer interaction all-purpose exercise and universal treadmill - Google Patents

Abstract

The utility model discloses a mutual omnipotent motion of VR man-machine and universal treadmill, the on-line screen storage device comprises a base, the base inboard is provided with circular arc guide rail and circular follow-up protection network, and circular follow-up protection network is located the circular arc guide rail outside, circular arc guide rail upper end slidable mounting has the rail block, rail block upper end fixed mounting has the bearing carousel, bearing carousel lower extreme surface is provided with rotary driving mechanism and electrically conducts the sliding ring, and electrically conducts the sliding ring and be located bearing carousel central point. The utility model discloses the nature has the gene with body-building motion and VR recreation high fusion, provides the crowd who loves to play the game and do not love the motion a fundamental improvement health and life quality's two ways of making the best of others. Thereby solving a large group of hidden troubles for the society.

Description

VR human-computer interaction all-purpose exercise and universal treadmill

Technical Field

The utility model relates to a VR (virtual reality) human-computer interaction technique, in particular to VR human-computer interaction all-round motion and universal treadmill.

Background

Various defects and deficiencies exist in various existing VR (virtual reality) man-machine interaction technologies, modes, products and schemes, and the following are classified, explained and analyzed according to man-machine interaction modes:

defects and shortcomings of VR glasses when used alone

VR glasses used alone refers to the way that VR glasses (or VR handles added) are used only to interact and control VR spaces and characters, independent of the equipment (e.g., universal treadmill) associated with body motion interaction. This is the most basic and common way of using VR glasses, simple and easy to do, with low cost, but there are many defects and shortcomings:

1) the movement of the human body is greatly restricted. Limb movements of small amplitude can usually only be performed in a small physical space range, and body displacements are severely limited to ensure safety. This reflection into the virtual space means that the user cannot manipulate the virtual space, characters, and objects with natural actions of the human body (for example, most typically, the user cannot compensate for the continuous movement and free walking in the virtual space with the walking of the human body in reality by using unnatural ways such as "handle manipulation", "instantaneous movement", etc.), so that the experience of VR (virtual reality) is fundamentally greatly reduced;

2) the safety is difficult to guarantee. Even if there is no real body displacement, only in-situ movement is considered, and safety is difficult to guarantee by using VR glasses alone. The fundamental reason is that the two feet of human beings are upright in a natural dynamic unbalance state, the body posture needs to be continuously and dynamically fine-tuned to keep balance, the visual system is a core system for realizing the balance mechanism for normal people (the blind needs a large amount of muscle exercises and obtains 'touchdown' perception by the aid of a crutch to avoid falling down during walking and turning), and the visual system is difficult to participate in balance fine tuning after wearing VR glasses, so that the visual system is easy to lose balance and collide and fall accidents occur when the human bodies move and turn (even in situ);

3) VR motion sickness is easily induced. VR motion sickness is a physiological stress caused by the disparity in the self-movements "seen" by the user's eyes and the self-movements "felt" by the body. The solution is to keep the body motion in real space relatively consistent with the body motion in virtual space, especially turning and traveling, such as a universal treadmill. When the VR glasses are used alone, the VR glasses cannot be used at all;

defect and deficiency of VR cabin mode solution

VR cabin mode is a setting for "cockpit", "cockpit" to limit the displacement of the user relative to the perimeter (product embodied as VR cockpit or VR seat/egg chair), the body does not move in real and virtual space, instead the movement of the vehicle on which the body rides, and allows the upper limbs to make more precise movements to operate virtual vehicles and objects, such as piloting planes, cars, etc. (other vehicles operate more or less). Compared with the single use of VR glasses, the VR cabin is safer, and operation games and applications can be well simulated. But its drawbacks and deficiencies are also evident:

1) the substitution of the VR world is weak. The setting of the VR cabin, essentially, operates on "objects" in the virtual space rather than "i", more like a mode in which humans manipulate computers and their mapped virtual vehicles in reality (the reference application in reality is a widely used remote drone), rather than "mapping" and "presence" of humans in the virtual space themselves. This leads to a fundamental weakening of the sense of substitution of the VR world and makes games and applications with "human body" (including humanoid machines) as the mapping object difficult to implement and express;

2) gaming and application types are limited. The VR cabin is suitable for operation games and applications and cannot be used as a basic and steady VR human-computer interaction solution, namely, a human needs a VR world which can freely walk as the real world;

3) there is still the possibility of inducing VR motion sickness, the principle of which is similar to car sickness.

(III) the defects and shortcomings of the sliding reset universal treadmill

The running principle of the sliding reset universal running machine (taking the omni universal running machine as a starting and representative) is that a user moves on a concave (bowl-shaped/pot-shaped) slideway type running platform, and walking and steering operation signals are obtained through gait and posture sensors, so that the walking and steering of the user in a virtual space are realized to be relatively consistent with the real movement operation. The result of each (forward and backward) step of the user on the running platform is that the user slides back to the starting point under the combined action of gravity, the sole pulley/sliding surface, the concave slideway and the body positioning device, thereby realizing the return circulation in the real space and the infinite walking in the virtual space. Meanwhile, in order to keep the user from falling down on the concave slideway, a body gravity center keeping device is additionally arranged and is usually realized by a waist ring of a lower supporting structure or a lifting rope of an upper suspension structure. These structures achieve passive balance of the body, but hinder limb movement. The reset universal treadmill meets three core requirements of consistency of real movement and virtual vision (eliminating main causes of motion sickness), VR movement safety, virtual world infinite walking and the like to a certain extent, is an important milestone in VR human-computer interaction technology development history, and is also a main target and an improved object of the patent. But the universal treadmill that slides and reset still can be as entry level VR interactive equipment, then there is the defect that is difficult to overcome as VR world stationary interaction equipment:

1) the sliding reduction walking mode does not conform to the habit and physiology of walking and running of human beings: human beings have evolved over ten million years to form the physiological motion law of two-foot upright walking, including preceding sole touchdown, back sole are pedaled and motion modes such as focus is changed alternately to both feet, and the degree that human beings walk and run can not reach no matter how the motion mode of walking or running is designed and simulated to slide and reset to remind the user to move in "abnormal" mode constantly in the virtual world, lead to the fundamental defect of this kind of VR human-computer interaction mode. In addition, the surface of the sliding track type running board is a concave surface, which is completely different from the feeling of the flat ground that the feet of the human body stand upright and walk is used to.

2) The action of relying on the sole to exert force is severely limited: since the surface in contact with the sole of the foot is always in a sliding state, the friction force of the sole of the foot with the ground is lacked, and the whole surface is a concave surface, which results in that the action of relying on the sole to exert force is severely limited.

3) Lack of natural sense of balance: under normal conditions, vision is the most important balance information feedback channel of a human body, after VR glasses are worn, the visual connection between the human body and a physical space is cut off, and at the moment, the touch of the sole and the ground becomes the only most important information feedback for controlling balance. The ground which is always in a sliding state and in a concave surface shape and the sole which is provided with the hard roller cannot provide correct information for the human body to be in contact with the ground, namely, three main ground contact force points are provided for the sole of the human body, and a triangular support mechanical model is formed by the heel, the big heel and the small heel and the ground. The sole with the rigid rollers breaks this mechanical model of the triangular support, resulting in a lack of natural balance. And the balance of external force is carried out by means of tools such as waist rings, skipping ropes and the like, so that the balance feeling obtained by the contact of the sole of the human body and the ground cannot be replaced, and the trend that the balance feeling is obtained again by practicing after the human body uses VR glasses is further worsened (similar to the closed-eye single-foot balance training).

4) The limb motion amplitude is very limited: the lower limbs can not make great range and strength actions including but not limited to running, jumping, squatting, sitting, creeping and the like due to lack of sole friction force, uneven ground, raised edges on the periphery of the concave slideway and the like; then, the upper limb can not do the action of great foot strength due to the difficulty of exerting force on the lower limb, the obstruction of the waist ring and the lifting rope, and the like.

(IV) the defects and shortcomings of the prior active reset universal treadmill

1) Slow reaction: because signal acquisition and program operation are required to be carried out on a plurality of gaits (more than two steps), and then the movement speed of the running belt in the corresponding direction and position can be given, great delay is caused in birth.

2) The mechanism is complicated: it is required to use a large number of small-sized reset means (e.g., a roller, or a running belt) having an active driving function, thereby making it difficult to implement in terms of reliability, practicality, and economy.

3) The motion is limited: at present, the human-computer interaction function of walking by walking can be provided only in a test way, and high-frequency large-amplitude actions such as running and jumping cannot be performed.

4) Poor balance: the problem of dynamic synchronization always exists between the mechanical movement of the active reset universal treadmill and the movement of a human body, and any synchronization difference can cause the user to lose physical balance.

(V) the defects and shortcomings of the large-space VR solution are as follows:

1) the infinite continuous walking can not be realized: large space VR techniques and solutions provide, from a core principle, a virtual world activity space that is substantially equivalent to the physical space of a user in the real world. If an approximate infinite walking function is required to be obtained, setting similar to spatial jumping is required to be continuously used at the edge of a real physical space, and infinite walking of a continuous space like the real world cannot be achieved, so that the application scenes of a large-space VR technology and a solution are greatly limited.

2) The action is limited: the actions that a large-space VR user can make in the virtual world are basically consistent with the actions that the real world can make, namely ground activities under the safety limitation condition, so that various infinite feasibility of the world is limited.

3) The space is limited: in order to obtain a large enough virtual world space, large-space VR technologies and solutions always require a large enough real space as much as possible, which leads to many real-world problems and is difficult to be used as a popular VR human-computer interaction solution. The limited number of users accommodated in the same real space makes the VR human-computer interaction technology and solution to the problem of low level of product or service level.

4) Potential safety hazard: because a plurality of users move and operate in the same real space, no matter what kind of safety measures are taken technically, the conflict and collision between human bodies cannot be avoided, and particularly, the human body trampling accident which endangers the life safety can happen. Therefore, the expansion of the total solution space is further limited, the number of users accommodated in the same space is limited in order to solve the problem that the space is limited, the allowed action types, force and amplitude are preferred, and the future development prospect of the VR human-computer interaction technology and the solution is limited on the whole.

(VI) summary of needs and problems:

1) the problem that needs to be solved in the ideal VR human-computer interaction solution is how to achieve the consistency of the human body plane motion between the real world and the virtual world, and specifically, the experience of walking (running) and turning the human body on the plane is infinitely similar in the real world and the virtual world. Thus, not only can a virtual world substitution feeling be provided, but also the causative factor of VR motion sickness can be eliminated physiologically. Meanwhile, a continuous reset function of human body plane motion is required to realize omnidirectional and continuous infinite walking in the virtual world;

2) the second problem to be solved is the greatest realizability of human body longitudinal motion (motion in the vertical direction) in real and virtual, two worlds. Meanwhile, the reset function matched with the longitudinal motion of the human body is needed to be realized. Specifically, whether longitudinal movements such as standing, jumping, running (which can be understood as a combination of linear and continuous jumping movements), squatting, half-kneeling, sitting, and creeping can be performed, whether the magnitude of movement of the center of gravity of the human body in the vertical direction is allowed to meet the movement requirements, whether the movements are coherent and natural, and whether the center of gravity of the human body does not lose balance due to unknown real world objects during the longitudinal movement. An important need is particularly addressed here in relation to "maximum realisability of human longitudinal movement in both worlds" -if the problem of natural and continuous transition of the human body from upright to sitting position can be solved, the upright movement can be perfectly integrated with sitting operation in the same game or application, completely solving the problem of the large limitations of VR cabin mode applications. In addition, the body postures in two important vertical directions of suspension and falling are provided, the former can simulate the experience of flying and swimming in a virtual world, and the latter (falling experience) is a gold separation point between real and virtual;

3) a third problem and need to be solved is how to maximize the amplitude, range, force and frequency limitations of the released limb movement. The main reasons for the limitation of limb movement are: safety factors (such as independent use of VR glasses and safety issues of large space VR are prominent), blocking factors (such as the balance waist ring and upright post of omni-directional treadmill block free movement of upper limbs), mechanical factors (such as the movement mode of the sliding reset universal treadmill, uneven ground, lack of friction force, the rigid roller coordination deprives the natural balance feeling of the sole of the foot and other mechanical factors, so that the lower limbs and the waist core area are difficult to exert force to influence the movement of the upper limbs and the whole body), and principle defects (such as the existing core principle of the active reset universal treadmill is that firstly, human body walking movement information of a period of time or distance is collected, and then a mechanism for calculating and controlling the corresponding position is reset, or only actions with small frequency amplitude such as walking can be allowed due to time lag, or the economy and the environment adaptability are poor due to the fact that one space is large). Thus, the requirement can be described as: how to maximally release the limitation of the amplitude, range, force and frequency of limb movement, and simultaneously ensure the safety of human body, minimum blocking, maximum force application, quick response and minimum space.

4) Fourth is a long-term significant need: how to maximize the comfort of human movement in VR human-computer interaction? How to reduce sports fatigue and prolong the sustained use time of VR games and applications is a key appeal;

5) the fifth is compatibility and extensibility requirements: there is a need to maximize compatibility with various types and brands of VR hardware and software. And has sustainable extension quality in both software and hardware directions;

6) the above requirements and problems are related to the upper limit achievable by an ideal VR human-computer interaction solution, and some important lower limit problems are solved:

A. the comprehensive safety is high. This is the least rigid requirement for project realizability;

B. the occupied space of the field is small. Key requirements for the performance index of the relation commercial operation terrace;

C. the operation and maintenance reliability is good. The comprehensive operation and maintenance cost is related;

D. the production and manufacturing cost is low. Relating to the initial purchase cost of the equipment. Therefore, a VR human-computer interaction all-purpose exercise and universal treadmill is provided.

SUMMERY OF THE UTILITY MODEL

The utility model discloses a main aim at provides a VR human-computer interaction omnipotent motion and universal treadmill, can effectively solve the problem in the background art.

In order to achieve the above purpose, the utility model adopts the following technical scheme:

a VR human-computer interaction all-purpose exercise and universal treadmill comprises a base, wherein an arc guide rail and a circular follow-up protective net are arranged on the inner side of the base, the circular follow-up protective net is positioned on the outer side of the arc guide rail, a guide rail slide block is slidably mounted at the upper end of the arc guide rail, a bearing turntable is fixedly mounted at the upper end of the guide rail slide block, a rotary driving mechanism and a conductive slip ring are arranged on the lower end surface of the bearing turntable, the conductive slip ring is positioned at the central point of the bearing turntable, a gait self-adaptive treadmill, a lifting upright post, an embedded control cabin, a multipurpose auxiliary support mounting base and a touch screen are integrated on the upper end surface of the bearing turntable, the gait self-adaptive treadmill is positioned at the central end of the bearing turntable, the lifting upright post comprises an upright post base, an upright, the human body movement positioning cantilever is installed on one side of the liftable cantilever base through a screw and comprises a four-connecting-rod cantilever structure and an adjustable pressure air spring, the adjustable pressure air spring is located below the four-connecting-rod cantilever structure, one end of the four-connecting-rod cantilever structure and one end of the adjustable pressure air spring are provided with a cantilever end revolving shaft hinge, the lower end of the cantilever end revolving shaft hinge is embedded with a revolving shaft pressure sensor, one side of the cantilever end revolving shaft hinge is provided with a rotary reset air spring, the rotary reset air spring is fixedly connected with the four-connecting-rod cantilever structure, the outer wall surface of the cantilever end revolving shaft hinge is provided with a rotary limiter and a revolving shaft, the upper end of the cantilever end revolving shaft hinge is provided with a pitching control adjustable air spring, one end of the pitching control adjustable air spring is provided with, the swaddle nail protector is characterized in that a waistband end rotating shaft hinge is arranged at one end of the cantilever end rotating shaft hinge, a pitching shaft is arranged on the surface of the waistband end rotating shaft hinge, a rigid waistband is arranged at one end of the waistband end rotating shaft hinge, a reference human body is arranged inside the swaddle nail protector, and VR glasses are sleeved on the reference human body.

Further, the design concept, steps and related technical solutions are described as follows:

s1: firstly, setting the motion relation of the gravity center of a human body in a three-dimensional space as follows:

i. setting a human body motion three-dimensional coordinate system (x, y, z), wherein the projection of the gravity center of the human body on a horizontal plane (x, y) is a coordinate origin, the front and back direction of the human body is an x axis, the left and right direction of the human body is a y axis, and the vertical direction of the human body is a z axis;

ii, the displacement of the gravity center of the human body on the x axis and the y axis is always zero, so that the requirement of continuous restoration of the planar motion of the human body is met;

the gravity center of the human body can be displaced in two directions along the z axis, so that the requirement of the longitudinal motion of the human body is met;

the gravity center of the human body can rotate 360 degrees around the z axis, so that the steering requirement of the human body is met;

v, the gravity center of the human body can rotate in a limited range around the y axis, the forward 90 degrees meet the requirement that the human body moves from vertical to horizontal, and the backward 30 degrees meet the requirement that the human body moves from vertical to backward;

s2: then design a mechanical device and realize the motion relation of foretell human focus in three-dimensional space, in the utility model discloses an, this mechanical device is named "human motion location cantilever", and its functional characteristics is:

i. one end of the human body movement positioning cantilever is connected with a human body through a rigid waist support, and a connecting point is positioned in the middle of the back waist and is close to the gravity center of the human body, so that the control moment of the cantilever on the center of the human body is reduced as much as possible;

the other end of the human motion positioning cantilever is arranged on a fixed upright post;

the cantilever is a rigid machine, so that no matter how the human body moves, the gravity center of the human body can be constrained at the origin of coordinates on a horizontal plane by the human body movement positioning cantilever, and the function of continuous restoration of the human body plane movement is naturally realized;

the mechanical structure of the human motion positioning cantilever is a vertically swinging four-bar structure, and the human gravity center is allowed to move up and down along the z axis. (Note: the displacement trajectory is not a strict vertical straight line, but the human body feels vertical movement after wearing VR glasses, meanwhile, the four-bar linkage structure can ensure that the body is always vertical to the ground when the center of gravity of the human body moves up and down). On earth, human motion restoration in the z-axis is guaranteed by gravity. In the space capsule, the human body movement reset on the z axis is ensured by the pressure applied to the shoulders of the human body by the downward cantilever;

v, the cantilever and the rigid waist support are connected through a rotating shaft and a pitching shaft, so that the requirements that the center of gravity of a human body rotates 360 degrees around a z axis and rotates in a limited range around a y axis are met;

s3: one point is to be made clear before the next design is done: the displacement of the gravity center of the human body and the movement of the human body are relatively independent; the displacement of the center of gravity of the human body is strictly agreed by the setting and the design; the movement of the human body is liberated to the maximum extent; the design principle and thought are explained continuously below;

s4: because the human motion positioning cantilever restrains the real displacement of the gravity center of the human body on the horizontal plane, another set of device is needed to be designed to endow the human body with the real motion and the relative displacement on the horizontal plane. In the utility model, the device is a combination of a rotary running platform and a gait adaptive treadmill. The functional characteristics are as follows:

i. the human body pedals the running belt through the lower limbs (walking and running motion) or elbow joints (crawling and creeping motion) to realize the real motion and relative displacement in the x axis (front and back direction);

ii, a thin film type pressure sensor matrix is laid below the running belt of the running machine and above the pedal, so that the gait of the human body can be detected, and a driving motor of the running machine is controlled to drive the running belt to run according to the direction and the speed which are adaptive to the motion of the human body, so that the purposes of reducing the consumption of the motion of the human body and reducing the damage of the motion of the human body are achieved, and the running machine is called as a gait adaptive running machine;

the rotary running table is driven by a motor, and the human body is driven to rotate around the origin of coordinates, namely the rotary center of the running table, through an upright column and a cantilever which are fixedly arranged on the running table (meanwhile, the running machine is also driven to rotate together), so that the real steering of the human body in 360 degrees on the horizontal plane is obtained;

the principle that the running platform rotates along with the steering of the human body during advancing is to monitor the gait of the human body through a thin film type pressure sensor matrix to obtain a steering signal during advancing. The turning following the in-situ of the human body is to obtain a turning signal through a rotating shaft angle sensor so as to control the rotary running platform to turn following the in-situ of the human body. (note here: when steering in place, the rotation return air spring or hydraulic cylinder between the rear of the two sides of the rigid belt and the cantilever end of the hinge of the rotating shaft is needed to provide rotation return control);

s5: through the design, the main human body motion relation in the VR human-computer interaction solution is realized:

i. the real motion, the relative displacement and the in-situ reset of the human body in the front-back direction of the real world are realized, and the continuous infinite walking in the front-back direction of the virtual world is realized;

realizing 360-degree omnidirectional motion of the human body in the real world and the virtual world;

longitudinal movement of the human body in most parts of the real world and corresponding longitudinal movement in the virtual world are realized, and movement in various vertical directions can be simulated.

Achieving the body pitching action (upright, forward leaning, backward leaning, horizontal creeping) of the human body in the real world and the mapped pitching action and the related action which can be simulated in the virtual world;

s6: on the basis of realizing the main human motion relation in the VR human-computer interaction solution, experience improvement design and defect compensation design are carried out. Mainly comprises the following steps:

i. the device is named as swaddling armour and is used for dispersing the concentrated stress or impact load of a connecting point of the mechanical device and the human body to the parts (mainly buttocks, legs, shoulders and back, and secondly hips, spans and armpits) suitable for stress on the human body, and simultaneously playing roles of protecting the trunk and releasing the four limbs to move;

ii, on the basis of the original positioning and buffering functions of the human motion positioning cantilever and the adjustable air spring/hydraulic cylinder, the working pressure is adjusted, the gait weight reduction function is increased, and the weight born by the lower limbs of a user is distributed on the cantilever, so that the motion fatigue is reduced, and the service life is prolonged;

comprehensively using each execution system to simulate various force feedback effects, which is very important in VR games;

iv, by utilizing the thin film type pressure sensor matrix, a 'side moving pace (such as T-shaped pace)' is designed to realize the side moving motion of the human body in the virtual world (such as the side sliding pace of basketball motion and the side body movement of a single-log bridge), so as to compensate the defect that the human body does not have the real side moving motion in the utility model;

v. utilize the utility model discloses well human focus is by accurate positioning and constraint's prerequisite in real motion, can arrange a plurality of external equipment on rotation running platform and base, for example aerify sand bag, handrail, drive the simulator, take advantage of device, matrix fan, smell generator, VR stage property frame etc. to obtain extra function and better experience

S7: the last ring of basic design work is to develop VR human-computer interaction universal exercise and universal treadmill algorithm and software system, and integrate into computer system.

Compared with the prior art, the utility model discloses following beneficial effect has:

1. the utility model discloses core indexes such as the kind of the human motion of VR, dynamics, range, frequency cover and surpass all known like products:

i. continuous infinite walking: walking, heel-and-toe walking, striding, running [ covering and surpassing all known like products ];

ii.360 degree omni-directional motion: go turn, pivot turn, fly turn [ cover and go beyond all known like products ];

various longitudinal movements: standing, sprinting, jumping, reaching high, squatting, half kneeling, sitting [ covering and surpassing all known like products ];

body pitch motion: anteverted, supinated, creeping [ surpass all known like products ];

v. the range of motion of the upper limbs and the lower limbs is greatly and completely released: the human motion positioning cantilever is positioned backwards of the caudal vertebra, and various motions of the upper limb and the lower limb are difficult to be blocked by the cantilever unless the human motion positioning cantilever is touched specially; the feet are flat and flat with four wide sides, and any movement of the lower limbs, including the difficult legs of the swabbing chamber, cannot be blocked (surpassing all the known like products);

ability to do various strenuous exercises: the user wears the shoes on the feet, the running belt with high friction coefficient is arranged under the soles, the bearing pedal which is just like flat and solid ground is arranged under the running belt, the center of gravity of the waist is safely and reliably bound by the human body movement positioning cantilever, so that the body part from the feet to the waist and the crotch can be completely and fully exerted, and the upper body and the upper limbs are driven to make various actions with sufficient strength, such as positive kicking, high whip legs, striding punching, continuous punching, javelin throwing, swinging, stabbing guns and the like (surpassing all the known like products);

weight-reducing gait-like movements can be achieved: the load of the lower limbs is reduced by the human motion positioning cantilever, the motion function under special environment can be realized, for example, the walking effect under low gravity environment (moon, asteroid and space microgravity cabin) can be realized, and the underwater motion effect can be simulated by combining the anti-resistance motion of the treadmill

various aerial actions: the combination of understand suspension and pitching control can simulate various suspension actions, such as suspension, parachuting, wing-mounted flight, bird-man flight, falling, swimming, suspension and flying [ transverse cross-border ];

ix, various driving and riding actions: various driving and riding actions can be simulated through sitting postures and driving devices, such as piloting airplanes, ships, airships, tanks and automobiles, riding motorcycles, horses, flying dragon and the like [ transverse cross-border ].

2. The utility model discloses a natural combination of various actions of VR human motion and gesture [ the design of comprehensive innovation ]:

i. various action combinations: after-run long jump, after-run high jump, hurdle, after-run javelin, after-run leg-fly, jump basket, jump top ball, horse-riding swing knife, etc

Various pose combinations: the natural transition from the standing posture to the sitting posture (which is an extremely useful function, namely the integration of two completely different equipment functions of a VR universal treadmill and a VR cabin together, the perfect integration of the upright movement and the sitting posture operation in the same game or application, and the thorough solution of the problem of the limited application of the VR cabin mode), the transition from the standing posture to the creeping posture, the jump from the standing posture to the air following posture to be converted into the flight posture, the jump from the flight posture to the parachuting posture, and the like.

3. The utility model discloses a one set of unique force feedback and resistance motion function [ design of comprehensive innovation ]:

i. the game is decomposed by external force: whole body, local part, front, back, upper body, lower body, left side, right side, vertex and sole; the cantilever landing can be simulated: whole body vibration, force feedback of the top of the head and the sole; the boom pitch can be modeled as: the upper body is stressed to bend backwards, and the lower body is stressed to bend forwards; the running platform can be simulated in rotation: the left side is stressed to rotate left, and the right side is stressed to rotate right; the treadmill can simulate: the upper body rolls forwards under the stress, and the lower body rolls backwards under the stress; various force feedback effects can be simulated by three force feedback actuating mechanisms (a cantilever, a rotary table and a treadmill) independently or in a combined mode.

The treadmill can simulate walking resistance exercises such as snow walking, wading walking, moderate jogging, etc.; the cantilever pressure can simulate weight lifting type anti-resistance movement, such as weight lifting, weight bearing, and Mount Taishan roof pressing; the two sides, the front and the upper part of the body can be additionally provided with the chest developer, and the anti-resistance movement of rowing, dragging, pulling upwards, rock climbing and the like can be simulated.

4. The utility model discloses the travelling comfort design has been carried out deeply, perfectly [ cover and surpass known all like products ]:

i. the utility model realizes the high consistency of the human body plane motion (advancing and steering) in the real world and the virtual world, and greatly eliminates the inducing factors of VR motion sickness from the physiological source;

ii, the utility model takes the human motion positioning cantilever as the main actuating mechanism, fully utilizes the scientific and technological achievements and practical experience in the gait weight-reducing rehabilitation training field, greatly and radically reduces the motion load of the user in the game, thereby improving the motion comfort and the game duration of the VR game revolutionarily;

it should be noted that, the gait weight reduction system function of the invention is a very friendly and body-fitting design for the people who lack sports, the obese people and the sports rehabilitation patients to gradually transit from low load to high-intensity game and training;

the utility model can make full use of various scientific and technological achievements and practical experiences of the intelligent treadmill for body building, and reduce the fatigue of walking and running exercise, namely the exercise type with the most time ratio;

v. the utility model allows the user to exercise with the most suitable gait, frequency, stride and amplitude;

vi. the utility model discloses let the user possess good feel: when wearing the shoes, the running belt with high friction coefficient is arranged under the sole, the bearing pedal which is just like a flat and solid ground is arranged under the running belt, and all the forceful supporting points on the soles can be properly stepped on the flat ground;

the swaddle armour is additionally arranged for connecting the human body and the machine, so that the concentrated stress and the impact load from the machine can be dispersed to the part of the body suitable for stress, the body is buffered and protected, and the limbs and the head are allowed to obtain the maximum freedom of movement;

the utility model can arrange a helmet support bracket on the shell of the swaddle armour to share the weight of head-wearing devices such as VR glasses/helmet/high-fidelity earphones;

the utility model realizes labor-saving operation modes such as automatic running through an algorithm;

x. the utility model discloses a switch over from running gesture to riding to take advantage of or the flight gesture saves player's physical power.

5. The utility model discloses very high safety in utilization has:

i. because the gravity center of the human body is accurately and strictly restricted at the original point position (which is the biggest difference from the prior various active reset universal running machines), the problem of losing the gravity center can never occur, and the safety of the human body movement is fundamentally ensured;

due to the design of the gravity center position and the blocking minimization, unexpected objects are difficult to be touched by limb movement, so that limb collision injury is prevented;

the human body movement of the device of the utility model can be completely the same as the movement posture and the movement mode of the user, and the ground contacted by the sole is smooth and firm, thereby reducing the possible movement damage;

the combination of heavy design and various motion gestures is subtracted to the gait, has effectively reduced long-term motion damage, especially can use through a long time in the common knee wearing and tearing problem of running body-building the utility model discloses obtain greatly alleviating.

6. The utility model discloses have good scalability:

i. the device of the utility model adopts a modular design, except that the rotary running platform is basically unchanged, other assemblies and subsystems, including a treadmill, a stand column, a cantilever, a swaddle armour, a sensor system, a computer system, a communication system and the like, can be replaced and upgraded;

various peripheral systems such as a multipurpose bracket, an inflatable sandbag, a VR cockpit simulator, a VR entity prop frame, a VR human-computer interaction fan matrix and a VR human-computer interaction smell generator can be added;

can be extended to a variety of application domains by different hardware and software.

7. The device occupies an area of little lawn and is high in efficiency: the floor area is only 2 x 2-4 square meters, and the height is about 2.5 meters.

8. The utility model discloses will bring very positive energy's social meaning: the 'playing with the body' is an important reason for the utility model to recognize the reality of the sea. The utility model discloses the nature has the gene with body-building motion and VR recreation high fusion, provides the crowd who loves to play the game and do not love the motion a fundamental improvement health and life quality's two ways of making the best of others. Thereby solving a large group of hidden troubles for the society.

Drawings

Fig. 1 is the overall structure schematic diagram of the VR human-computer interaction all-purpose exercise and universal treadmill of the present invention.

Fig. 2 is the utility model discloses the top view of VR human-computer interaction omnipotent motion and universal treadmill.

Fig. 3 is the internal structure schematic diagram of the VR human-computer interaction all-purpose exercise and universal treadmill of the present invention.

Fig. 4 is the utility model discloses the lift stand structure sketch map of VR human-computer interaction omnipotent motion and universal treadmill.

Fig. 5 is the schematic view of the structure of the VR human-computer interaction full-function exercise and universal treadmill according to the present invention.

In the figure: 1. a base; 2. a rotation driving mechanism; 3. a circular arc guide rail; 4. a load-bearing turntable; 5. a gait-adaptive treadmill; 6. a rigid waist band; 7. a reference human body; 8. VR glasses; 9. protecting the nail in swaddle; 10. a human body movement positioning cantilever; 11. lifting the upright post; 12. a liftable cantilever base; 13. a column guide rail; 14. a column base; 15. a conductive slip ring; 16. an embedded control cabin; 17. a multipurpose auxiliary support mounting base; 18. the touch screen all-in-one machine; 19. a guide rail slider; 20. a circular follow-up protective net; 21. a rotary reset air spring; 22. a four-bar cantilever structure; 23. an adjustable pressure air spring; 24. a rigid backrest; 25. a rotation limiter; 26. a belt end rotating shaft hinge; 27. a pitch axis; 28. a rotating shaft; 29. a revolving shaft pressure sensor; 30. a cantilever end rotating shaft hinge; 31. the pitching control adjustable air spring.

Detailed Description

In order to make the technical means, creation features, achievement purposes and functions of the present invention easy to understand, the present invention is further described below with reference to the following embodiments.

Examples

As shown in figures 1-5, a VR human-computer interaction all-purpose sport and universal treadmill

Rotary running table

1. The rotary running table mainly comprises: the device comprises an arc guide rail, a guide rail sliding block, a multipurpose conductive slip ring, a rotary motor, a rotary driving mechanism and a bearing rotary table.

2. The connection relation of the rotary running tables is as follows: the arc guide rail is located on the ground (or on the deck of a ship, a vehicle or an airship); a plurality of guide rail sliding blocks (comprising rollers and limiters) are uniformly distributed on the guide rail and form a sliding motion relation with the guide rail; the guide rail sliding block is fixedly connected with the bearing turntable through the buffer device; an upper stage and an additional mechanism (comprising a gait adaptive treadmill, a lifting upright post, a human motion positioning cantilever, a multi-purpose bracket, a follow-up protective net and the like) are arranged on the upper surface of the bearing turntable; the rotary motor and a rotary driving mechanism (gear transmission or belt transmission) drive the bearing turntable to do 360-degree circular motion in a horizontal plane relative to the arc guide rail; and a multipurpose conductive slip ring is arranged on a central line between the arc guide rail and the bearing turntable and provides supply and connection of electric power, hydraulic pressure, air pressure, a data line and a video line for the upper stage of the rotary running table.

3. Basic functions of the rotary running table are as follows: according to the command of a control system, the bearing turntable and the upper stage thereof are driven to rotate according to the designated time, direction and speed; a stable and reliable basic platform is provided for the upper-level mechanism and the human body to move; the impact load of the upper-level mechanism and the human body is borne and evenly distributed on the arc guide rail and the ground; providing installation interfaces for equipment facilities such as a computer system, a power supply control box, a touch screen integrated machine, a VR prop bracket, an integrated machine protective outer cover, a movable bracket/roller, a personal article storage bin and the like;

second gait self-adaptive treadmill

1. The gait adaptive treadmill mainly comprises: driving motor, drive mechanism, treadmill support, footboard, running belt, film formula pressure sensor matrix.

2. Connection relation of the gait adaptive treadmill: the treadmill bracket is fixedly arranged on a bearing turntable of the rotary running platform through a buffer device; the driving motor, the transmission mechanism and the pedal are arranged on the treadmill bracket; a driving wheel and a driven wheel of the transmission mechanism are provided with a running belt in a normal direction, and the running belt is tightened through a driven wheel tension device; a thin film type pressure sensor matrix is arranged on the pedal and distributed on the upper surface of the whole pedal in a density of less than or equal to 7 multiplied by 7mm of the unit area of each dot matrix; a low friction coefficient sliding film is laid on the upper surface of the pressure sensor matrix and the lower surface (inner surface) of the running belt so as to reduce the friction force of the running belt;

3. basic functions of the gait adaptive treadmill are as follows: according to the instruction of the control system, the running belt is driven to do linear motion relative to the (fixed) pedal according to the appointed time, direction and speed, so that the comprehensive energy consumption of the human body during running is reduced; the running belt passively moves forwards or backwards in a straight line under the driving of the force of the front and back leg pedaling of the lower limbs or the creeping motion of the upper limbs of the human body, so that a human body motion starting signal is sent to the control system through the pressure sensor matrix; the pressure sensor matrix collects the pressure (including the information of the human body part applying the pressure, the pressure magnitude, the start and stop time of the pressure point, the motion track of the pressure point and the like) applied to the pedal by the human body motion in real time, wherein the human body part capable of applying the pressure comprises a sole (which can be subdivided into a heel, a big toe root, a small toe heel, a sole lateral margin and other different pressure points), a knee joint, a palm, an elbow joint and the like; the matrix signal of the pressure sensor is transmitted to a control system, and after the operation according to a set algorithm and a set program, the feedback control treadmill automatically adapts to the gait of a user and simultaneously controls the gait and the action of a user mapping role in the virtual world; obtaining a user step steering action signal through a pressure sensor matrix, controlling the rotary running platform to rotate through a control system, and following and matching the advancing direction of the user;

(III) positioning cantilever for human body movement

1. The human motion positioning cantilever mainly comprises: the device comprises a lifting upright post, a lifting cantilever base and lifting driving motor, a four-bar cantilever, a cantilever pressure-adjustable air spring or hydraulic cylinder, a revolving shaft hinge (a belt end and a cantilever end), a revolving shaft pressure sensor, a revolving shaft angle sensor, a revolving reset air spring or hydraulic cylinder, a rigid belt, a rigid backrest, a pitching shaft angle sensor, a pitching control adjustable air spring or hydraulic cylinder and the like.

2. The connection relation of the human motion positioning cantilever is as follows: the lifting upright post is fixedly arranged on a bearing turntable of the rotary running platform; the lifting cantilever base is arranged on the lifting upright post, can move up and down along the lifting upright post through a lifting driving motor, and can be temporarily fixed at a designated position of the lifting upright post through a mechanical locking device; the four-bar cantilever is arranged on the cantilever foundation through a rotating shaft and can swing up and down around the rotating shaft; the four-bar cantilever is buffered and moved by an adjustable pressure air spring or a hydraulic cylinder arranged between the cantilever and the base; the other end of the four-connecting-rod cantilever is structurally a hinge (cantilever end) of a rotating shaft, and a shaft hole, a shaft sleeve and a normal bearing of the rotating shaft are arranged on the hinge; the rotating shaft is arranged in the shaft hole, and the lower end of the shaft hole is provided with a radial bearing and a radial pressure sensor; the other end of the rotating shaft is fixedly connected with a hinge waistband end of the rotating shaft, and a pitching shaft, a shaft hole shaft sleeve and a bearing are arranged on the hinge waistband end of the rotating shaft and are connected with the rigid waistband through the pitching shaft; the central position of the rear end of the rigid waistband is upwards fixedly provided with a rigid backrest; the rigid waistband and the rigid backrest can rotate around the rotating shaft at a certain angle; a rotary reset air spring or hydraulic cylinder is horizontally arranged between the rear parts of the two sides of the rigid waistband and the cantilever end of the hinge of the rotary shaft and is used for rotary buffering and rotary reset control; a pitching control adjustable air spring or hydraulic cylinder is vertically arranged between the upper end of the rigid waistband and the top of the hinge waistband end of the rotating shaft and is used for pitching buffering and control; the rigid waistband and the rigid backrest are used for connecting and fixing the swaddling armour.

3. Basic functions of the human body movement positioning cantilever: the main function is to position and restrain the center of gravity of the human body, so that the center of gravity of the human body is always kept at the original point position on the horizontal plane when the human body moves (considering that the center of gravity of the human body is in accordance with and matched with the physiological characteristics of the human body and the center of gravity of the human body is allowed to do swinging and vibrating movement at the original point position through various buffer devices), thereby providing the core basic functions of forward and backward movement and left and right steering of the human body, and obtaining the original-place reset function of horizontal movement through a treadmill and a rotary; the second function is that the horizontal position of the gravity center of the human body is restrained at the original point, and simultaneously, the gravity center of the human body is allowed to obtain a certain range of motion in the vertical direction, so that the possibility of various longitudinal motions of the human body is provided (including the actions of up-and-down swing, jumping, squatting, half kneeling, creeping and the like of the gravity center of the human body during walking and running, the actions of suspending, flying, suspending or swimming and the like of two feet of the human body are realized through the locking of the high point position), and the four-bar parallel shaft longitudinal motion in-situ reset function is realized through the gravity or the positive pressure of a cantilever (used in a weightless use environment), and the four-bar cantilever pressure-adjustable air spring or the hydraulic; the third function is to allow the human body to rotate around the revolving shaft within the angle range of 270 degrees, the revolving shaft angle sensor outputs a turning signal to the control system, and the revolving reset air spring or the hydraulic cylinder provides buffering and revolving reset functions; the fourth function is to allow the human body to rotate around a pitch axis within an angle range of 120 degrees (the maximum forward inclination angle is 45 degrees and the backward inclination angle is 15 degrees under the normal condition, the pitch angle is widened under the condition of three-point landing of the semi-kneeling posture to the forward inclination angle of 90 degrees, so that a user can complete the creeping action), a pitch signal is output by a pitch axis angle sensor control system, and an adjustable air spring or a hydraulic cylinder is controlled through the pitch to provide buffering and pitch resetting functions; the fifth function is weight reduction of gait, the cantilever can bear the weight of the human body from 0 to 100 percent, the weight of the human body when the lower limbs walk or run is reduced (generally, the weight of the human body is not more than 40 percent), the fatigue of the user for carrying out VR games or operations for a long time is fundamentally relieved, and the VR application range is greatly expanded;

nail protector with swaddle

1. The nail protector in swaddle mainly comprises: the self-adaptive shoulder pad comprises a swaddle nail guard shell, a swaddle nail guard inner container, a self-adaptive buffer air bag array interlayer, an air pressure regulating valve, an internal regulating device, an external connecting device and a leg sling.

2. Connection relationship of swaddle armour: the swaddle armour covers the trunk of the human body, and reaches the shoulders, and then the waist, the hip and the crotch are covered; the swaddle armour adapts to the sizes of all parts of a human body through an internal adjusting device, and the key points comprise a waistline, a chest circumference and a hip circumference; the swaddle armour inner container wraps the trunk of a human body and is made of flexible materials with high friction coefficients; the swaddle nail-protecting shell is made of rigid material and is used for connecting mechanical equipment and a device through an external connecting device (in the utility model, the swaddle nail-protecting shell is connected with a rigid waistband and a rigid backrest of a human body movement positioning cantilever); an adaptive buffering air bag array interlayer is arranged between the swaddle nail protecting shell and the swaddle nail protecting liner, an air bag array consists of a plurality of small air bags which are communicated with an air pressure regulating valve through air pressure pipes, each small air bag has an independent air pressure stroke, and the swaddle nail protecting liner can be tightly pressed and attached to a human body; the gaps between the air bags are used as heat dissipation channels of the human body; the waist of the nail protecting shell of the swaddle is made of semi-rigid material, so that the human body is allowed to bend and twist; the leg sling connects the thigh far end with the lower end of the swaddling armour;

3. basic functions of the nail protection in swaddling clothes: the swaddle nail-protecting shell is rigidly connected with a machine, the swaddle nail-protecting liner is flexibly connected with a human body, and the shell is connected with the liner through a self-adaptive buffer air bag array, so that a reliable and proper connector function is provided between the human body and the machine; after the airbag array is effectively inflated, the swaddle armor can distribute the concentrated stress or impact load of the part which is connected with the machine to the parts (mainly buttocks, legs, shoulders and backs, and secondly hips, strides and armpits) which are most suitable for stress of the trunk of a human body through the ingeniously designed airbag array; the air pressure regulating valve can discharge all the air in the air bag array interlayer, so that a user can conveniently wear and take off the swaddling armour; gaps among the swaddle nail-protecting shell, the swaddle nail-protecting liner and the air bag array can be used as air circulation and heat dissipation channels, and an unpowered ventilation fan can be mounted on the swaddle nail-protecting shell to accelerate the air circulation speed and improve the heat dissipation effect; when a user forms a sitting posture, the swaddling armour completely covering buttocks and the root of thighs can become a stool in a mechanical sense, and the combined effect of the swaddling armour and the rigid backrest is equivalent to that of a human body sitting on a chair with a backrest, so that a sitting posture playing function similar to a VR cabin is provided for the user, and a very important game labor-saving operation mode is provided. The functions of human body movement and operation in the virtual world are greatly expanded through natural switching of the standing posture and the sitting posture of the human body in the real world; in the flying mode, the swaddle armour and the human body movement positioning cantilever act together, so that a user can better and more laborsavingly maintain the body posture of the inclined state and the horizontal state;

(V) control system

1. The control system mainly comprises: the system comprises a computer system, a VR (virtual reality) man-machine interaction all-purpose exercise and universal treadmill algorithm and software system, a data system, a sensor system, a communication system and an execution system.

2. The control system structure relationship is as follows: the computer system is the basic operation platform of the control system and comprises a processor, a memory, an input and output device, a display, an operating system and the like; VR human-computer interaction all-round movement and universal treadmill algorithm and software system are installed in the computer system, it is the core system of the utility model, including human movement instruction set and human-computer interaction's core algorithm, and software program to control and operate the whole system function; the data system comprises human body movement data, equipment operation data, management operation and maintenance data, VR human-computer interaction and human body movement big data, user personal data such as personal gait data models and data related to registered accounts and the like; the sensors in the sensor system belonging to the basic configuration of the utility model comprise a pressure sensor matrix, a revolving shaft pressure sensor, a revolving shaft angle sensor, a pitching shaft angle sensor and the like of a gait adaptive treadmill; among the sensor system do not belong to the utility model discloses basic configuration, but with equipment and device are related to the sensor of using and are included micro-electromechanical gyroscope, acceleration sensor, spirit level, induction coil in VR glasses or the VR handle to and body sense camera, the infrared millimeter wave detector of laser, human monitoring bracelet, other wearable equipment's sensor and so on, and can relevant agreement and SDK dock in the middle of control system software and the algorithm. The sensor system is connected to the computer system through the communication system, and the acquired signal data is transmitted to the VR human-computer interaction all-purpose exercise and universal treadmill software system for processing; the communication system includes the common communication software and hardware of PC computer system, such as wired communication data line, Internet network cable, wireless WiFi, Bluetooth, wired and wireless video transmission, wired and wireless audio transmission, etc. and the related software. In addition, the communication layer of the sensor system and the execution system is constructed based on the transmission protocol of the internet of things and is combined into the communication system; the execution system comprises a rotary running platform driving motor controller, a gait self-adaptive running machine driving motor controller, a human body movement positioning cantilever base lifting motor controller, a human body movement positioning cantilever adjustable pressure air spring/hydraulic cylinder, a pitching shaft pitching control adjustable air spring/hydraulic cylinder, a rigid waistband rotary reset air spring/hydraulic cylinder, a swaddling armour air pressure regulating valve and the like, is connected to a computer system through a communication system and is controlled by the full authority of a VR human-computer interaction full-energy movement and universal running machine software system;

3. basic functions of the control system: receiving data signals from sensor system Weir application software, processing the data signals to generate control instructions to execute related operations, and mainly comprising the following steps of: the control rotary running platform rotates according to the appointed time, direction and angular speed, the control gait self-adapting running machine operates according to the appointed time, direction and linear speed, the control human body movement positioning cantilever base lifting operation, the control human body movement positioning cantilever adjustable pressure air spring/hydraulic cylinder stroke and pressure, the control pitch axis adjustable air spring/hydraulic cylinder stroke and pressure, the control rigid belt rotary reset air spring/hydraulic cylinder in buffer mode or reset operation, the control swaddle armour air pressure regulating valve according to the user's will inflate or deflate, the comprehensive use of the execution system according to the application/game program instruction simulates various force feedback effects and the like. The use effect generated by the basic function of the control system is specifically explained in the following section;

(VI) other association systems

Other related systems mainly include the VR glasses of various different models, VR handle and peripheral hardware, VR game console and belong to the utility model discloses the VR human-computer interaction omnipotent motion and universal treadmill peripheral hardware of deriving (like the multipurpose support, aerify sand bag, VR cockpit simulator, VR entity stage property frame, VR human-computer interaction fan matrix, VR human-computer interaction smell generator etc.).

It should be noted that the utility model is a VR human-computer interaction all-purpose exercise and universal treadmill, which comprises a base 1; 2, a rotation driving mechanism; 3, arc guide rails; 4, a load-bearing turntable; 5 gait adaptive treadmill; 6 a rigid waist band; 7 reference human body; 8VR glasses; 9, protecting the nail in swaddle; 10 positioning the cantilever by human body movement; 11 lifting the upright post; 12 a liftable cantilever base; 13 column guide rails; 14 column base; 15 conductive slip rings; 16 a buried control chamber; 17 a multipurpose auxiliary stand mounting base; 18, a touch screen all-in-one machine; 19 a rail slide; 20 round follow-up protective net; 21 a rotary reset air spring; 22 a four-bar linkage cantilever structure; 23 adjustable pressure air springs; a 24 rigid backrest; 25 a rotation limiter; 26 a hinge for a rotating shaft at the belt end; 27 a pitch axis; 28, rotating the shaft; 29 rotary shaft pressure sensor; 30 cantilever end rotating shaft hinges; the 31 pitch control adjustable air spring is a universal standard component or a component known to those skilled in the art, and the structure and principle of the air spring are known to those skilled in the art through technical manuals or through routine experiments.

Instructions for use:

human body movement positioning cantilever function and use instruction

1) Positioning: the gravity center of a human body is positioned on a rotation central line by adjusting the height of a cantilever base and through the force transmission relation of an upright post, a cantilever, a rotating shaft and a rigid waistband, so that the real feeling and the fit degree of a virtual world are greatly influenced;

2) and (3) constraint: good constraint on the body's centre of gravity gives greater freedom of movement of the limbs. In a popular way, no matter how strenuous the exercise is, the center of gravity cannot be lost;

3) bearing: the preset tension of the air spring-human body movement positioning cantilever can be adjusted to stop at will, and the rigid waistband and the swaddling armour can bear the weight of the human body from 0-100%;

4) buffering: the random stop air spring of the human motion positioning cantilever assembly has good nonlinear buffer performance and can provide effective protection in the violent motion of the human body;

5) human motion positioning cantilever foundation motion relation: rising, falling, bending down and bending up;

6) basic actions supportable by the human motion positioning cantilever: walking, running, jumping, squatting/half kneeling, sitting/riding, flying/swimming;

second step gait self-adapting treadmill function and use instruction

1) User using initial settings

Determining the origin of coordinates (the projection of the current user's center of gravity on the (x, y) plane);

setting a running platform area used by a current user based on the origin of coordinates: 1. right front; 2. left front; 3. left rear; 4. right back;

establishing a current user linear walking mode library through a teaching mode, wherein the library comprises a stride, left and right sole orientations and left and right gravity center shifts;

2) stride trigger running machine

The common user: completing one stride, whether left-right, forward or backward, and triggering the treadmill to operate in the direction and speed of the first stride;

professional users: whether left-right, forward or backward, the stride movement exceeds 1/2 soles, and the treadmill is triggered to move;

the competitive player: if the pressure sensor matrix point exceeds 1 (7 multiplied by 7mm), the treadmill is triggered to move;

3) stride trigger rotary running platform steering

The running platform is triggered to turn by a stride after the sole moves obliquely in the direction until the sole returns to the forward direction (the sole orientation is detected by a pressure sensor under a running machine panel);

4) transverse moving

The lateral movement is simulated by utilizing the T-shaped step, and the role performs lateral movement towards the direction pointed by the transverse side of the tiptoe;

5) automatic running

The feet are positioned at the rear side of the runway, and the automatic running forward is executed;

the feet are positioned at the front side of the runway, and backward automatic running is executed;

(III) Rotary running platform function and instruction

1) Under normal conditions, the treadmill does not rotate under most conditions (the treadmill operates within 180 degrees on the front side);

2) two actions can trigger the running platform to rotate. One is moving steering (steering triggered by stride), and the other is pivot steering (travel switch is turned on by rotating a rotating shaft);

3) triggering the running platform to rotate by the oblique stride of the sole (compared with the initial stride);

4) the rotating shaft rotates under the condition of hip torsion, and a travel switch is turned on when the angle exceeds 45 degrees to trigger the running platform to rotate;

5) the rotation is completed, and the running platform is superposed with the longitudinal axis of the human body;

6) in the rotation process, the two self-locking air springs connected with the rigid waistband help a user to keep the posture;

(IV) peripheral use function example

1) Inflatable sandbag

i. Under normal conditions, the player does not touch the inflatable sandbag, even if the player has a distance of a few centimeters;

the multipurpose auxiliary stand "brings" the inflatable sandbag to a position accessible to the player's hands only after the hitting object in the game approaches;

because the center of gravity is strictly constrained, the player can act with confidence without worrying about hitting a place that cannot be hit;

2) driving simulator

i. When driving operation can be executed in a game, the action of sitting down needs to be completed firstly;

in the "sitting" state, the treadmill is locked, no difference from the ground;

after "sitting" and the treadmill is locked, the accessory stand will "bring" the ride to the player;

(V) force feedback function, anti-resistance function and use instruction

i. The game is decomposed by external force: whole body, local part, front, back, upper body, lower body, left side, right side, vertex and sole;

cantilever drop can simulate: whole body vibration, force feedback of the top of the head and the sole;

cantilever pitch can be modeled as: the upper body is stressed to bend backwards, and the lower body is stressed to bend forwards;

run-table rotation can be simulated: the left side is stressed to rotate left, and the right side is stressed to rotate right;

v. the treadmill can simulate: the upper body rolls forwards under the stress, and the lower body rolls backwards under the stress;

various force feedback effects can be simulated by three force feedback actuating mechanisms (a cantilever, a rotary table and a treadmill) independently or in a combined mode;

the treadmill can simulate walking resistance exercises such as snow walking, wading walking, moderate jogging, etc.;

cantilever pressure can simulate weight lifting type resistance motions, such as weight lifting, weight bearing, and Mount Taishan roof pressing;

ix. chest-developer can be added on the two sides, front and upper part of the body to simulate the anti-resistance movement of rowing, dragging, pulling up, climbing, etc.;

(VI) example of body motion types

1) Continuous infinite walking: walking, heel-and-toe walking, big-step walking, running;

2) 360-degree omnidirectional motion: turning during traveling, turning on the spot, and turning in the air;

3) various longitudinal movements: standing, sprinting, jumping, reaching high, squatting, half kneeling and sitting;

4) body pitch motion: forward leaning, backward leaning and creeping;

5) the action range of the upper limbs and the lower limbs is greatly and comprehensively released: the human motion positioning cantilever is positioned backwards of the caudal vertebra, and various motions of the upper limb and the lower limb are difficult to be blocked by the cantilever unless the human motion positioning cantilever is touched specially; the feet are flat and flat with four wide sides, and any action of the lower limbs, including the difficult pigeons, cannot be blocked;

6) can do various strenuous exercises: the user wears the shoes on the feet, the running belt with high friction coefficient is arranged under the soles, the bearing pedal which is just like flat and solid ground is arranged under the running belt, the center of gravity of the waist is safely and reliably bound by the human body movement positioning cantilever, so that the body part from the feet to the waist and the crotch can be completely and fully exerted, and the upper body and the upper limbs are driven to make various actions with sufficient strength, such as positive kicking, high whip legs, striding punching, continuous punching, javelin throwing, swinging, stabbing guns and the like;

7) can realize weight-reducing gait-like movement: the load of the lower limbs is reduced through the human motion positioning cantilever, the motion function under special environment can be realized, for example, the walking effect under low gravity environment (moon, asteroid and space microgravity cabin) can be realized, and the underwater motion effect can be simulated by combining the anti-resistance motion of the treadmill;

8) various air actions: the foot is suspended and the pitching control is added, so that various suspended actions can be simulated, such as suspension, parachuting, wing-mounted flight, bird and man flight, falling, swimming, suspension and flying;

9) various driving and riding actions: various driving and riding actions can be simulated through the sitting posture and the driving device, such as driving airplanes, ships, airships, tanks, automobiles, riding motorcycles, horses, flying dragon and the like;

10) various action combinations: long jump after run-up, high jump after run-up, hurdle, javelin after run-up, leg fly after run-up, jump basket, jump top ball, swing knife on horse, etc.;

11) various attitude combinations: natural transition from standing posture to sitting posture (which is an extremely useful function, namely integrating two completely different equipment functions of a VR universal treadmill and a VR cabin together, perfectly fusing upright motion and sitting posture operation in the same game or application, and thoroughly solving the problem of large limitation of VR cabin mode application), transition from standing posture to creeping posture, transition from station posture to aerial situation to flying posture, transition from flying posture to parachuting posture from flying posture one by one, and the like;

(VII) instruction of labor-saving function

1) More fit for the natural action of human body;

2) the bearing ratio of the lower limbs to the cantilever is adjustable from 0% to 100%;

3) an auto run mode;

4) a flight mode;

5) a sitting/riding mode;

(eighth) look-ahead of use Effect

The utility model can realize game actions which can not be realized by all VR running machines or VR sports peripherals at present, and can give unprecedented game experience to players by combining VR audiovisual stimulation; the real action of the player is just stepping on the spot, the gravity center is not higher than 30 cm, and the high controllability and the safety are realized from the source. However, all actions of the player are really pieced to the full, the physical feeling is very real, and the substituting feeling is extremely strong. The game returns the player to experience, stimulation and enjoyment of the game action to a brand-new level through the combination of virtual and real physical feeling, cool and dazzling visual and auditory effects and comprehensive force feedback effect.

The basic principles and the main features of the invention and the advantages of the invention have been shown and described above. It will be understood by those skilled in the art that the present invention is not limited to the above embodiments, and that the foregoing embodiments and descriptions are provided only to illustrate the principles of the present invention without departing from the spirit and scope of the present invention. The scope of the invention is defined by the appended claims and equivalents thereof.

Claims (1)

1. The utility model provides a mutual omnipotent motion of VR human-computer and universal treadmill, includes base (1), its characterized in that: the inner side of the base (1) is provided with an arc guide rail (3) and a circular follow-up protective net (20), the circular follow-up protective net (20) is positioned on the outer side of the arc guide rail (3), the upper end of the arc guide rail (3) is slidably provided with a guide rail sliding block (19), the upper end of the guide rail sliding block (19) is fixedly provided with a bearing turntable (4), the lower end surface of the bearing turntable (4) is provided with a rotary driving mechanism (2) and a conductive sliding ring (15), the conductive sliding ring (15) is positioned at the central point of the bearing turntable (4), the upper end surface of the bearing turntable (4) is provided with a gait self-adaptive treadmill (5), a lifting upright post (11), an embedded control cabin (16), a multipurpose auxiliary support mounting base (17) and a touch screen integrated body (18), the gait self-adaptive treadmill (5) is positioned at the central end of the bearing turntable (4, the device is characterized in that a column guide rail (13) is fixedly mounted at the upper end of a column base (14), a liftable cantilever base (12) is slidably mounted outside the column guide rail (13), a human motion positioning cantilever (10) is mounted on one side of the liftable cantilever base (12) through a screw, the human motion positioning cantilever (10) comprises a four-bar cantilever structure (22) and an adjustable pressure air spring (23), the adjustable pressure air spring (23) is positioned below the four-bar cantilever structure (22), a cantilever end revolving shaft hinge (30) is arranged at one end of the four-bar cantilever structure (22) and one end of the adjustable pressure air spring (23), a revolving shaft pressure sensor (29) is inlaid at the lower end of the cantilever end revolving shaft hinge (30), a revolving reset air spring (21) is arranged on one side of the cantilever end revolving shaft hinge (30), and the revolving reset air spring (21) is fixedly connected with the, cantilever end revolving axle hinge (30) outer wall surface is provided with gyration stopper (25) and revolving axle (28), cantilever end revolving axle hinge (30) upper end is provided with adjustable air spring of every single move control (31), rigidity back (24) are installed to adjustable air spring of every single move control (31) one end screw, rigidity back (24) one end is provided with swaddle infancy armour (9), cantilever end revolving axle hinge (30) one end is provided with waistband end revolving axle hinge (26), waistband end revolving axle hinge (26) surface is provided with pitch axis (27), waistband end revolving axle hinge (26) one end is provided with rigidity waistband (6), swaddle infancy armour (9) inside is provided with reference human body (7), the cover is equipped with VR glasses (8) on reference human body (7).

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