CN212723939U - Omnidirectional walking auxiliary system and walking device - Google Patents

Abstract

The utility model relates to a Virtual Reality (VR) walking equipment field, concretely relates to walking direction stable system and have walking direction stable system's running gear. The user's feet are respectively placed on the combining part, the combining part comprises a supporting part and a connecting part, the supporting part is placed at the bottom of the user's feet, and the connecting part can connect the supporting part with the feet. The transmission mechanisms are respectively connected with the combining parts, the power device provides power for the transmission mechanisms, and the combining parts apply plane direction resistance to the feet, so that the feet keep stable in direction. The direction stabilizing system can rotate in the direction of the movable plane, and can also drive the part supporting the user to integrally rotate, so that the orientations of other parts and devices connected to the supporting part and the user are kept consistent at any time, and various props and various interaction devices can be conveniently operated in a VR scene.

Description

Omnidirectional walking auxiliary system and walking device

Technical Field

The utility model relates to a Virtual Reality (VR) walking equipment field, concretely relates to walking direction stable system and have walking direction stable system's running gear.

Background

At present, the domestic and foreign virtual reality walking device is provided with a concave sliding type, a ball array type and an orthogonal conveyor belt type. Wherein the sliding type omnidirectional walking device fixes the waist of a user and walks with both feet on the concave surface. The ball array type also fixes the waist of a user, and two feet walk on the ball disc. The orthogonal conveyer type omnidirectional walking device is characterized in that a circle of small conveyer belts are arranged on a large conveyer belt in an orthogonal direction, the large conveyer belt and the small conveyer belt respectively rotate along X, Y axes, and the feet of a user walk on the upper surface of the small conveyer belt in an omnidirectional manner. The sliding type and ball array type omnidirectional walking device in the equipment has the disadvantage of poor walking and standing stability when in use. The waist of the user is fixed, so that the walking and standing stability can be improved, but the phenomenon of slipping and unstable walking of the sole of the user still exists when the user turns. Especially, the ball array type omnidirectional walking device has small walking resistance and natural feeling of actions of both feet, but each small ball can rotate along the stress direction because the small balls are arranged in an array by treading under the feet. The feet of the user just like stepping on the surface with low friction, when the user turns, one foot lifts and acts, the other foot supporting the body does not have enough friction with the stepping surface, and the same effect cannot be realized on the ground with enough friction: one leg supports the body, and the waist can rotate the body by twisting. The orthogonal conveyor belt type omnidirectional walking apparatus has advantages in walking and steering stability over the former two types of apparatuses, but has common points with the two types of apparatuses: when the device is used, the body rotates 360 degrees relative to the plane direction of the device, the direction of the human body and the direction of the device change at any time, and the device is inconvenient to operate or use equipment and hardware which cannot rotate along with the human body. The seat is installed on the equipment that KAT Walk VR treadmill and user's waist are connected, but is limited by space and weight, and the area of cushion is very limited, can not realize needing great seat sense of touch scene simulation.

SUMMERY OF THE UTILITY MODEL

Turn and walk unstable, equipment and hardware can't turn to with the problem that user's health turned to in step when using in order to solve virtual reality omnidirectional running gear, the utility model discloses a walking direction stable system technical scheme, and use technical scheme's running gear.

The utility model discloses a technical scheme that the solution problem adopted is: the user's feet are respectively placed on the combining part, the combining part comprises a supporting part and a connecting part, the supporting part is placed at the bottom of the user's feet, and the connecting part can connect the supporting part with the feet. The transmission mechanism is respectively connected with the combining parts, the direction stabilizing system comprises a power device, the power device provides power for the transmission mechanism, and the combining parts apply rotating force to the feet in a range (movable plane) with the inclination angle of the plane where the lowest point of the movable range of the combining parts is less than 45 degrees, so that the feet keep stable in direction. The direction stabilizing system is provided with a direction locking device, and the direction locking device has the following functions: when the direction stabilizing system rotates along with the foot of the user, the locking device locks the direction stabilizing system and the object with stable direction (the ground or the fixing part of the omnidirectional walking device), and the transmission mechanism transmits the direction resistance to the combining part to keep the direction of the foot of the user stable on the moving plane.

When the user stands on both feet, the direction stabilizing system keeps the directions of both feet stable in the moving plane. When one or all heels are lifted, the locking device of the direction stabilizing system unlocks the lifted foot and keeps a movable plane direction locking state of the other foot, the lifted foot can move and rotate in the movable plane direction, parts of the transmission mechanism rotate along with the feet, and the rotating direction, the angle and the speed are the same as those of the feet. When the raised foot falls, the directional stability system returns to a locked state for both feet.

Above-mentioned technical scheme can let the user use the utility model discloses an omnidirectional walking device of omnidirectional walking auxiliary system cooperation multiple structure is when standing and walking, can both remain stable, and during the health rotation direction, the foot that supports the health is just like stepping on at the sufficient subaerial stability of frictional force, and is more nimble when turning to, and the gait is more natural. The direction stabilizing system can rotate in the direction of the movable plane, and can also drive the part supporting the user to integrally rotate, so that the orientations of other parts and devices connected to the supporting part and the user are kept consistent at any time, and various props and various interaction devices can be conveniently operated in a VR scene.

Drawings

FIG. 1: the connecting part is connected with the foot of the user and the transmission mechanism.

FIG. 2: the coupling part with the plate-like support member is schematically connected to the user's foot and the transmission mechanism.

FIG. 3: the transmission mechanism is connected with the feet of the user in a schematic direction.

FIG. 4: the top view of the basic structure of the transmission mechanism and the connected parts.

FIG. 5: the top view of the basic structure of the directional stabilization system.

FIG. 6: the transmission mechanism and the basic structure and mechanical deformation of the connected parts are shown in the front view.

FIG. 7: under the unlocking state of the locking device, the combination part drives the transmission mechanism and the connected part to move in the Y-axis direction.

FIG. 8: the power device is arranged between the direction stabilizing system and the bearing part.

FIG. 9: the power device is arranged between the direction stabilizing system and the walking device placing plane.

FIG. 10: the locking device and the connecting parts thereof are schematically constructed.

FIG. 11: the two sets of locking devices are respectively in an unlocking state and a locking state, and the action modes of all the parts of the omnidirectional walking auxiliary system are schematically shown when the locking devices are matched with the body of a user to steer.

FIG. 12: the basic structure and the action mode of the unlocking state of the locking device are shown schematically.

FIG. 13: the basic structure and the locking state action mode of the locking device are shown schematically.

FIG. 14: the schematic diagram of the motion mode of all parts of the omnidirectional walking auxiliary system matched with the feet of the user relative to the front and back directions of the body.

FIG. 15: the schematic diagram of the motion modes of all parts of the omnidirectional walking auxiliary system matched with the left and right directions of the feet of the user relative to the body.

FIG. 16: the schematic diagram of the motion mode of all parts of the omnidirectional walking assistance system matching with the rotation direction of the body of the user (action 1).

FIG. 17: the movement mode of the components of the omnidirectional walking assistance system matching with the rotation direction of the body of the user is schematically shown (action 2).

FIG. 18: the movement mode of each component of the omnidirectional walking auxiliary system matching with the rotation direction of the body of the user is shown schematically (action 3).

FIG. 19: the movement mode of each component of the omnidirectional walking auxiliary system matching with the rotation direction of the body of the user is shown schematically (action 4).

FIG. 20: the omnidirectional walking auxiliary system and the bearing part in the form of the ball array form a structure chart of the walking device.

FIG. 21: the omnidirectional walking auxiliary system is matched with a user to realize a walking action on the bearing part in the ball array form.

FIG. 22: an omnidirectional walking assist system having a variety of assist devices and functional devices is coupled with embodiments of the platform construction load bearing portion.

FIG. 23: the omnidirectional walking auxiliary system is matched with the bearing part of the flat plate structure to realize the VR roaming embodiment of the user.

Detailed Description

The technical solution disclosed in the present invention will be described in detail in the present specification with reference to the accompanying drawings. There are shown in the drawings, exemplary embodiments of the invention, it being understood that the invention may be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. These embodiments are provided for better understanding of the technical aspects of the present invention and can fully convey the technical aspects disclosed in the specification to those skilled in the art.

The transmission mechanism is connected with the foot of the user through the joint part. The direction stabilizing system comprises a power device, a locking device and an auxiliary component.

As shown in fig. 1, the joint of the present invention is connected to the foot of the user, and further, the connection mode is: the binding band 102 of the joint 103 is bound to the foot 105, and the transmission mechanism member 101 is hinged to the joint 103. The foot 105 of the user can rotate relative to the X-axis and the Y-axis of the foot 105 while the foot 105 of the user can move the transmission mechanism part 101 through the connecting part 103. The joint 103 is provided with a sensor 106, and the sensor 106 is used for detecting the spatial position, the movement speed, the movement direction, the acceleration, the angle, the angular velocity and the pressure signal of the foot 105 of the user relative to the joint 103 of the joint 103 and transmitting the signals to a control system and a signal processing device.

As shown in FIG. 2, another way of connecting the joint to the user's foot is: the coupling portion 203 has a support member 200, and further, the support member 200 has a plate-shaped configuration having a plate size suitable for or slightly smaller than the sole of the foot 205, and the foot 205 is fixed to the upper surface of the support member 200 by a connection band 202. The transmission mechanism part 201 is hinged with the supporting part 203, and the foot 205 of the user can drive the transmission mechanism 201 to move integrally or partially through the connecting part 203, and meanwhile, the foot 205 can rotate relative to the X axis and the Y axis.

In the embodiment of the present description, as shown in fig. 3, the positions where the transmission mechanisms 301 and 302 are connected to the joints 307 and 308 are: the left side of the left foot 305, and the right side of the right foot 306. Two sets of actuators are attached to the left and right sides of the user's foot, respectively, such that the actuator 301 attached to the left foot 305 is always on the left side of the user's left foot 305 and the actuator 302 attached to the right foot 306 is always on the right side of the user's right foot 306, regardless of the user's movement.

As shown in fig. 4, in the present invention, one scheme of the transmission mechanism is: the double-mouth-shaped four-bar parallel folding connecting rod is in a form of a double-mouth-shaped four-bar parallel folding connecting rod, and two mouth-shaped four-bar parallel components 401 and 402 are hinged and connected. One end of the transmission mechanism 400 is connected to the joint 403, and the other end is provided with a locking device 405 and a sliding member 406.

The mechanical form of the transmission mechanism described in the present specification is only an exemplary embodiment, and is for clearly explaining the technical solution of the present invention. Under the prerequisite of guaranteeing to realize the drive mechanism function, the utility model discloses a drive mechanism can have other mechanical type, can not all enumerate the description in this specification.

As shown in fig. 5, in the present invention, one end of the transmission mechanism 501 is provided with a sliding component 506, the sliding component 506 is slidably connected to the annular slide rail 507, and can slide along the annular slide rail 360 degrees, the sliding component 506 is provided with a vertical axial hinge mechanism 505, so that the component 502 of the transmission mechanism 501 rotates around the hinge mechanism 505, and the transmission mechanism 501 can rotate along the vertical axial direction relative to the sliding component 506.

As shown in fig. 6, the mechanical structure of the parallelogram linkages 601, 603 of the transmission 600 is deformable, and the linkages 601, 603 can be folded up and tilted within the mechanical deformation range. When the user's foot 605 moves relative to the body X-axis, the two parts 601, 603 of the transmission fold about the hinge 602, changing the length of the transmission in the X-axis.

As shown in fig. 7, when the foot 701 of the user moves along the Y-axis, the transmission mechanism 702 moves along with the foot 701, and drives the sliding component 703 connected to the transmission mechanism 702 to slide along the annular sliding track 705.

The utility model discloses in, direction stable system includes power device for the rotation drive power of activity plane direction is applyed to direction stable system. Further, as shown in fig. 8, the power device 802 is a wheel motor. The power unit 802 is disposed between the directional stabilization system 801 and the traveling device fixing member 803, and can apply a driving force to the directional stabilization system, so that the directional stabilization system 801 can rotate coaxially with respect to the traveling device fixing member 803 by 360 degrees. The wheels 804, 806 support the directional stability system 801. Further, as shown in fig. 9, a power device 902 is disposed between the walking device 901 and the ground or the movable plane 900, and applies a rotational driving force to the walking device as a whole, so as to drive various props and devices connected to the walking device 901 to rotate synchronously. The movable plane is the plane of the joint part and the movable range of the feet of the user.

As shown in fig. 10, the directional stabilizing system of the present invention includes locking devices 1005, 1006 disposed at the end of the transmission 1003, 1004 opposite to the end connected to the joint 1012, 1013. The locking device has two states, a locked state and an unlocked state. When the user stands on both feet 1001 and 1002, the sensors 1015 and 1016 of the joints 1012 and 1013 detect that both feet 1001 and 1002 are in the supported state, and send signals to the control system, and the control system controls the locking devices 1005 and 1006 indirectly connected to both feet 1001 and 1002 to open the locked state, lock the sliding members 1007 and 1008 with the movable plane 1000, and lock the hinge shafts 1009 and 1011 of the sliding members 1007 and 1008. At this time, the feet 1001 and 1002 are locked on the movable plane 1000 and cannot rotate relative to the movable plane 1000, so that the standing stability of the user is realized.

As shown in FIG. 11, when the heel or entire foot of the user's foot 1102 is raised, the sensor 1116 detects the motion of the foot 1102 and sends a signal to the control system which controls the unlocking of the locking device 1106. When the user lifts the right foot 1102 and moves the foot in the Y1 direction and rotates the foot counterclockwise by a predetermined angle (see fig. 11), the transmission mechanism 1104 connected to the joint part 1113 connected to the foot 1102 is released from the planar direction by the lock 1106, and the sliding member 1108 connected to the transmission mechanism 1104 slides along the endless slide 1119 in the direction in which the transmission mechanism 1104 rotates in accordance with the movement of the foot 1102. Meanwhile, the locking device 1105 indirectly connected to the joint 1112 connected to the left foot 1101 that is not lifted is in a locked state, and keeps the direction of the moving plane of the left foot 1101 stable. The user can twist his body as if he steps on a firm ground with the left foot 1101 as a support point, achieving a turn.

Fig. 12 shows a structure of a locking device of the present invention as a telescopic mechanism, and further, a power is an electric motor. The locking device is composed of a fixed part 1201 and a movable part 1202, the movable part 1202 has an I-shaped cross section, and further, is driven by a motor 1203 to move up and down. The transmission mechanism member 1205 is hinged to the rotating member 1204 of the locking device about a middle portion 1208 of the movable member 1202 of the locking device, and the transmission member 1205 can be angularly changed with respect to the rotating member 1204. The locking device shown in fig. 12 is in an unlocked state, the movable member 1202 is located at the upper part of the telescopic stroke, the rotating member 1204 can rotate around the portion 1208 of the movable member 1202 of the locking device, and the sliding member 1209 can slide.

As shown in fig. 13, the movable member 1302 of the locking device is driven by the motor 1303 to the lower part of the expansion stroke, and the movable member 1302 is in contact with the fixed member 1309 of the walking device, and the locking device and the member directly or indirectly connected to the locking device are locked to the fixed member 1309 of the walking device in the plane direction by a frictional force. The movable member 1302 has friction members 1305, 1306 for increasing the friction force of the movable member 1302 with the object in contact.

Furthermore, the locking device of the present invention has two locking objects. Fig. 13 shows the locking device in a locked state, with the movable element 1302 in contact with the fixed element 1309 of the walking device and locked, and with the element 1306 of the movable element 1302 increasing the friction. Further, the locking device as a whole can change the installation position, and in the locked state, the movable member 1302 is in contact with the movable plane 1300 and locked.

As shown in fig. 14-a, the walking assistance system of the present invention can be used to assist the user in moving in all directions within a limited range, including walking forward and backward. When the user steps on the movable plane 1400 with the left foot 1401, the locking device 1407 indirectly connected to the left foot 1401 is in a locked state, and locks the left foot 1401 in the plane direction of the movable plane 1400. When the user's right foot 1402 is lifted up and steps forward on the body, the locking device 1408 indirectly connected to the user's right foot 1402 is unlocked, the connecting portion 1404 drives the transmission mechanism 1406 to move in the direction of Y1, the sliding member 1410 slides along the circular sliding track 1411, and the transmission mechanism 1412 and the sliding member 1410 rotate around the hinge 1413.

As shown in FIG. 14-B, when the user's right foot 1402 steps on the movable plane 1400, the locking device 1408 indirectly connected to the right foot 1402 is in a locking state, and locks the right foot 1402 with respect to the plane direction of the movable plane 1400. The user lifts the left foot 1401, steps towards the back of the body, the locking device 1407 indirectly connected with the user left foot 1401 is unlocked, the connecting part 1403 drives the transmission mechanism 1405 to move towards the Y2 direction, the sliding part 1409 slides along the annular sliding rail 1411, and the transmission mechanism part 1412 and the sliding part 1409 rotate by taking the hinged part 1413 as an axis.

As shown in fig. 15, the user moves his feet 1501, 1502 to the left, and the transmission 1505 connected to the joint 1503 connected to the user's left foot 1501 is folded, and the hinge 1507 is tilted upward (see fig. 6); the components of the drive mechanism 1506 attached to the interface 1504 attached to the user's right foot 1502 extend and the hinge 1508 descends downward. The transmission mechanisms 1505, 1506 cooperate to move the user's feet 1501, 1502 about the user's body X-axis through the motions described in the above description.

As shown in fig. 16, the feet 1601, 1602 of the user step on the movable plane 1600 at the same time, and the locking devices 1611, 1612 indirectly connected to the foot joints 1603, 1604 of the user are locked by the transmission mechanisms 1607, 1608, so as to keep the direction of the movable plane of the feet 1601, 1602 of the user stable.

As shown in fig. 17, when the heel or the whole of the left foot 1601 of the user is lifted, the sensor 1605 on the joint 1603 in contact with the foot 1601 detects the motion of the user's foot 1601 and transmits a signal to the control system, the control system controls the locking device 1611 indirectly connected with the joint 1603 in contact with the foot 1601 to unlock, and the foot 1601 drives the joint 1603 and the transmission 1607 to rotate clockwise on the movable plane 1600. The sensor 1605 on the connecting portion 1603 connected with the feet 1601 detects the rotation of the feet 1601 of the user and transmits a signal to the control system, the control system controls the power device 1615 of the direction stabilizing system 1616 to generate a rotation driving force to drive the direction stabilizing system 1616 to rotate clockwise as a whole, and the rotation speed and the rotation angle are the same as the rotation speed and the rotation angle of the feet 1601. At the same time, the locking device 1612 indirectly connected to the foot 1602 that is not lifted is in a locked state, the planar orientation of the components of the transmission mechanism 1608 is locked, and the transmission mechanism 1608 transmits a resistance force to the joint 1604 to which the foot 1602 is connected, thereby keeping the planar orientation of the foot 1602 stable. The user can support the body with the feet 1602, and the waist twists, realizes the action of rotating the body clockwise. When the foot 1601 drops, the user steps on the movable plane 1600, and the locking device 1611 indirectly connected to the foot 1601 returns to the locked state. At this point, the directional stabilization system 1616 is aligned with the orientation of the foot 1601 and not aligned with the orientation of the foot 1602.

As shown in FIG. 17, if the foot 1602 is raised at this time, either clockwise or counterclockwise rotation, the power device 1615 of the directional stabilization system 1616 is not active; when the foot 1602 rotates clockwise to align with the orientation of the directional stabilizer system 1616 (as shown in fig. 18), the sensing system detects that the user's feet are oriented in the same direction as the directional stabilizer system, and sends a signal to the control system, which controls the power device 1615 to generate a driving force to drive the directional stabilizer system 1616 to rotate integrally in the same direction as the foot 1602, and the rotation speed and angle are synchronous with the foot 1602, and at this time, the locking device 1611 indirectly connected to the foot 1601 keeps the direction of the movable plane 1600 of the foot 1601 stable.

FIG. 19 shows the user in a standing position as in FIG. 16, with the directional stabilization system 1616 oriented in alignment with the user's right foot 1602 and not in alignment with the user's left foot 1601. The user's body orientation is rotated clockwise by approximately 45 degrees relative to the initial position (the user's feet orientation shown in fig. 16).

The following description will explain in detail preferred embodiments of the present invention.

As shown in fig. 20, in the preferred embodiment of the present invention, the bearing part is a ball array structure, the bearing part 2000 is a circular plane, and a plurality of omni wheels 2001 are arranged on the upper surface of the circular plane to form an omni wheel array. When an external force is applied to the omnidirectional wheel, the omnidirectional wheel can rotate in the original position along the force-applying direction, when an object is applied to the upper surface of the omnidirectional wheel array, the object can move on the upper surface of the omnidirectional wheel array along the direction of the external force, an annular track 2002 is arranged on the periphery of the bearing part 2000, sliding parts 2003 and 2004 are arranged on the annular track 2002, two groups of sliding parts 2003 and 2004 are respectively connected with locking devices 2005 and 2006 and connected with transmission mechanisms 2007 and 2008, and hinge shafts 2009 and 2010 are arranged between the transmission mechanisms 2007 and 2008 and the sliding parts 2003 and 2004. The two sets of transmission mechanisms 2007 and 2008 are connected to the coupling portions 2011 and 2012, respectively. Below the endless sliding track 2002, there is an auxiliary mechanism 2014 of the stabilization system, and a power device 2015 is arranged on the auxiliary mechanism 2014.

As shown in fig. 20, in the preferred embodiment of the present invention, the auxiliary mechanism 2014 is disposed with a plurality of transverse rollers 2016 and vertical rollers 2017, and the supporting auxiliary mechanism 2014 coaxially rotates around the bearing part 2000.

As shown in fig. 21, when the user lifts the right foot 2102 to move the coupling portion 2104 away from the upper surface 2100 of the carrying portion and toward the front of the body, the sensing device 2116 on the coupling portion 2104 sends a signal to the control system, and the control system controls the locking device 2110 to unlock. At the same time, the locking device 2109 remains locked, locking the orientation of the actuator 2105 to the movable plane 2100. When the user's left foot 2101 exerts a force in the direction of Y2 on the upper surface 2100 of the carrier portion, the lumbar stopper 2115 restricts the user's torso from remaining in place and from moving forward on the body. Because the bearing part upper surface 2100 is provided with the universal wheel array, the universal wheel can roll to any direction along the force-bearing direction, the left foot 2101 of the user moves to the back of the body on the universal wheel array of the bearing part upper surface 2100 along the force-bearing direction, the foot 2101 simultaneously drives the parallel four-bar structure of the transmission mechanism 2105 to deform, but the transmission mechanism 2105 applies plane-direction resistance to the joint 2103, and the joint 2103 still keeps the same direction as the component 2117, thereby locking the moving plane direction of the joint 2103. No matter the user walks in the activity plane 2100 in any direction for any number of steps, the walking motion is within the limited range of the used equipment, and the in-situ omnidirectional movement is realized. When the user makes the action of turning round, the direction stabilizing system can keep the feet supporting the body weight of the user as if the feet are stepped on the stable ground, and the action stability and the flexibility of the user are realized.

Fig. 22 shows that in an embodiment of the present invention, a seat 2205 is installed on a support 2201 of the walking assistance system 2200, a waist stopper 2204 is installed on the support 2202, the waist stopper 2204 keeps the user walking in all directions in the range of the moving plane, and the trunk part of the body is always located in the middle of the moving plane 2215. Further, the upper surface of the movable plane 2215 is made of flat and smooth material, and the connecting portions 2217 and 2218 connected to both feet of the user can slide on the surface, and further, the movable plane 2215 is a running board, and the lower surfaces of the connecting portions 2217 and 2218 are provided with sliding members or wheels, or both sliding members and wheels, which are used for reducing the frictional resistance of the walking action of the user.

In the directional stabilization system shown in fig. 22, a display 2208, speakers 2206 and 2207, a steering wheel simulator 2209, a pedal simulator 2212, a joystick simulator 2210, and a gun simulator 2211 are provided on a bracket 2203 opposite to a seat 2205. The seat and apparatus, or device, can be operated or moved backward to sit on the seat regardless of the orientation of the user's body in the plane 2215.

Fig. 23 shows, VR devices such as VR display device or VR/AR/MR all-in-one are worn to user 2300 head, the utility model discloses a walking on the walking device, signal transmission such as speed, direction that sensing system will user's walking action reaches the signal processing equipment who is connected with the VR device that the user used, signal processing equipment inputs user's action information to the VR scene, calculate user virtual role's in the VR scene information such as direction of motion, speed, show corresponding VR scene image in the VR display device that the user wore, realize that the user experiences and roams to arbitrary direction in the VR scene with natural walking mode.

The lumbar stopper 2204 of the present embodiment can be opened, the body of the user 2300 can be moved backward without being constrained by the stopper 2204, the user sits on the seat 2205, and can operate the steering wheel simulator 2209, the pedal simulator 2212 and the joystick simulator 2210 to simulate flight or simulate vehicle driving, and operate the gun simulator 2211 to play VR gunfight games, the corresponding VR scene images are displayed by the display screen 2208, and the sound of the VR scene is output by the speakers 2206 and 2207.

Claims (10)

1. An omnidirectional walking auxiliary system and a walking device are characterized in that: comprises a combination part, a transmission mechanism and a direction stabilizing system;

the two combining parts are respectively connected with the left foot part and the right foot part of a user;

one end of the transmission mechanism is connected with the direction stabilizing system, and the other end of the transmission mechanism is connected with the combining part;

the transmission mechanism transmits the resistance of the direction of the moving plane of the direction stabilizing system to the combining part, and the direction of the moving plane is within plus or minus 45 degrees of the inclination of the plane where the lowest point of the moving range of the combining part is located;

the joint part moves synchronously with the motion of the connected feet of the user;

the transmission mechanism is connected with one end of the combining part, and the spatial position of the transmission mechanism is changed synchronously with the movement of the combining part;

the direction stabilizing system can wholly or partially rotate and keeps the direction of the movable plane consistent with that of one or all of the combining parts;

the mechanical structure of the transmission mechanism can be deformed, and the transmission mechanism has a transmission function in the deformation range of the mechanical structure.

2. The omnidirectional walking assistance system and the walking device according to claim 1, wherein: a load bearing portion is provided which supports the joint portion and/or a user's foot, the joint portion and the user's foot being capable of movement over an upper surface of the load bearing portion.

3. The omnidirectional walking assistance system and the walking device according to claim 1, wherein: the directional stabilization system includes: power device, direction locking device, complementary unit.

4. An omnidirectional walking assistance system and a walking device according to claim 3, wherein: the auxiliary mechanism has the following functions: the power device keeps the direction of the transmission mechanism stable, bears and supports the direction stabilizing system; the auxiliary mechanism mechanical form comprises: a parallelogram linkage.

5. The omnidirectional walking assistance system and the walking device according to claim 1, wherein: the joint is provided with a support member supporting the user's foot, the support member having wheels and/or a sliding member at the bottom, the support member being configured to include: and (3) a plate.

6. The omnidirectional walking assistance system and the walking device according to claim 1, wherein: the direction stabilization system may be connected to a functional component or device which rotates synchronously with the direction stabilization system carrier.

7. The omnidirectional walking assistance system and the walking device according to claim 6, wherein: the functional components or devices include: the device comprises one or more of a bracket, a seat, a belt and/or other human body fixing parts, a driving simulation device, a pedal simulation device, a light weapon simulation device, a display device and an audio device.

8. The omnidirectional walking assistance system and the walking device according to claim 1, wherein: the device is provided with a sensing system, and the signal sources detected by the sensing system comprise: the combination part, the direction stabilization system, the signal that sensing system sent includes: spatial direction, spatial position, velocity.

9. An omnidirectional walking assistance system and a walking device according to claim 3, wherein: a control system is provided, and objects controlled by the control system comprise: the power device and the direction locking device of the direction stabilization system.

10. An omnidirectional walking assistance system and a walking device according to claim 8, wherein: a signal processing device is provided, the signal processing device receives the signal sent by the sensing system, the signal processing device comprises: one or more of singlechip, PLC, computer, panel computer, smart mobile phone, VR/AR/MR wear display device.

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