WO2018094922A1 - 一种虚拟现实体验平台 - Google Patents

一种虚拟现实体验平台 Download PDF

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Publication number
WO2018094922A1
WO2018094922A1 PCT/CN2017/077361 CN2017077361W WO2018094922A1 WO 2018094922 A1 WO2018094922 A1 WO 2018094922A1 CN 2017077361 W CN2017077361 W CN 2017077361W WO 2018094922 A1 WO2018094922 A1 WO 2018094922A1
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motion
virtual reality
reality experience
platform
experience platform
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PCT/CN2017/077361
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English (en)
French (fr)
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刘元江
周忠厚
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歌尔股份有限公司
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Publication of WO2018094922A1 publication Critical patent/WO2018094922A1/zh

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    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47C—CHAIRS; SOFAS; BEDS
    • A47C31/00—Details or accessories for chairs, beds, or the like, not provided for in other groups of this subclass, e.g. upholstery fasteners, mattress protectors, stretching devices for mattress nets

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  • the present invention relates to the field of virtual reality technologies, and in particular, to a virtual reality experience platform.
  • VR Virtual Reality
  • a virtual reality experience platform including: an upper platform, a lower platform, and a plurality of sets of motion executing mechanisms, each set of motion executing mechanisms comprising: at least two linear motors, at least two sliders, at least Two first hinge members, at least one second hinge member, wherein the at least two linear motors are fixed to the lower platform, and one ends of the at least two slide bars respectively pass through the at least two first hinge members Hinged to the at least two linear motors, the other end of the at least two slide bars being hinged to the upper platform by the at least one second hinge member, and the coordinated movement of the plurality of sets of motion execution structures is implemented Describe the six-degree-of-freedom movement of the platform.
  • the first hinge component comprises at least: a first universal joint
  • the second hinge component comprises at least: a second universal joint and a bearing component, wherein the at least two The other end of the slide bar is hinged to the second universal joint, and the second universal joint is coupled to a bearing member disposed on the upper platform.
  • the other ends of the two sliding bars are hinged at the same hinge of the second universal joint, or the other ends of the two sliding bars are hinged with the second universal joint Different hinges.
  • the virtual reality experience platform comprises three sets of motion executing mechanisms.
  • the linear motor comprises: a motor body and a moving rail, wherein the moving rail is fixed to the lower platform, and the motor body is disposed on the moving rail.
  • At least two of the linear actuators of each set of motion actuators share the same motion rail.
  • the three moving slides of the three sets of motion actuators are spliced into an equilateral triangle.
  • the virtual reality experience platform further includes: a seat fixed to the upper platform.
  • the inventors of the present invention have found that the virtual reality experience platform provided by the embodiment of the present invention adopts a linear drive linear motor and a direct drive structure of the execution structure, and cancels the ball screw, the rack and the gear, the transmission belt and the prior art in the prior art.
  • Mechanical transmission components such as pulleys overcome mechanical transmission noise and vibration and improve response speed.
  • the virtual reality experience platform provided by the invention has small volume and low inertia, and overcomes the disadvantages of the inertia of the traditional mechanical structure. Therefore, the technical task to be achieved by the present invention or the technical problem to be solved is not thought of or expected by those skilled in the art, so the present invention is a new technical solution.
  • FIG. 1a shows a schematic structural diagram of a virtual reality experience platform according to an embodiment of the present invention.
  • FIG. 1b is a schematic structural diagram of another view angle of a virtual reality experience platform according to an embodiment of the present invention.
  • FIG. 1c is a schematic structural diagram of another view angle of a virtual reality experience platform according to an embodiment of the present invention.
  • FIG. 2 shows a schematic structural view of a first hinge member in accordance with one embodiment of the present invention.
  • Figure 3 shows a schematic view of the structure of a second hinge member in accordance with one embodiment of the present invention.
  • FIG. 4 is a schematic diagram showing another structure of a virtual reality experience platform according to an embodiment of the present invention.
  • the linear motor (DDL motor) can directly convert electrical energy into linear motion mechanical energy.
  • the embodiment of the invention provides a virtual reality experience platform.
  • FIG. 1a shows a schematic structural diagram of a virtual reality experience platform according to an embodiment of the present invention.
  • the virtual reality experience platform includes: an upper platform 10, a lower platform 20, and a plurality of sets of motion executing mechanisms 30.
  • Each set of motion executing mechanisms includes at least: at least two linear motors 310, at least two sliding rods 320, at least two A first hinge member 330 and at least one second hinge member 340.
  • At least two linear motors 310 Fixed to the lower platform 20.
  • One ends of the at least two slide bars 320 are respectively hinged to the at least two linear motors 310 by the at least two first hinge members 330, that is, one of the two slide bars 320 is hinged to the two linear motors 310.
  • a linear motor, the other of the two slide bars 320 is hinged to the other of the two linear motors 310, and the other ends of the two slide bars 320 are hinged to the upper platform 10 by the second hinge member 340.
  • the six degrees of freedom of the upper platform 10 is achieved by the cooperative movement of the plurality of sets of motion actuators 30.
  • the linear drive linear motor and the direct drive structure of the execution structure are adopted, and the mechanical transmission components such as the ball screw, the rack and the gear, the transmission belt and the pulley are eliminated in the prior art, and the mechanical transmission component is overcome. Mechanical transmission noise and vibration improve response speed.
  • the virtual reality experience platform provided by the invention has small volume and low inertia, and overcomes the disadvantages of the inertia of the traditional mechanical structure.
  • the first hinge member 330 includes at least: a first universal joint 330a, and the first universal joint 330a is disposed on the linear motor.
  • the second hinge member 340 includes at least: a second universal joint 340a and a bearing member 340b.
  • the other ends of the two slide bars 320 are hinged to the second universal joint 340a, and the second universal joint 340a is coupled to the bearing member 340b provided on the upper platform 10.
  • the other end of at least two of the sets of motion actuators may be hinged to the same hinge of the second universal joint 340a, or at least two of each set of motion actuators.
  • the other end of the slide bar 320 can be hinged to a different hinge of the second universal joint 340a.
  • the other end of the two slide bars 320 is hinged to the second universal joint in the embodiment of the present invention.
  • the linear motor comprises a motor body and a moving slide rail.
  • the moving rail is fixed on the lower platform 20, and the motor body can perform linear motion on the moving rail.
  • the motor bodies of at least two of the linear actuators 310 of each set of motion actuators share the same motion rail.
  • at least two linear motors 310 of each group of motion actuators may also be disposed on different motion rails, that is, each linear motor itself includes a motion rail, and at this time, each straight line The motor body of the motor is linearly moved on its own moving slide.
  • Figure 1b and Figure 1c are two other view angles of the virtual reality experience platform shown in Figure 1a Schematic diagram of the degree.
  • the virtual reality experience platform includes three sets of motion actuators, namely a motion actuator 30a, a motion actuator 30b, and a motion actuator 30c.
  • Each set of motion actuators includes at least two linear motors, two slide bars, two first universal joints, a second universal joint, and a bearing component.
  • the virtual reality experience platform includes three groups of motion execution organizations as an example. The number of motion execution mechanisms included in the virtual reality experience platform may also be four groups, five groups, and six groups. No restrictions are made.
  • the motor bodies of the two linear motors in each set of motion actuators are disposed on the same moving rail.
  • the three sets of motion actuators comprise three moving rails, preferably the three moving rails are spliced into an equilateral triangle.
  • three second universal joints are evenly distributed over the upper platform 10, wherein the lines of the three second universal joints are joined to form an equilateral triangle.
  • the three second universal joints can also be fixed on the upper platform 10 in an arbitrary distribution manner, and the present invention is not limited thereto.
  • a three-dimensional coordinate axis is set in advance, wherein a direction perpendicular to the lower platform shown in FIG. 1b is set to a Z-axis, parallel to the direction of the moving rail of the motion executing mechanism 30a shown in FIG. 1b.
  • a direction perpendicular to the lower platform shown in FIG. 1b is set to a Z-axis, parallel to the direction of the moving rail of the motion executing mechanism 30a shown in FIG. 1b.
  • the direction of the moving rail perpendicular to the motion actuator 30a shown in Figure 1b is the X-axis.
  • both of the linear actuators of the motion actuator 30b and the motion actuator 30c are moved in a direction close to the motion actuator 30a, and the distances of the two linear motors in the motion actuator 30b remain unchanged.
  • Two linear motors in the motion actuator 30c The distance remains unchanged and the motion actuator 30a remains free.
  • the three sets of motion actuators move the upper platform back and forth in the Y-axis direction.
  • the two linear motors in the motion actuator 30b move in directions toward each other
  • the two linear motors in the motion actuator 30c move in directions toward each other, and the two linear motors in the motion actuator 30a remain.
  • the three sets of motion actuators drive the upper platform to rotate in the Y-axis direction.
  • both linear motors in the motion actuator 30a are moved in a direction approaching or moving away from the motion actuator 30b, and the distances of the two linear motors in the motion actuator 30a remain unchanged, motion execution Both linear motors in mechanism 30b are moved in a direction approaching or moving away from motion actuator 30a, and the distance of the two linear motors in motion actuator 30b remains the same, the motion of the two motors in motion actuator 30a
  • the speed is smaller than the speed of the two linear motors in the motion actuator 30b, and the two linear motors in the motion actuator 30c move in a direction close to each other.
  • the three sets of motion actuators drive the upper platform along the X-axis direction. Move left and right.
  • the realization of the six-degree-of-freedom motion of the virtual reality experience platform requires not only controlling the position of the linear motor but also controlling the moving speed of the linear motor.
  • the specific motions of the linear motors of the six-degree-of-freedom motion of the virtual reality experience platform listed above are merely examples.
  • other coordinated motions of the linear motors may also be used. It is not limited to the examples listed above.
  • the virtual reality experience platform further includes: a seat 40 to which the seat 40 is fixed.
  • the linear motor is a three-phase permanent magnet synchronous AC linear motor.

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Abstract

一种虚拟现实体验平台，包括：上平台（10）、下平台（20）、多组运动执行机构（30），每组运动执行机构（30）包括：至少两个直线电机（310）、至少两个滑杆（320）、至少两个第一铰接部件（330）、至少一个第二铰接部件（340），其中，至少两个直线电机（310）固定于下平台（20），至少两个滑杆（320）的一端分别通过至少两个第一铰接部件（330）铰接于至少两个直线电机（310），至少两个滑杆（320）的另一端通过至少一个第二铰接部件（340）铰接于上平台（10），通过多组运动执行结构（30）的配合运动，实现上平台（10）的六自由度的运动。采用虚拟现实体验平台，克服了机械传动噪音和振动，提高了响应速度，惯性低。

Description

一种虚拟现实体验平台 技术领域
本发明涉及虚拟现实技术领域，更具体地，涉及一种虚拟现实体验平台。
背景技术
虚拟实境(Virtual Reality)，简称VR技术，是利用电脑模拟产生一个三度空间的虚拟世界，提供使用者关于视觉、听觉、触觉等感官的模拟，让使用者如同身历其境一般，可以及时、没有限制地观察三度空间内的事物。
将VR技术与座椅结合在一起形成虚拟现实体验平台，是目前一项重要应用，对于如何将VR技术嵌入到传统座椅上，是一个亟待解决的问题。另外，现有技术中，虚拟现实体验平台采用伺服电机进行驱动，同时，以滚珠丝杠、齿条与齿轮、传动皮带与皮带轮作为机械传动部件，存在响应速度慢、噪音大、运动振动大、机械磨损严重等缺点。
发明内容
本发明的一个目的是提供一种虚拟现实体验平台的新技术方案。
根据本发明的一个方面，提供了一种虚拟现实体验平台，包括：上平台、下平台、多组运动执行机构，每组运动执行机构包括：至少两个直线电机、至少两个滑杆、至少两个第一铰接部件、至少一个第二铰接部件，其中，所述至少两个直线电机固定于所述下平台，所述至少两个滑杆的一端分别通过所述至少两个第一铰接部件铰接于所述至少两个直线电机，所述至少两个滑杆的另一端通过所述至少一个第二铰接部件铰接于所述上平台，通过所述多组运动执行结构的配合运动，实现所述上平台的六自由度的运动。
优选地，所述第一铰接部件至少包括：第一万向联轴节，和/或所述第二铰接部件至少包括：第二万向联轴节和轴承部件，其中，所述至少两个滑杆的另一端均铰接于所述第二万向联轴节上，所述第二万向联轴节与设置在所述上平台的轴承部件连接。
优选地，所述两个滑杆的另一端铰接于所述第二万向联轴节的同一铰接处，或者，所述两个滑杆的另一端铰接与所述第二万向联轴节的不同铰接处。
优选地，所述虚拟现实体验平台包括三组运动执行机构。
优选地，所述直线电机包括：电机本体和运动滑轨，其中，所述运动滑轨固定于所述下平台，所述电机本体设置于所述运动滑轨上。
优选地，所述每组运动执行机构中的至少两个直线电机共用同一运动滑轨。
优选地，所述三组运动执行机构的三个运动滑轨拼接成等边三角形。
优选地，所述虚拟现实体验平台还包括：座椅，固定于所述上平台。
本发明的发明人发现，本发明实施例提供的虚拟现实体验平台，采用直线驱动直线电机和执行结构的直驱结构，取消了现有技术中的滚珠丝杠、齿条与齿轮、传动皮带与皮带轮等机械传动部件，克服了机械传动噪音和振动，提高了响应速度。另外，本发明提供的虚拟现实体验平台，体积小，惯性低，克服了传统机械结构的惯性大的弊端。因此，本发明所要实现的技术任务或者所要解决的技术问题是本领域技术人员从未想到的或者没有预期到的，故本发明是一种新的技术方案。
通过以下参照附图对本发明的示例性实施例的详细描述，本发明的其它特征及其优点将会变得清楚。
附图说明
被结合在说明书中并构成说明书的一部分的附图示出了本发明的实施例，并且连同其说明一起用于解释本发明的原理。
图1a示出了根据本发明一个实施例的虚拟现实体验平台的结构示意图。
图1b示出了根据本发明一个实施例的虚拟现实体验平台的另一种视图角度的结构示意图。
图1c示出了根据本发明一个实施例的虚拟现实体验平台的另一种视图角度的结构示意图。
图2示出了根据本发明一个实施例的第一铰接部件的结构示意图。
图3示出了根据本发明一个实施例的第二铰接部件的结构示意图。
图4示出了根据本发明一个实施例的虚拟现实体验平台的另一种结构示意图。
具体实施方式
现在将参照附图来详细描述本发明的各种示例性实施例。应注意到：除非另外具体说明，否则在这些实施例中阐述的部件和步骤的相对布置、数字表达式和数值不限制本发明的范围。
以下对至少一个示例性实施例的描述实际上仅仅是说明性的，决不作为对本发明及其应用或使用的任何限制。
对于相关领域普通技术人员已知的技术、方法和设备可能不作详细讨论，但在适当情况下，所述技术、方法和设备应当被视为说明书的一部分。
在这里示出和讨论的所有例子中，任何具体值应被解释为仅仅是示例性的，而不是作为限制。因此，示例性实施例的其它例子可以具有不同的值。
应注意到：相似的标号和字母在下面的附图中表示类似项，因此，一旦某一项在一个附图中被定义，则在随后的附图中不需要对其进行进一步讨论。
本发明涉及的直线电机(DDL电机)可将电能直接转换为直线运动机械能。本发明实施例提供了一种虚拟现实体验平台。图1a示出了根据本发明一个实施例的虚拟现实体验平台的结构示意图。参见图1a，该虚拟现实体验平台包括：上平台10、下平台20、多组运动执行机构30，每组运动执行机构至少包括：至少两个直线电机310、至少两个滑杆320、至少两个第一铰接部件330和至少一个第二铰接部件340。至少两个直线电机310 固定于下平台20。至少两个滑杆320的一端分别通过所述至少两个第一铰接部件330铰接于至少两个直线电机310上，即两个滑杆320中的一个滑杆铰接于两个直线电机310中的一个直线电机，两个滑杆320中的另一个滑杆铰接于两个直线电机310中的另一个直线电机，两个滑杆320的另一端通过第二铰接部件340铰接于上平台10。通过多组运动执行机构30的配合运动，实现上平台10的六自由度的运动。
采用本发明提供的虚拟现实体验平台，采用直线驱动直线电机和执行结构的直驱结构，取消了现有技术中的滚珠丝杠、齿条与齿轮、传动皮带与皮带轮等机械传动部件，克服了机械传动噪音和振动，提高了响应速度。另外，本发明提供的虚拟现实体验平台，体积小，惯性低，克服了传统机械结构的惯性大的弊端。
参见图2，本发明实施例中，第一铰接部件330至少包括：第一万向联轴节330a，第一万向联轴节330a设置于直线电机上。
参见图3，第二铰接部件340至少包括：第二万向联轴节340a和轴承部件340b。两个滑杆320的另一端均铰接于第二万向联轴节340a，第二万向联轴节340a与设置在上平台10的轴承部件340b连接。本发明实施例中，每组运动执行机构中的至少两个滑杆320的另一端可铰接于第二万向联轴节340a的同一铰接处，或者，每组运动执行机构中的至少两个滑杆320的另一端可铰接于第二万向联轴节340a的不同铰接处，优选地，参见图3，本发明实施例中两个滑杆320的另一端铰接于第二万向联轴节340a的同一铰接处。
本发明实施例涉及的直线电机包括电机本体和运动滑轨两部分，其中，运动滑轨固定在下平台20上，电机本体可在运动滑轨上做直线运动。在本发明的一个优选实施例中，每组运动执行机构中的至少两个直线电机310的电机本体共用同一运动滑轨。本发明实施例中，每组运动执行机构中的至少两个直线电机310也可设置在不同的运动滑轨上，即每一个直线电机本身均包含有一个运动滑轨，此时，每一个直线电机的电机本体均在其本身包含的运动滑轨上做直线运动。
图1b和图1c为图1a中示出的虚拟现实体验平台的另外两种视图角 度的结构示意图。参见图1b和图1c，虚拟现实体验平台包括三组运动执行机构，即运动执行机构30a、运动执行机构30b、运动执行机构30c。每组运动执行机构至少包括：两个直线电机、两个滑杆、两个第一万向联轴节、一个第二万向联轴节和一个轴承部件。需要说明地是，虚拟现实体验平台包含有三组运动执行机构仅仅是作为一个示例，虚拟现实体验平台包含的运动执行机构的数量还可为四组、五组、六组，对此，本发明并不作出任何限定。
参见图1b和图1c，每组运动执行机构中的两个直线电机的电机本体均设置在同一运动滑轨上。三组运动执行机构包含有三个运动滑轨，优选地，该三个运动滑轨拼接成等边三角形。
参见图1b和图1c，三个第二万向联轴节均匀地分布在上平台10上，其中，三个第二万向联轴节的连线拼接形成等边三角形。本发明实施例中，三个第二万向联轴节还可按照任意分布方式固定在上平台10上，对此，本发明并不作出任何限定。
下面将举例说明本发明实施例提供的虚拟现实体验平台的六自由度的全方位运动。本发明实施例中，预先设定一三维坐标轴，其中，设定垂直于图1b示出的下平台的方向为Z轴，平行于图1b示出的运动执行机构30a的运动滑轨的方向为Y轴，垂直于图1b示出的运动执行机构30a的运动滑轨的方向为X轴。
参见图1b和图1c，当每组运动执行机构中的两个直线电机均沿着滑动导轨沿着相互靠近或者远离对方的方向运动时，则带动每组运动执行机构中的两个滑杆运动，进而带动上平台沿Z轴方向上下运动。当每组运动执行机构中的两个直线电机均沿着同一个方向运动，三组运动执行机构中的6个直线电机的运动方向组合形成一个围绕着Z轴做顺时针或者逆时针的运动时，且每组运动执行机构中的两个直线电机的距离保持不变，此时，三组运动执行机构带动上平台绕Z轴做顺时针或逆时针转动。
参见图1b和图1c，运动执行机构30b和运动执行机构30c中的两个直线电机均沿着靠近运动执行机构30a的方向运动，运动执行机构30b中的两个直线电机的距离保持不变，运动执行机构30c中的两个直线电机的 距离保持不变，且运动执行机构30a保持自由状态，此时，三组运动执行机构带动上平台沿Y轴方向前后运动。当运动执行机构30b中的两个直线电机沿着相互靠近对方的方向运动，运动执行机构30c中的两个直线电机沿着相互靠近对方的方向运动，运动执行机构30a中的两个直线电机保持不动，此时，三组运动执行机构带动上平台沿Y轴方向转动。
参见图1b和图1c，运动执行机构30a中的两个直线电机均沿着靠近或者远离运动执行机构30b的方向运动，且运动执行机构30a中的两个直线电机的距离保持不变，运动执行机构30b中的两个直线电机均沿着靠近或者远离运动执行机构30a的方向运动，且运动执行机构30b中的两个直线电机的距离保持不变，运动执行机构30a中的两个电机的运动速度小于运动执行机构30b中的两个直线电机的运动速度，运动执行机构30c中的两个直线电机沿着相互靠近对方的方向运动，此时，三组运动执行机构带动上平台沿X轴方向左右运动。当运动执行机构30a中的两个直线电机沿着相互靠近对方的方向运动，运动执行机构30b中的两个直线电机沿着相互远离对方的方向运动，运动执行机构30c中的两个直线电机沿着相互远离对方的方向运动，此时，三组运动执行机构带动上平台沿X轴方向转动。
需要说明地是，本发明实施例中，虚拟现实体验平台六自由度运动的实现，不仅需要控制直线电机的位置，还需要控制直线电机的运动速度。上述列举的虚拟现实体验平台的六自由度运动的各直线电机的具体运动情况，仅仅是作为一个示例，除上述列举的各直线电机的配合运动外，还可为各直线电机的其他配合运动，并不局限于上述列举的示例。
在本发明的一个优选实施例中，参见图4，虚拟现实体验平台还包括：一座椅40，座椅40固定于上平台10。
在本发明的一个优选实施例中，直线电机为一三相永磁同步交流直线电机。
虽然已经通过例子对本发明的一些特定实施例进行了详细说明，但是本领域的技术人员应该理解，以上例子仅是为了进行说明，而不是为了限制本发明的范围。本领域的技术人员应该理解，可在不脱离本发明的范围和精神的情况下，对以上实施例进行修改。本发明的范围由所附权利要求 来限定。

Claims (8)

  1. 一种虚拟现实体验平台，其特征在于，包括：上平台、下平台、多组运动执行机构，每组运动执行机构包括：至少两个直线电机、至少两个滑杆、至少两个第一铰接部件、至少一个第二铰接部件，其中，所述至少两个直线电机固定于所述下平台，所述至少两个滑杆的一端分别通过所述至少两个第一铰接部件铰接于所述至少两个直线电机，所述至少两个滑杆的另一端通过所述至少一个第二铰接部件铰接于所述上平台，通过所述多组运动执行结构的配合运动，实现所述上平台的六自由度的运动。
  2. 根据权利要求1所述的虚拟现实体验平台，其特征在于，所述第一铰接部件至少包括：第一万向联轴节，和/或所述第二铰接部件至少包括：第二万向联轴节和轴承部件，
    其中，所述至少两个滑杆的另一端均铰接于所述第二万向联轴节上，所述第二万向联轴节与设置在所述上平台的轴承部件连接。
  3. 根据权利要求2所述的虚拟现实体验平台，其特征在于，所述两个滑杆的另一端铰接于所述第二万向联轴节的同一铰接处，或者，所述两个滑杆的另一端铰接与所述第二万向联轴节的不同铰接处。
  4. 根据权利要求1-3任一所述的虚拟现实体验平台，其特征在于，所述虚拟现实体验平台包括三组运动执行机构。
  5. 根据权利要求1-4任一所述的虚拟现实体验平台，其特征在于，所述直线电机包括：电机本体和运动滑轨，其中，所述运动滑轨固定于所述下平台，所述电机本体设置于所述运动滑轨上。
  6. 根据权利要求5所述的虚拟现实体验平台，其特征在于，所述每组运动执行机构中的至少两个直线电机共用同一运动滑轨。
  7. 根据权利要求6所述的虚拟现实体验平台，其特征在于，所述三组运动执行机构的三个运动滑轨拼接成等边三角形。
  8. 根据权利要求1-7任一所述的虚拟现实体验平台，其特征在于，所述虚拟现实体验平台还包括：座椅，固定于所述上平台。
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