ES2932478A1 - REAL ENVIRONMENT SIMULATION EQUIPMENT FOR PEOPLE WITH REDUCED MOBILITY IN WHEELCHAIRS (Machine-translation by Google Translate, not legally binding) - Google Patents

Abstract

Equipment for simulation of real environments for people with reduced mobility in wheelchairs. Equipment for simulation of real environments for people with mobility in wheelchairs, which includes a platform with a movement system that allows it to rotate 360°, in addition to translational movement; two drawers arranged in two holes made in the platform that contain two movable rollers arranged in parallel, and that in the space between them one of the driving wheels of the chair is placed; a programmable control module that receives data on the position of the platform and the position of the wheelchair by means of optical detectors; and where the equipment comprises a virtual reality display device in connection with the control module; (Machine-translation by Google Translate, not legally binding)

Description

DESCRIPTION

SIMULATION EQUIPMENT FOR REAL ENVIRONMENTS FOR PEOPLE WITH

REDUCED MOBILITY IN A WHEELCHAIR

FIELD OF THE INVENTION

The present invention refers to simulation equipment comprising a mobile platform associated with a virtual reality system, which allows people with reduced mobility to virtually simulate the movement of a wheelchair in a real environment. This is a solution to the problem of the inclusion of people with reduced mobility, allowing these people to access virtually and at will in real environments that are not accessible today. This invention allows a user to enjoy immersively, thanks to virtual reality, scenarios and/or places that are inaccessible to people who, due to reduced mobility, are forced to use a wheelchair.

This equipment is included within the different equipment and systems for training or virtual simulation of real environments, and more specifically, those intended for people who require a wheelchair for their mobility.

BACKGROUND OF THE INVENTION

It is known that when a visit is made to a real environment, not all users have the possibility of completing it, sometimes due to limitations of the space itself (protected heritage, inaccessibility, works or maintenance...) and in others due to the individual limitations. This problem can be solved using virtual reality, but for it to be efficient it is very necessary that the experience be immersive. That is why, when using virtual reality devices, achieving a totally immersive and satisfying experience is key.

In this sense, it is known that when turning in the virtual environment, especially when using virtual reality glasses, this turning is not physically reproduced, and a feeling of discomfort and dizziness is generated in the user that can cause the experience is not satisfactory. This is a problem that needs to be fixed.

Another problem that requires a solution is allowing people with reduced mobility to access experiences that allow a wheelchair user to have the sensation of moving in a real environment. Various solutions are known for this, such as those mentioned below.

The document JPH11332917A discloses a solution oriented to exercise in a wheelchair. This invention has a ramp that gives access to a platform with four rollers, between which the rear wheels of the chair rest, the development allows movement only in the direction in which the chair is installed. Furthermore, this solution does not allow a user to view virtual scenarios.

Along the same lines, the international application WO9619264A1 proposes a computer-controlled training system where different environments are simulated for training, rehabilitation, as well as muscle analysis. This system, similar to the previous one, also consists of some rollers on which the wheelchair is placed to start the training where it is only allowed to simulate movement in one direction.

In order to solve these two previous problems, solutions are known that include virtual reality media.

Document WO2011004114 A1 discloses a virtual wheelchair simulation platform. This system has two rollers on which both drive wheels of the wheelchair are located, one is the drive roller while the other roller rotates freely; Therefore, each of the two drive wheels of the wheelchair is not positioned on different rollers, which prevents the differentiation of the user's actions on one wheel and the other. This platform has six degrees of freedom, thus allowing its inclination. Due to the inclination that the platform can experience, it also has a chair fastening system, therefore, it has the problem that the help of an external person is necessary for the development of the activity. This document, as in the previous cases, is a solution in which the decisions related to the turn that the user of the chair transmits acting in a differentiated way on both wheels cannot be interpreted by the system and, therefore, there are limitations both in the movement of the platform as in the virtual immersion of the user.

Document ES2523777 presents a solution similar to the previous one, but where the user does not need to fix the chair or an external person. This solution is based on positioning one roller with respect to another at such a distance that it prevents the chair from slipping out of the gap between the rollers, and for this, the possibility of tilting the platform has been dispensed with. However, it remains a limited solution both in movement and in the virtual immersion of the user.

Document CN209075971U refers to a wheelchair training system comprising a non-rotating base with an access ramp comprising four rollers on which the drive wheels of the wheelchair are located. In these rollers there are some sensors that are the ones that transmit the movements to the computing means in charge of reproducing the virtual reality, but where it is only allowed to simulate the movement in one direction, and therefore, there is still a limitation in terms of the movements.

The document CN2824180Y discloses a system for training with wheelchairs, which consists of a platform, which is not rotatable, which includes rollers on which the drive wheels are located; sensors to determine the speed and direction of movement and computing means to reproduce virtual reality software. Through a system of gears, a braking system is incorporated that is capable of offering resistance to the march and therefore simulating adverse conditions, such as going up a slope. As in the previous cases, although the virtual immersion of the user is improved, there is still a limitation in terms of movements.

Given this background for the virtual immersion of people with reduced mobility who require the use of a wheelchair, there is still a need to develop a solution that allows the wheelchair to rotate freely in any direction, and no known documents suggest , teaches or disseminates a solution based on a virtual reality platform for wheelchairs that performs movements with all degrees of freedom in the plane; can turn indefinitely in one direction or another nx360°, move forward turning a single wheel and go forward or backward; in addition to allowing resistance to be presented depending on the inclination of the terrain in a virtual environment.

Finally, what is disclosed in document CN206002772U is known, which is a piece of equipment that is not intended for people with reduced mobility or wheelchairs, but is a virtual walking device for bicycles, which has the particularity of comprising a base circular capable of turning 360° following the movements made by the cyclist; a speed sensor and means for reproducing a virtual environment. This equipment is activated by a fixed mechanism that acts on a stationary bicycle, and that does not allow access by any type of wheelchair, which is essential for a person with reduced mobility, nor does it allow the power to offer resistance to the progress, and where the fact that this mechanism is fixed means that, for security reasons, the user's orders do not translate into an instantaneous movement of the circular base, there is a gap between the real movement and the virtual display, which that makes the experience or training not fully immersive.

For all of the above, there is a need to develop a simulation equipment for real environments that allows access and use of said equipment by a person with reduced mobility without the need for external help, and where said equipment includes means so that any type of wheelchair can perform movements with all degrees of freedom in the plane; can turn indefinitely in one direction or another nx360°, move forward turning a single wheel and go forward or backward; In addition, it must allow resistance to be presented depending on the inclination of the terrain in a virtual environment. In addition, that it presents a double possibility of movement control: by the user of the platform or externally using the computer system; and with the advantage that the user accesses and uses the simulator without the need for an external person, for fixing the wheelchair and carrying out the activity. In addition, the present invention solves a problem that to date is not known to have a solution for equipment of these characteristics, and it is the problem generated by the gap between the positioning of the virtual reality glasses and the position of the chair, which which ensures that the experience is fully immersive.

The present invention solves the technical problems of allowing a wheelchair user to use equipment that includes a platform to which he can access by his own means and with any type of wheelchair, and includes a virtual reality system, so that the platform is circular and revolving, comprising two compartments with two rollers in each of them, where each one of the driving wheels of the chair is arranged in each compartment, and where the platform allows simulating linear movements with said rollers and 360° platform spins, reproducing the movements of the virtual reality system, in such a way that the user's immersion in the experience is complete, avoiding the feeling of discomfort that occurs when a virtual turn is not accompanied by the corresponding physical turn, and where, in addition, it is solved the problem of possible lags between the tracking of the positioning of the virtual reality means carried by the user and the angular position and linear movement of the wheelchair, which allows the experience to be totally immersive and without limitation of simulation.

DESCRIPTION OF THE INVENTION

The equipment for simulating real environments for people with reduced mobility is an invention that consists of a wheelchair virtual reality platform that is accessed by an access ramp, and virtual reality visualization means for the user. that do not interfere with access maneuvers or movements of the wheelchair. This platform has the particularity of being made up of a rotating circular base with four rollers on which the two drive wheels of the wheelchair rest; which allows the user to perform rotation and translation movements; making you enjoy a simulation of high fidelity movements with reality. This equipment is compatible with any type of approved wheelchair, which facilitates its use by anyone with reduced mobility.

In this sense, the platform is equipped with a system made up of a motor with a gearbox that moves, by means of a set of bevel gears, a central axis in solidarity with the upper base of the platform, which allows it to rotate. according to the movement pattern imposed by the user on the wheels of the chair; thus solving the lack found in the known solutions both of degrees of movement and of the lag of said movements with respect to the visualization with the virtual reality means.

To do this, the four rollers on which the two drive wheels of the wheelchair rest allow the user to carry out translation movements in a manner similar to that described. Two of them have free rotation and two are driven and independent of each other. The driving rollers have position detection devices on their axes, which transmit the electrical signal of their rotation to the computing medium, which instantly reproduces the movements in the virtual model. Likewise, in the motor with gearbox there is also a position detector device, which is associated also to the computing means and, therefore, related to the movements of the virtual model, which allows the motor to move instantly as required and avoids gaps between the virtual model and the real simulation movements.

Going into a greater degree of detail of the mechanism that drives the movement, the way to achieve the movement of translation and rotation of the platform is as follows: when the two driving rollers are rotating in the same direction, the computer system measures the speed at which that each one does. If the speed of both is the same or nearly the same, the computer system interprets that the user is moving forward or backward in a straight line and does not activate the turn motor of the platform, which only comes into operation if a turn is required. When the turning speed of one of them is higher than the other, it will turn in the direction that has been established. When you want to make a quick turn with the wheelchair, each of the wheels is turned in opposite directions. If the left is turned forwards and the right is turned backwards, the turn is clockwise and if it is done, on the contrary, in an anti-clockwise direction.

The invention comprises a computer system or programmable processor module connected to position detectors that gives the platform two possible modes of use: active mode in which the user directs the movement in the virtual environment and autopilot mode in which the computer system directs the movement of the user along a path established within the virtual environment. In active mode, the platform generates, through a motor with a gearbox coupled to the joint central axis, a rotation resistance, thus emulating the resistance of the terrain where the user would be. This particularity solves the problems of ensuring freedom of movement and associating it with total virtual immersion by the user.

So that the person with reduced mobility can freely access the equipment without the need for help, the platform has an access ramp to it, which avoids the need for a lift or third parties, which is an additional advantage over other equipment known and previously described, given that it grants total autonomy to the user, but also avoids having to increase the weight, thus reducing portability and cost. Preferably, the user must access it from behind, both to go up and down, so in a possible embodiment of the invention the ramp also includes a handrail that, in addition to its safety function, can serve as a handle if necessary.

The equipment solves the problem that when the user accesses the platform or when the platform and/or the user move, the virtual display means are not affected, by means of a cable-carrying structure that communicates virtual reality glasses with the computing medium or processor module, and this in turn with the movement mechanism of the mobile base of the platform. It is essential to solve this problem since the possibility of successive rotations could generate the risk of the cable getting caught and becoming annoying and even dangerous for the user during the rotation of the platform, and for this, this support structure avoids said problem.

Additionally, the equipment has security systems that limit the maximum rotation speed of the motor, thus preventing it from reaching a hypothetical speed, above the real one, derived from a failure in the components and that could cause uncomfortable or risky situations. to user; In addition, it also has an emergency stop mushroom with which the immediate stoppage of the activity would be achieved; and finally, the relative distance between the front and rear rollers has been established so that the chair's wheels are prevented from coming off the platform, thus serving as a safety fixing.

The equipment object of the present invention, to favor its complete portability, is made up of four easily assembled parts, these being the rotating circular platform, the access ramp, the safety railing and the glasses hanger. This gives the equipment a versatility that is impossible to obtain with known fixed equipment.

The design of the platform is compatible with use in autopilot mode, through the computer system that ensures that the user takes previously programmed guided tours, passively following the movement.

Taking all these aspects into account, the equipment that is the object of the present invention allows a user to connect with a virtual reality environment, being indicated not only for training, but also for allowing the user to visit places that are difficult or impossible to access for people with reduced mobility. , which allows them to enjoy scenarios that are inaccessible to them in real conditions. To do this, the equipment allows reproducing the rotation of the wheels imposed by the user, transforming it into movements synchronized with the vision within the virtual environment that translate into movement of translation and rotation within spaces that would be impossible to navigate in a real environment.

As previously mentioned, the equipment includes a system capable of measuring the degree of rotation imposed by the user at each instant. In this way, it is possible to reproduce this rotation on the platform itself without causing a gap between the rotation in the virtual scene and the physical one, as occurs in previous solutions, where, in addition, the movement can be controlled by the user of autonomously, making their own decisions and at their own discretion.

There is also the option that the movement or the virtual simulation can alternatively be controlled by an instructor, supervisor or medical personnel. Another possible option is that the user can carry out guided or previously programmed tours without the user having the obligation or need to carry out any other movement.

These functionalities allow the use of this equipment to integrate the programming of tours with classic or monumental spaces, such as a museum; it is compatible with other uses, such as physical activity, sport, rehabilitation, or trips to places where there are no accessibility impediments; and it can be compatible with other virtual reality devices other than glasses, such as visors, walkers or immersion rooms.

It must be taken into account that, throughout the description and claims, the term "comprises" and its variants are not intended to exclude other technical characteristics or additional elements.

BRIEF DESCRIPTION OF THE FIGURES

In order to complete the description and to help a better understanding of the characteristics of the invention, a set of figures and drawings is presented, where the following is represented for illustrative and non-limiting purposes:

Figure 1.- shows a view of the different simulation equipment object of the present invention assembled together.

Figure 2.- shows a view of the internal part of the rotating circular platform, where the movement mechanism of the equipment can be seen.

Figure 3.- shows a detailed view of the movement mechanism of the equipment, with the gear system used to rotate the platform with the motor and to read its position using an optical detection device that, through a programmable control module, sends the data to the motor and this moves the plate for fixing with the upper base of the platform.

Figure 4.- shows a perspective view of a roller box on which the drive wheel of the wheelchair is located.

Figure 5.- shows a detail of the roller box where you can see the optical detector or encoder that sends the angular position data to a control module.

Figure 6.- shows a wheelchair located on the platform of the equipment object of the present invention, and it represents all the possible movements that the equipment can carry out, specifically the rotation of the rollers of the right drawer (RG), the rotation of the rollers of the left drawer (GI) and the rotation of the platform (GP)

Figure 7.- shows a view of the access ramp to the platform, made up of the ramp itself and some side safety railings.

Figure 8.- shows a view of the carrying structure or hanger of the virtual reality device, most commonly they are virtual reality glasses.

DETAILED DESCRIPTION OF AN EMBODIMENT OF THE INVENTION

As can be seen in the figures, a possible embodiment of a real environment simulation equipment for people with reduced mobility is designed by parts that can be assembled together, which improves transportation, for example. In this sense, the assembly to obtain a set like the one in the first figure is that, in the first place, a fixed lower base (11) is placed, on top of it and making use of the central axis of rotation, an upper base is placed. (12) mobile, which has two openings or holes for the location of some drawers (2), generating the union of these bases a platform (1) of circular and hollow configuration, which inside includes the mechanisms responsible for movement Of the same. Once fixed, the drawers (2) containing the rollers (21, 22) are inserted in their respective positions, fixing them to the upper base (12) with perimeter plates (23) and, therefore, generating a rotating platform that includes some rollers where a user places the drive wheels of his wheelchair (A). Next, a carrying structure (5) for the cable of the virtual reality display device (9) is placed, such as virtual reality glasses, and then a ramp (3) for access to the platform is assembled. Finally, some railings (4) are mounted on the ramp. In this way, the equipment object of the present invention can be used by any person who needs to use any type of approved wheelchair, being able to access the equipment autonomously, and not requiring any person or auxiliary help for the use of said equipment. equipment.

Going into a greater degree of detail of this example of embodiment, in the internal part of the platform (1) the movement mechanism of the equipment is arranged. This movement mechanism or system (6) comprises:

- An upper anchor (61) that fixes the movement system to the upper base (12) of the platform (1);

- a rotating electrical connector (62) that remains in connection with the upper anchor (61) and that allows said anchor to rotate and, therefore, to rotate the upper base (12) of the platform (1);

- a main bevel gear (63), in connection by means of a shaft with the rotary connector (62), and which is the one that manages the rotation of the rotary connector (62);

- a primary bevel gear (64) in connection with an optical detection device (67) or encoder by means of a transmission shaft (66) where this detection device measures the position of the platform; this detection device being in connection with a programmable control module (7); and where the primary bevel gear (64) is in connection with the main bevel gear (63).

- a secondary bevel gear (65) in connection with a motor (68), which in this possible embodiment of the invention is of the geared motor type, where this motor (68) is in connection with a power source (8), which in the case of a preferred embodiment is 24Vdc, which in turn can be fed to the 230Vac electrical network; and where the secondary bevel gear (65) is in connection with the main bevel gear (63);

- and where the programmable control module (7) comprises computer tools and is in connection with the power supply (8), and is connected, in the case of the present embodiment by means of wiring, with the virtual reality display device ( 9), in the case of the present embodiment, virtual reality glasses.

Additionally, the platform can internally comprise a plurality of rolling supports (13) that support the upper base (12) and allow it to rotate freely; and on the lateral faces of the fixed lower base (11), it can comprise some plates (14) for fixing a ramp (3).

In turn, in the holes made in the upper base (12) of the platform (1) there are some drawers (2) that contain two rollers arranged in parallel or facing each other, and that in the space between them is placed each of the drive wheels of the wheelchair (A); that is, since there are two drawers, one of the drive wheels of the chair is located in each drawer. A drawer therefore comprises a main drive roller (21) for control and an auxiliary roller (22) that rotates freely, where the main roller comprises at least one optical detector (24) or encoder at one of its ends, optical detector (24) which is in connection with the programmable control module (7) and sends the angular position data of the chair to the control module, which manages these data and sends a signal to the motor (68) to move through the previously indicated gears the platform (1) as required. The drawer is fixed to the base by means of the perimeter plates (23) that prevent it from moving from its position.

Likewise, the optical detection device (67) or encoder, continuously measures the angular position of the platform, transmitting a signal of said position to the programmable control module (7), which also has data on the position of the platform. the wheelchair by the data received from the other encoder of the rollers, and since the control module (7) is in turn connected to the virtual reality display device (9), with continuous measurements from both encoders and settings on the motor can adjust the movement of the platform immediately, and also can transmit the immediate signal to the VR headset, so that the gap between tracking the positioning of the VR display device is avoided ( 9) and the angular position of the wheelchair on the platform (1).

In this sense, the control module (7) is programmed to reproduce the movements in the virtual model based on the electrical signals transmitted by the encoders. The programming language or software of said computer program is not protected by the present invention.

Regarding the rollers, they can have a coupling (25) with a braking system in at least one main roller (21), and in connection with the control module (7) that according to the programmed can offer a greater or less resistance to rotation rollers based on the characteristics of the real terrain that is intended to be simulated.

Taking these aspects into account, the rotation of the platform is achieved by combining the data collected by the optical detectors (24) of the rollers, one for each wheel, and the programming duly implemented in the control module (7). . As a summary, Table 1 explains the possible main movements of the equipment

Table 1

In addition, the movement of the platform is managed through the data recorded by the optical detection device (67) or platform encoder, which measures the position of the platform and continuously sends it to the control module (7). programmable to synchronize the orientation of the chair in the virtual context with the real one. In this sense, the control module (7) is programmed to reproduce the movements in the virtual model based on the electrical signals transmitted by the encoders. The programming language or software of said computer program is not protected by the present invention. In any case, this step, which is an advantage over any type of technology known for simulators for people with reduced mobility who use wheelchairs, makes it possible to avoid the gap between the tracking of the positioning of the virtual reality display device (9 ) and the angular position of the wheelchair on the platform (1), since both positions are independent, and the positioning of the virtual reality display device (9) or glasses is independent of the position of the wheelchair ( TO).

The movement of a wheelchair (A) consists in the fact that the individual riding on it can:

- Rotate both wheels simultaneously in the same direction, which results in a translation movement of the chair forwards or backwards depending on where you turn. - Rotate one of the wheels in isolation, which translates into a rotation movement of the chair to the left or right.

- Turn one wheel in one direction and the other in the opposite, which translates as in the previous case into a rotation movement of the chair to the left or right, but more emphasized.

This means that, together with the programming, the ability to reproduce this movement identically in a simulator requires a mechanical system with two rollers and a system of transmission shafts that allow each roller to act independently or in a coordinated manner, as required. each case. As previously mentioned, this equipment has the ability to send orders in real time to the software based on what each roller detects, as can be seen in Table 1 previously shown.

Finally, as indicated initially, to allow a user to use the equipment independently without the need for the help of an auxiliary person, the equipment may comprise a ramp (3) for access to the platform (1) with the chair of wheels (A). To improve safety, this ramp can also include a safety handrail (4) on its sides, and above all, keeping in mind that the best way to access the platform is to ascend the ramp backwards. If the location allows it, the system can be embedded, leaving it flush with the ground and thus avoiding the need for a ramp. In this sense, an attempt has been made to design a system that represents the minimum necessary height possible in its manufacture.

Finally, the equipment can also comprise a carrier structure (5) or a hanger for the virtual reality display device (9), such as virtual reality glasses, a viewer or an equivalent device. This structure is fixed to the fixed lower base (11) of the platform (1) with a plate (50) at one lower end, and at its other upper end it has a hanger (51), which by means of a cable (52) hold the virtual reality display device (9). The connection between the virtual reality display device (9) and the control module (7) is made by wiring (52) or conventional systems such as Bluetooth or similar can be connected via wireless, for which both the module control (7) and the virtual reality display device (9) require a wireless communications module. To avoid problems regarding the connection, and since the carrying structure (5) prevents the cable from becoming entangled or entangled with the wheelchair (A), preferably, as shown shows in this possible embodiment of the invention, the connection between the control module and the virtual reality device is by means of wiring.

Claims (13)

1. - Equipment for simulation of real environments for people with wheelchair mobility, which includes a platform (1) made up of a fixed lower base (11) and a mobile upper base (12), a platform that houses a movement mechanism or system (6) and a programmable control module (7) inside it; and a virtual reality display device (9) equipment that is characterized by comprising: a movement system (6) comprising: an upper anchor (61) that fixes the movement system to the upper base (12) of the platform (1); a rotating electrical connector (62) that remains in connection with the upper anchorage (61) and allows the rotation of the upper base (12) of the platform (1); a main bevel gear (63), in connection by means of a shaft with the rotary connector (62), and which manages the rotation of the rotary connector (62); a primary bevel gear (64) in connection with an optical detection device (67); where this detection device measures the position of the platform and sends the data to the programmable control module (7); and where the primary bevel gear (64) is in connection with the main bevel gear (63); a secondary bevel gear (65) in connection with a motor (68); motor (68) which is in connection with a power source (8) and the control module (7); and where the secondary bevel gear (65) is in connection with the main bevel gear (63); two drawers (2) arranged in two holes made in the upper base (12) of the platform (1) that contain two rollers arranged in parallel or facing each other, and that one of the drive wheels is placed in the space between them from the wheelchair (A); where the rollers are a driving main roller (21) and an auxiliary roller (22) that rotates freely, where the main roller comprises at least one optical detector (24) at one of its ends, optical detector (24) that sends the data wheelchair position control module (7); and where the programmable control module (7), which receives the data from the position of the platform (1) and from the wheelchair (A) and includes computer tools, and is connected to the virtual reality display device ( 9). 2. - Equipment for simulating real environments for people with wheelchair mobility, according to claim 1, wherein the drawer (2) comprises perimeter plates (23) with which it is fixed to the upper base (12). 3. - Simulation equipment for real environments for people with wheelchair mobility, according to claim 1, where there is a coupling (25) with a braking system in at least one main roller (21), and where this coupling is in connection with the control module (7). 4. - Equipment for simulating real environments for people with wheelchair mobility, according to claim 1, wherein the platform (1) internally comprises a plurality of rolling supports (13) that support the upper base (12). 5. - Equipment for simulating real environments for people with wheelchair mobility, according to claim 1, characterized in that it comprises a ramp (3) for access to the platform (1). 6. - Equipment for simulation of real environments for people with wheelchair mobility, according to claim 5, wherein the ramp (3) is fixed to the platform by plates (14) located on the lower base (11). 7. - Equipment for simulating real environments for people with wheelchair mobility, according to claim 5, wherein the ramp (3) comprises safety railings (4) arranged on the sides of the ramp. 8. - Equipment for simulating real environments for people with wheelchair mobility, according to claim 1, characterized in that it comprises a carrying structure (5) of the virtual reality display device (9) that is fixed to the platform (1). 9. - Equipment for simulation of real environments for people with mobility in a wheelchair, according to claim 8, wherein the carrier structure (5) comprises a plate (50) at a lower end that is fixed to the lower base (11) of the platform (1). 10. - Equipment for simulating real environments for people with wheelchair mobility, according to claim 8, wherein the carrier structure (5) comprises a hanger (51) at an upper end where it is hung, with a cable (52) , the virtual reality display device (9). 11. Equipment for simulating real environments for people with wheelchair mobility, according to claim 1, wherein the control module (7) and the virtual reality display device (9) are connected by wiring. 12.- Equipment for simulating real environments for people with wheelchair mobility, according to claim 1, wherein the control module (7) and the virtual reality display device (9) comprise a wireless communication module and are connect to each other wirelessly. 13.- Equipment for simulating real environments for people with mobility in wheelchairs, according to claim 1, wherein the virtual reality display device (9) is virtual reality glasses.