WO2022237234A1 - 移动复位装置、地屏幕、移动复位方法、捕捉位置移动的方法及显示系统 - Google Patents

移动复位装置、地屏幕、移动复位方法、捕捉位置移动的方法及显示系统 Download PDF

Info

Publication number
WO2022237234A1
WO2022237234A1 PCT/CN2022/073509 CN2022073509W WO2022237234A1 WO 2022237234 A1 WO2022237234 A1 WO 2022237234A1 CN 2022073509 W CN2022073509 W CN 2022073509W WO 2022237234 A1 WO2022237234 A1 WO 2022237234A1
Authority
WO
WIPO (PCT)
Prior art keywords
elastic body
traveling wave
person
mobile
wave generating
Prior art date
Application number
PCT/CN2022/073509
Other languages
English (en)
French (fr)
Inventor
王朝
涂健
朱卫强
Original Assignee
深圳市洲明科技股份有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Priority claimed from CN202110505792.8A external-priority patent/CN115317857A/zh
Priority claimed from CN202110506991.0A external-priority patent/CN115328295A/zh
Priority claimed from CN202120989446.7U external-priority patent/CN215182810U/zh
Application filed by 深圳市洲明科技股份有限公司 filed Critical 深圳市洲明科技股份有限公司
Publication of WO2022237234A1 publication Critical patent/WO2022237234A1/zh

Links

Images

Classifications

    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
    • G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
    • G—PHYSICS
    • G09—EDUCATION; CRYPTOGRAPHY; DISPLAY; ADVERTISING; SEALS
    • G09F—DISPLAYING; ADVERTISING; SIGNS; LABELS OR NAME-PLATES; SEALS
    • G09F9/00—Indicating arrangements for variable information in which the information is built-up on a support by selection or combination of individual elements
    • G09F9/30—Indicating arrangements for variable information in which the information is built-up on a support by selection or combination of individual elements in which the desired character or characters are formed by combining individual elements

Definitions

  • the present application relates to the technical field of position reset, and in particular to a mobile reset device for realizing mobile reset, a mobile reset method, a ground screen including the mobile reset device, a method for capturing position movement, and a display system including the ground screen.
  • the treadmill Since the motion of an object is relative, a frame of reference is required to describe the motion of an object.
  • the selected reference frame is the running belt of the treadmill, then the person is moving forward all the time, but if the selected reference frame is the screen placed in front of the treadmill, then the person is stationary, Because it does not approach the screen, nor away from the screen.
  • the conveyor belt (treadmill) itself can only realize the position reset in a single direction, and a person standing on the treadmill can only walk forward or backward, but cannot change speed or change direction in any direction.
  • the treadmill is limited by its driving principle (the treadmill can only reset the position of the person through the forward and reverse rotation of the running belt, which means that the treadmill can only reset the position of the person in one direction) itself. It is possible to drive and reset in multiple directions, and there is no better driving scheme for moving and reset in multiple directions in the prior art.
  • the treadmill can be applied to the immersive display system to make the immersive display system have more interactive experience.
  • the immersive display system is a multi-channel display solution represented by the CAVE immersive system, focusing on a fully immersive visual experience.
  • the immersive experience space is divided into cave and panoramic.
  • the cave style includes 3 flat displays and 1 floor display, four in front of the viewer (with a main screen), left (with a side screen), right (with a side screen), and lower (with a ground screen) The directions are presented at 90 degrees to each other, so that people who face the front side can see the display content wherever they can see.
  • Panorama includes the main screen, left screen, right screen, ground screen, rear screen and upper screen (also known as the sky screen) for display, to achieve any angle in the true sense, and any position is the display content , so as to realize full-angle virtual reality simulation.
  • the existing technical solution mainly binds the display system and the treadmill to transmit information to each other.
  • the display system will capture the movement information of the treadmill.
  • the video screen played by the display system will also be updated in real time with the movement of the treadmill to achieve synchronous interaction.
  • each transmission member and the drive motor itself are made of metal, so the treadmill cannot be made completely transparent or have a high permeability. Therefore, in the panorama scheme, it is always necessary to consider the obstruction of the display effect of the treadmill to the ground screen.
  • the existing scheme also refers to making the treadmill part of the ground screen instead of making the treadmill transparent.
  • the immersive display system there is a difficulty that people interact with the screen in the form of stances, so they cannot move while watching the content on the screen.
  • this does not mean that people cannot stand completely, but it means that the best viewing angle in this space is limited to a specific range, and the 3D effect of the picture seen in this range is the best.
  • the virtual simulation effect is the most realistic.
  • This optimal viewing range can be adjusted by algorithmically compensating the video feed, which requires real-time tracking of a person's movement within this space.
  • the existing detection process is very complicated, and the compensation algorithm is also very complicated.
  • a mobile reset device for realizing mobile reset a mobile reset method, a ground screen including the mobile reset device, a method for capturing position movement, and a display system including the ground screen are provided.
  • a mobile reset device includes a main controller, an elastic body, and at least one line wave generating source.
  • the traveling wave generating source is closely connected with the elastic body, and the traveling wave generating source is electrically connected with the main controller.
  • the traveling wave generating source includes a piezoelectric ceramic sheet and a driving module
  • the piezoelectric ceramic sheet is either embedded in the elastic body or provided on the outer surface of the elastic body
  • the The driving module is electrically connected to the main controller
  • the driving module is drivingly connected to the piezoelectric ceramic sheet.
  • the mobile reset device further includes at least one pressure sensor, the pressure sensor is built in the elastic body or attached to the upper surface of the elastic body or attached to the elastic body the lower surface, and the pressure sensor is electrically connected to the main controller.
  • the elastic body includes a central elastic body and several boundary elastic bodies.
  • the plurality of boundary elastic bodies are arranged around the central elastic body in turn, and the inner side of each of the boundary elastic bodies is close to the corresponding side of the central elastic body, and each of the boundary elastic bodies is connected to one of the elastic bodies.
  • the traveling wave generating sources are closely connected, and two adjacent boundary elastic bodies are separated by a preset distance.
  • the elastic body includes N boundary elastic bodies, and the cross section of the central elastic body is regular N-gon.
  • the mobile resetting device includes N traveling wave generating sources.
  • Each of the boundary elastic bodies is arranged on a corresponding side of the central elastic body, and the N traveling wave generating sources are respectively arranged on the sides of the N boundary elastic bodies away from the central elastic body above, to form N/2 groups of traveling wave generating source groups oppositely arranged.
  • N is an even number greater than 3.
  • the mobile resetting device includes several integrated modules arranged in an array, and each integrated module includes a module main body, the elastic body, and the traveling wave generating source.
  • the elastic body is laid on the top side of the corresponding module main body
  • the traveling wave generating source includes a plurality of piezoelectric ceramic sheets and a plurality of drive modules, and the plurality of piezoelectric ceramic
  • the pieces are tightly connected to the corresponding elastic bodies
  • the plurality of driving modules are respectively electrically connected to the main controller
  • each of the driving modules is drivingly connected to a piezoelectric ceramic piece.
  • each of the integrated modules further includes at least one pressure sensor, and the pressure sensor is disposed on the top side of the module body or built into the module body or disposed at the bottom of the module body side, and the pressure sensor is electrically connected to the main controller.
  • the mobile resetting device is a wearable device.
  • the mobile reset device is a fixed device, and the moving object is located on the mobile reset device.
  • a mobile reset method for realizing mobile reset includes the following steps: when a person moves on the elastic body, detecting the moving direction of the person on the elastic body ; According to the moving direction, a traveling wave is formed on the elastic body by a traveling wave generating source, and the transmission direction of the traveling wave is the same as the moving direction, so as to realize the moving reset of the person on the elastic body.
  • a ground screen for realizing mobile reset includes: a display layer; and the mobile reset device as described in any one of the above embodiments.
  • the mobile reset device is laid on the display surface of the display layer, wherein the traveling wave generating source is electrically connected to the main controller of the display layer.
  • a method for capturing positional movement includes the following steps: S110, detecting the positional information of two initial pressure points formed by a person on a preset plane; S120 , when it is detected that one of the initial pressure points disappears, the position of the other initial pressure point is taken as the system origin, and the position of the first pressure point formed again on the preset plane is taken as the direction point, and the The position of the second pressure point re-formed on the preset plane is used as the second zero point; and S130, based on the positional relationship between the system origin, the direction point and the second zero point, Determine the current position movement state of the person on the preset plane.
  • the preset plane is the surface of the mobile reset device.
  • a display system the display system includes the ground screen as described above, wherein the display system carries out the movement of the position of the person on the mobile reset device of the ground screen When capturing, execute the method of capturing position movement as described above.
  • FIG. 1 is a schematic structural diagram of a first example of a mobile resetting device according to Embodiment 1 of the present application.
  • FIG. 2 is a schematic structural diagram of a second example of a mobile reset device in Embodiment 1 of the present application.
  • Fig. 3 is a cross-sectional view of the mobile reset device shown in Fig. 2 .
  • Fig. 4 is a schematic structural diagram of an array form of the mobile resetting device according to the third example of the first embodiment of the present application.
  • FIG. 5 is a schematic structural diagram of another array form of the device for moving and resetting according to the third example of Embodiment 1 of the present application.
  • FIG. 6 is a block flow diagram of a moving and resetting method according to Embodiment 2 of the present application.
  • FIG. 7 is a schematic structural diagram of a ground screen for realizing location movement according to Embodiment 3 of the present application.
  • FIG. 8 is a flowchart of a method for capturing position movement according to Embodiment 4 of the present application.
  • FIG. 9 is a specific flowchart of step S130 of the method for capturing position movement shown in FIG. 8 .
  • FIG. 10 to FIG. 13 are principle schematic diagrams for determining the current position movement state of a person on a preset plane in the method for capturing position movement shown in FIG. 8 .
  • Embodiment 1 of the present application provides a mobile reset device 1 for realizing mobile reset.
  • the mobile resetting device 1 includes a main controller (not shown), an elastic body 100 and at least one line wave generating source 200.
  • the traveling wave generating source 200 is closely connected with the elastic body 100, and the traveling wave generating source 200 is electrically connected with the main controller.
  • the mobile reset device 1 is a wearable device, so that the elastic body 100 is worn under a person's foot.
  • the traveling wave generating source 200 of this embodiment includes a piezoelectric ceramic chip and a driving module.
  • the piezoelectric ceramic sheet can be embedded in the elastic body or attached to the outer surface of the elastic body.
  • the driving module is electrically connected with the main controller, and the driving module is driven and connected with the piezoelectric ceramic sheet.
  • the drive module applies a certain high-frequency alternating voltage to the piezoelectric ceramic sheet under the control of the main controller, and the piezoelectric ceramic sheet will expand or expand with the amplitude of the high-frequency voltage after being polarized.
  • the piezoelectric ceramic sheet is either built into the elastic body 100 or attached to the outer surface of the elastic body 100 (that is, it is closely connected with the elastic body 100)
  • the elastic body 100 will be expanded or contracted by the piezoelectric ceramic sheet Vibration is generated due to the influence of the vibration, and the vibration form is a standing wave.
  • each drive module can be controlled by the main controller by applying Different high-frequency alternating voltages are used to form these two groups of standing waves) superimposed on each other to form traveling waves.
  • the traveling waves in the four directions of the elastic body 100, front, back, left, and right are taken as an example.
  • the elastic body 100 specifically adopts a rectangular structure, and four traveling wave generating sources 200 are arranged around the elastic body 100 in sequence, and each traveling wave generates The source 200 rests against the corresponding side of the elastomer body 100 .
  • one traveling wave generating source 200 forms a traveling wave in a corresponding direction on the elastic body 100 .
  • the elastic body 100 may be circular, irregular, or the like.
  • the action form of traveling wave essentially acts on people through elastic deformation, so as long as the medium can undergo elastic deformation. Therefore, the specific structure of the elastic body 100 is not limited here.
  • the traveling wave generation source 200 When the traveling wave generation source 200 generates traveling waves, the traveling waves are , it will exert a thrust opposite to the direction of the traveling wave transmission on the person, and when the person receives the thrust, he will return to the direction of the thrust.
  • the person when the displacement effect of the traveling wave and the movement of the person are in dynamic balance, the person is equivalent to walking in space, although the person has the motion of walking, but the person does not move.
  • the key point is to avoid slipping and falling caused by unstable center of gravity during the reset process.
  • the mobile reset device 1 further includes at least one pressure sensor 300 .
  • the pressure sensor 300 can be embedded in the elastic body 100 or attached to the upper surface of the elastic body 100 or attached to the lower surface of the elastic body 100 .
  • the pressure sensor 300 is electrically connected with the main controller.
  • the setting of the pressure sensor 300 can be used to detect the pressure of the elastic body 100 so as to make a corresponding judgment on the current moving state of the person on the elastic body 100 .
  • FIG. 2 and FIG. 3 are the second example of the mobile reset device 1.
  • the mobile reset device 1 is a fixed device, and a moving object (such as a person) can be located on the mobile reset device 1.
  • the elastic body 100 of the mobile reset device 1 includes a central elastic body 110 and several boundary elastic bodies 120 .
  • a plurality of boundary elastic bodies 120 are disposed around the central elastic body 110 in turn, and the inner side of each boundary elastic body 120 is closely attached to the corresponding side of the central elastic body 110 .
  • Each boundary elastic body 120 is closely connected with a line wave generating source 200 . There is a preset distance between two adjacent boundary elastic bodies 120 .
  • the traveling wave generating source 200 (for example, its piezoelectric ceramic sheet) is close to the outside of the corresponding boundary elastic body 120 (it can also be built into the boundary elastic body 120 according to the actual environment, or attached to other parts of the boundary elastic body 120 on the outer surface to ensure that the traveling wave generating source 200 is tightly connected to the corresponding boundary elastic body 120).
  • the mobile reset device 1 specifically includes N boundary elastic bodies 120 and N traveling wave generating sources 200 .
  • the cross section of the central elastic body 110 is a regular N-gon, and each boundary elastic body 120 is disposed on a corresponding side of the central elastic body 110 .
  • N traveling wave generating sources 200 are respectively arranged on the sides of the N boundary elastic bodies 120 away from the central elastic body 110 to form N/2 sets of oppositely arranged traveling wave generating source groups.
  • N may be an even number greater than 3.
  • each group of traveling wave generating sources includes two oppositely arranged traveling wave generating sources 200 .
  • the other traveling wave generating source 200 can, on the one hand, generate a wave of equal magnitude and opposite amplitude based on the received vibration wave information.
  • the vibration wave is used to absorb the traveling wave; on the other hand, the loss in the transmission process of the traveling wave can be calculated based on the received vibration wave information and the driving information of the traveling wave generator 200 that generates the traveling wave, and
  • a vibration wave of a wavelength is generated to compensate the loss of the traveling wave, forming a reciprocating vibration with the same phase and amplitude. Absorbing the traveling wave can reduce the impact of the traveling wave vibration, and forming reciprocating vibrations with the same phase and the same amplitude can maximize the driving ability of the traveling wave.
  • the mobile reset device 1 further includes several pressure sensors 300 .
  • At least one pressure sensor 300 is disposed on the bottom side of the central elastic body 110 and the bottom side of each boundary elastic body 120 .
  • Each pressure sensor 300 is electrically connected to the main controller.
  • These pressure sensors 300 can be used to detect the pressure of the corresponding elastic body (including the central elastic body 110 and the boundary elastic body 120 ), so as to judge the current moving state of the person on the mobile reset device 1 according to the pressure. Therefore, the installation positions of these pressure sensors 300 are not limited to being arranged on the bottom side of the corresponding elastic body, but can also be built in the corresponding elastic body or arranged on the top side of the corresponding elastic body, etc., which can detect the corresponding elastic body. location under pressure.
  • each traveling wave generating source 200 does not need to work.
  • traveling waves need to be generated to push the person back into the central elastic body 110 .
  • the traveling wave generating source 200 at position B forms a forward traveling wave on the corresponding boundary elastic body 120 , and transmitted to the boundary elastic body 120 at position A through the central elastic body 110 , and then detected and received by the traveling wave generator 200 oppositely arranged at position 1 .
  • the volume of the two elastic bodies in the mobile reset device 1, the central elastic body 110 should be as small as possible, preferably small enough to allow a person to stand, to ensure that as soon as the person moves, it will be detected by the system and start to reset.
  • the quantity of boundary elastic body 120 will be large enough, preferably be provided with hundreds or even thousands of boundary elastic bodies 120, set like this, the reset traveling wave difference that adjacent boundary elastic body 120 produces on different orientations is extremely small, can reduce The emergence of small above-mentioned problems.
  • FIG. 4 and FIG. 5 are a third example of the mobile reset device 1.
  • the mobile reset device 1 is a fixed device, and a moving object (such as a person) is located on the mobile reset device 1.
  • the mobile resetting device 1 includes several integrated modules 400 arranged in an array.
  • Each integrated module 400 includes a module body, an elastic body 100 and a traveling wave generating source 200 .
  • the traveling wave generating source 200 is laid on the top side of the corresponding module main body.
  • the traveling wave generating source 200 includes a plurality of piezoelectric ceramic sheets and a plurality of driving modules, and the plurality of piezoelectric ceramic sheets are respectively closely connected with corresponding elastic bodies (can be respectively built into the integrated module 400 or respectively attached to the integrated module 400
  • the outer surface of the drive module), a plurality of drive modules are respectively electrically connected to the main controller, and each drive module is respectively driven and connected to a piezoelectric ceramic sheet.
  • Fig. 4 is an array form of the integrated module 400 (or elastic body 100) of the mobile reset device 1, the integrated module 400 of the mobile reset device 1 adopts a rectangular structure, and the traveling wave generating source 200 includes two piezoelectric ceramic sheets and two Driver module.
  • the two piezoelectric ceramic sheets are closely connected with the elastic body 100 (either built in the elastic body 100 or attached to the outer surface of the elastic body 100 respectively).
  • the two drive modules are respectively electrically connected to the main controller, and each drive module is respectively driven and connected to a piezoelectric ceramic sheet.
  • the two piezoelectric ceramic sheets on it may be arranged in a first direction, or in a second direction perpendicular to the first direction. In FIG.
  • the first direction is the left-right direction in FIG. 4
  • the second direction is the up-down direction in FIG. 4 .
  • the traveling wave is transmitted to the right side.
  • the traveling wave is transmitted to the left side.
  • the traveling wave is transmitted to the lower side.
  • the traveling wave is transmitted to the upper side.
  • the mobile resetting device 1 in this figure arranges the integrated modules 400 in two different arrangements alternately in horizontal and vertical intervals, so that people can realize resetting in the first direction and the second direction at the same time. Similarly, if multi-directional reset is to be realized, the driving mode of the piezoelectric ceramic chip can be changed accordingly.
  • each integrated module 400 is controlled as much as possible to ensure that one foot can cover many integrated modules 400, it can be ensured that the normal movement of the person will not change during the traveling wave transmission process in two different directions. Affected. It can wait for a person to move to a certain distance before performing a reset, or follow the person's movement state to perform a real-time reset. It is only necessary to finally decompose the human movement into the reset amount in the horizontal direction and the reset amount in the vertical direction.
  • Fig. 5 is another array form of the integrated module 400' (or elastic body 100') of the mobile reset device 1.
  • the mobile reset device 1 is formed by splicing and cooperating a plurality of integrated modules 400' to form a large reset module. It is used for position reset, where the difference is that the single integrated module 400' is equipped with piezoelectric ceramic sheets of the traveling wave generating source 200 in three directions, so that the integrated module 400' can transmit traveling waves in three different directions , that is, the traveling wave generating source includes three piezoelectric ceramic plates and three driving modules.
  • the three piezoelectric ceramic sheets are distributed in a triangular arrangement and are closely connected with the elastic body (either built in the elastic body or attached to the outer surface of the elastic body).
  • the three driving modules are respectively electrically connected to the main controller, and each driving module respectively drives a piezoelectric ceramic chip connected to the traveling wave generating source 200 .
  • a single integrated module 400' may have a polygonal structure, but the shape of the integrated module 400' and the number of piezoelectric ceramic sheets are not limited.
  • the material of the elastic body is also not limited, as long as the elastic body is formed of a material with a certain elastic deformation, so that the traveling wave can follow the deformation and elliptical motion within a certain range when it is transmitted to this point.
  • the integrated module 400' may also include a rectangular elastic body, and each side of the rectangular elastic body may at least be closely connected with a line wave generating source 200.
  • a traveling wave is formed on the rectangular integrated module 400' by the traveling wave generating source 200 in the corresponding direction.
  • a person stands on the mobile resetting device 1 of FIG. 5 , he first feels standing on a relatively soft object. Since the amplitude of the traveling wave is extremely small during the displacement process, the vibration will not be felt during the resetting process.
  • the person can even basically not feel the entire resetting process of the mobile resetting device 1 .
  • people's movement in different directions will eventually be attributed to resetting in three directions, but the degree of resetting is different.
  • each integrated module 400 or 400' in FIG. 4 or FIG. 5 further includes at least one pressure sensor 300.
  • the pressure sensor 300 is either disposed on the top side of the module body or built into the module body or disposed on the bottom side of the module body, and the pressure sensor is electrically connected to the main controller to detect the pressure of each integrated module 400 or 400'. The pressure situation, and by detecting each pressure sensor 300 distributed on the device 400 or 400', the motion state of the person on the mobile reset device 1 can be judged.
  • the mobile resetting device 1 in this embodiment can be either a wearable device or a fixed device.
  • it can be arbitrarily deformed according to actual needs, as long as the traveling wave generator 200 is placed on the elastic body 100 A traveling wave is generated on the elastic body 100 to make the moving object on the elastic body 100 move and reset, which falls within the scope of protection of the present application.
  • the mobile reset device in the above embodiment includes a main controller, an elastic body and at least one traveling wave generating source, the traveling wave generating source is closely connected to the elastic body, and the traveling wave generating source is electrically connected to the main controller.
  • the multiple traveling wave generating sources in the above-mentioned device for moving and resetting can have various arrangements, and the arrangement includes generating traveling wave vibrations from multiple different directions, so as to realize the moving and resetting of a person in any direction. Therefore, when the device for moving and resetting detects the moving direction of the person on the elastic body, a line wave can be formed on the elastic body through the traveling wave generation source according to the moving direction, and the transmission direction of the traveling wave is the same as that of the elastic body. The moving direction is the same.
  • the traveling wave will exert a thrust opposite to the direction of traveling wave transmission on the person during the transmission process.
  • the action direction of the thrust is reset, and in this way, the movement and reset of the person on the elastic body can be realized.
  • the mobile resetting device of the present application is configured by arranging a plurality of traveling wave generating sources, and the arrangement includes generating traveling wave vibrations from multiple different directions, so as to realize the moving and resetting of a person in any direction. It can be seen that the technical solution of the present application can effectively solve the technical problem that there is no better multi-directional moving reset driving solution in the prior art.
  • Embodiment two
  • Embodiment 2 of the present application further provides a mobile reset method for realizing mobile reset, and the mobile reset method includes steps S110 to S120.
  • step S110 when the person moves on the elastic body, the moving direction of the person on the elastic body is detected.
  • the mobile reset method in the embodiment of the present application can be applied to the mobile reset device 1 in the above-mentioned first embodiment or other devices for reset by forming a traveling wave on the corresponding elastic body through a traveling wave generating source.
  • the steps of this method In the detection of the moving direction of the person, it can be determined by detecting the pressure sensor, or by external means, including a camera.
  • step S120 according to the moving direction, a traveling wave generating source is used to form a traveling wave on the elastic body, and the traveling direction of the traveling wave is the same as the moving direction, so as to realize the movement and reset of the person on the elastic body.
  • the moving direction of the person on the elastic body is detected first, and then a line is formed on the elastic body through a traveling wave generator according to the moving direction.
  • the transmission direction of the traveling wave is the same as the moving direction.
  • the traveling wave will exert a thrust opposite to the transmission direction of the traveling wave on the person during the transmission process.
  • it will return to the direction of the thrust, so that the movement and restoration of the person on the elastic body can be realized, so that the movement and restoration of the person can be realized in any direction.
  • a ground screen 2 that realizes moving and resetting is provided.
  • the ground screen 2 includes a display layer 21 and the mobile resetting device 1 according to any example of the first embodiment above.
  • the mobile reset device 1 is laid on the display surface of the display layer 21 .
  • the moving reset device 1 includes an elastic body 100 and at least one traveling wave generating source 200 , the traveling wave generating source 200 is closely connected with the elastic body 100 , and the traveling wave generating source 200 is electrically connected with the main controller of the display layer 21 .
  • the ground screen 2 further includes an isolation protection layer 22 .
  • the isolation protection layer 22 is sandwiched between the moving reset device 1 and the display layer 21 .
  • the isolation protection layer 22 and the moving reset device 1 are formed of materials with high light transmittance.
  • the elastic body 100 can have the structural form shown in Fig. 1 to Fig. 5, when the ground screen 2 is applied in the immersive display system, the elastic body 100 can meet the needs of various situations of realizing the movement and reset, and can also It meets the automatic shifting requirements of ordinary maintenance equipment, so as to realize the functions of automatic maintenance and automatic detection of the floor screen 2.
  • the ground screen for realizing position movement provided by the third embodiment is provided with a moving reset device and a display layer in sequence from top to bottom, wherein the moving reset device includes an elastic body and at least one line wave generating source, and the traveling wave generating source and the elastic
  • the main body of the body is closely connected, and the traveling wave generating source is electrically connected with the main controller of the display layer.
  • the traveling wave generating source is electrically connected with the main controller of the display layer.
  • the moving object can be a person, maintenance equipment, or a detection device, and then realize the functions of automatic maintenance and automatic detection of the floor screen.
  • this kind of ground screen is applied in an immersive display system, no additional mobile reset device is required, and the mobile reset can be realized through the ground screen itself. It can be seen that the technical solution according to the present application can effectively solve the technical problem in the prior art that the floor screen is driven by a treadmill and easily blocks the display effect of the floor screen.
  • a method for capturing position movement is provided, as shown in FIG. 8 .
  • the method includes steps S110 to S130.
  • step S110 the position information of the two initial pressure points formed by the person on the preset plane is detected.
  • Step S110 includes detecting the pressure information on the preset plane by the plurality of pressure sensors, so as to obtain the position information of the above two initial pressure points.
  • several pressure sensors are distributed in a matrix on the preset plane, so that these pressure sensors can be used to detect the pressure of any force-bearing point on the preset plane.
  • the location of the pressure sensor is the location of the corresponding pressure point, that is, the location information of the corresponding pressure point is the location information of the pressure sensor that detected the pressure information.
  • step S120 when it is detected that one of the initial pressure points disappears, the position of the other initial pressure point is taken as the system origin, and the position of the first pressure point re-formed on the preset plane is taken as the direction point, the position of the second pressure point re-formed on the preset plane is taken as the second zero point.
  • the initial pressure point formed by the stepping foot on the preset plane will disappear. Based on this, it is necessary to capture Determination of the movement of the person's position. That is, when it is detected that one of the initial pressure points disappears, the position of the other initial pressure point is taken as the system origin, and the position of the first pressure point re-formed on the preset plane is taken as the direction point, The position of the second pressure point formed again on the preset plane is taken as the second zero point.
  • step S130 based on the positional relationship among the system origin, the direction point and the second zero point, the current position movement state of the person on the preset plane is determined.
  • step S130 may be executed. As shown in FIG. 9 , step S130 may include steps S131 to S132.
  • step S131 the preset plane is equally divided into a left fan-shaped area, a right fan-shaped area and a rear fan-shaped area by taking the system origin as a base point.
  • step S132 according to the area where the direction point is located and the area where the second zero point is located, the current position movement state of the person on the preset plane is determined.
  • the preset plane is evenly divided into the left fan-shaped area A, the right fan-shaped area B, and the rear fan-shaped area C.
  • the area where II is located and the area where the second zero point III is located determine the current position movement state of the person on the preset plane.
  • the specific determination process in step S132 is as follows. (1) If the area where the direction point II is located is the left fan-shaped area A, and the area where the second zero point III is located is also the left fan-shaped area A, then it is determined that the person is currently turning left on the preset plane, as shown in Figure 10 .
  • the area where the second zero point III is located is the rear fan-shaped area C, it is determined that the person is currently retreating on the preset plane, as shown in FIG. 13 .
  • the area where the second zero point III is located is the boundary line between the left fan-shaped area A and the right fan-shaped area B, it is determined that the person is currently advancing on the preset plane.
  • the area where the direction point II is located is the boundary line between the rear fan-shaped area C and the left fan-shaped area A or the right fan-shaped area A, it is determined that the person is currently retreating on the preset plane.
  • the preset plane is the surface of the elastic body of the mobile reset device 1 described in the above embodiment.
  • the present application describes the method of capturing position movement by taking the mobile object on the mobile reset device as an example, those skilled in the art will understand that the mobile object located on the mobile reset device is not limited to people, and may also be such as (such as robots, ducks, etc.), bipedal mobile objects, three-legged mobile objects, four-legged mobile objects (such as cats, dogs) and other mobile objects.
  • the method for catching position movement may also include judging and comparing the positions of the four pressure points to obtain the corresponding system origin, direction point and the first point. twenty o'clock.
  • a display system includes the floor screen 2 described in the third embodiment.
  • the ground screen 2 includes a display layer 21 , an isolation protection layer 22 and a mobile reset device 1 .
  • the mobile reset device 1, the isolation protection layer 22, and the display layer 21 are arranged sequentially from top to bottom.
  • the display system further includes a left display screen, a right display screen, a front display screen, a rear display screen and a top display screen.
  • the left display screen, right display screen, front display screen, rear display screen and top display screen are respectively located on the left, right, front, rear and top sides of the ground screen to match the ground screen 1
  • the display layer 21 performs an immersive display for the person on the mobile reset device 1 .
  • the display system captures the movement of the person on the mobile resetting device 1 , the display screens on each side of the system can display the corresponding display content in real time.
  • the display system can quickly track the movement of the person on the mobile reset device 1, and use the mobile reset device 1 to restore the position of the person in time. It can be seen that the technical solution according to the present application can effectively solve the technical problem in the prior art that the detection process is too complicated when capturing the moving position of a person in a certain space.

Landscapes

  • Engineering & Computer Science (AREA)
  • Theoretical Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • General Engineering & Computer Science (AREA)
  • Human Computer Interaction (AREA)
  • General Electrical Machinery Utilizing Piezoelectricity, Electrostriction Or Magnetostriction (AREA)

Abstract

一种实现移动复位的移动复位装置(1)及移动复位方法，属于位置复位技术领域。其中的移动复位装置(1)包括主控制器、弹性体(100)以及至少一行波发生源(200)，行波发生源(200)与弹性体(100)进行紧密连接，行波发生源(200)与主控制器进行电性连接。

Description

移动复位装置、地屏幕、移动复位方法、捕捉位置移动的方法及显示系统
相关申请的交叉引用
本申请要求于2021年05月10日提交中国专利局、申请号为202110506991.0的中国专利申请、于2021年05月10日提交中国专利局、申请号为202120989446.7的中国专利申请以及于2021年05月10日提交中国专利局、申请号为202110505792.8的中国专利申请的优先权，所述专利申请的全部内容通过引用结合在本申请中。
技术领域
本申请涉及位置复位技术领域，特别涉及一种实现移动复位的移动复位装置、移动复位方法、包括该移动复位装置的地屏幕、捕捉位置移动的方法及包括该地屏幕的显示系统。
背景技术
在现有的移动复位技术中，最常见的就是跑步机了。由于物体的运动是相对的，因此若想要描述一个物体的运动就需要有一个参考系。当人在跑步机上运动时，如果选择的参考系是跑步机的跑带，那么人是一直向前运动的，但如果选择的参考系是摆在跑步机前面的屏幕，那么人是静止的，因为其不会逼近屏幕，也不会远离屏幕。然而，传送带(跑步机)本身仅能实现单一方向上的位置复位，人站在跑步机上只能向前走或者向后走，而无法向任意方向变速、变向的进行移动。或者说，跑步机从其驱动原理(跑步机只能通过跑带的正转和翻转来实现人的位置复位，这意味着跑步机只能在一个方向上对人进行位置复位)本身就限制了其能够朝着多个方向传动复位的可能，而现有的技术中也没有较好的多方向移动复位驱动方案。
此外，跑步机可应用于沉浸式显示系统，以使沉浸式显示系统具备更多的交互体验。沉浸式显示系统，是以CAVE沉浸式系统为代表的多通道显示方案，注重的是完全沉浸式的视觉体验。沉浸式体验空间又分为洞穴式和全景式。洞穴式包括3块平面显示和1块地面显示，在观看者的前方(设置有主屏幕)、左(设置有侧屏幕)、右(设置有侧屏幕)、下(设置有地屏幕)四个方向，互相成90度呈现，使人面向前侧目光所及之处都是显示内容。全景式包含主屏幕、左侧屏幕、右侧屏幕、地屏幕、后侧屏幕和上屏幕(也称为天屏幕)，以用于显示，实现真正意义上的任意角度，任意位置都是显示内容，从而实现全角度的虚拟现实仿真。
在沉浸式显示系统中，如果人可以移动，并且在移动过程中，屏幕的显示内容也进行相应 的变动，例如在虚拟空间中形成一个田径场，以模拟人不断的在田径场上跑步，这样能够极大的提升沉浸式体验。为了实现这种效果，现有的技术方案主要将显示系统与跑步机相互绑定，进行信息互传。人在跑步机上移动时，显示系统会捕捉跑步机的移动信息，同时，显示系统所播放的视频画面也会随着跑步机的移动进行实时的更新，实现同步交互。然而，跑步机本身由于采用机械传动，实现传动过程的各个传动构件、驱动电机本身都由金属构成，因此跑步机无法被制成是完全透明的或者具有较高通透率。因而，在全景方案中，始终要考虑跑步机对地屏幕的显示效果的阻隔。现有的方案也是说将跑步机做成地屏幕的一部分，而不是让跑步机变成透明。
而且，在沉浸式显示系统当中，面临着一个难点，即人是以站桩的形式与屏幕进行交互的，因而在观看屏幕内容时无法移动。但，这并不意味着人完全站着不能动，而是意味着在这一空间的最佳的视角被限制在一个特定范围内，在这一范围内看到的画面的3D效果最好，虚拟仿真效果最真实。这一最佳观看范围可以通过算法补偿视频源进行调整，其需要实时追踪人在这一空间内的移动位置。现有检测的过程十分复杂，补偿算法也十分复杂。
发明内容
根据本申请的各种实施例，提供一种实现移动复位的移动复位装置、移动复位方法、包括该移动复位装置的地屏幕、捕捉位置移动的方法及包括该地屏幕的显示系统。
根据本申请的一方面，提供了一种移动复位装置，所述装置包括主控制器、弹性体以及至少一行波发生源。所述行波发生源与所述弹性体进行紧密连接，所述行波发生源与所述主控制器进行电性连接。
在其中一个实施例中，所述行波发生源包括压电陶瓷片以及驱动模组，所述压电陶瓷片或内置于所述弹性体中或设于所述弹性体的外表面，所述驱动模组与所述主控制器进行电性连接，且所述驱动模组驱动连接所述压电陶瓷片。
在其中一个实施例中，所述移动复位装置还包括至少一压力传感器，所述压力传感器内置于所述弹性体中或贴设于所述弹性体的上表面或贴设于所述弹性体的下表面，且所述压力传感器与所述主控制器进行电性连接。
在其中一个实施例中，所述弹性体包括中心弹性体、若干边界弹性体。所述若干边界弹性体依次环绕所述中心弹性体设置，且每个所述边界弹性体的内侧紧贴在所述中心弹性体的相应侧边上，每个所述边界弹性体与一个所述行波发生源进行紧密连接，相邻的两个所述边界弹性 体之间间隔预设距离。
在其中一个实施例中，所述弹性体包括N个所述边界弹性体，所述中心弹性体的横截面为正N边形。所述移动复位装置包括N个所述行波发生源。每个所述边界弹性体设置在所述中心弹性体的对应一个侧边上，及N个所述行波发生源分别设置在N个所述边界弹性体的远离所述中心弹性体的侧边上，以形成N/2组对向设置的行波发生源组。
在其中一个实施例中，N为大于3的偶数。
在其中一个实施例中，所述移动复位装置包括若干集成模块，所述若干集成模块呈阵列式排布，每个所述集成模块包括模块主体、所述弹性体以及所述行波发生源。
在其中一个实施例中，所述弹性体铺设于相应的所述模块主体的顶侧，所述行波发生源包括多个压电陶瓷片以及多个驱动模组，所述多个压电陶瓷片分别与相应的所述弹性体紧密连接，所述多个驱动模组分别与所述主控制器进行电性连接，且每个所述驱动模组分别驱动连接一所述压电陶瓷片。
在其中一个实施例中，每个所述集成模块还包括至少一压力传感器，所述压力传感器设置于所述模块主体的顶侧或内置于所述模块主体中或设置于所述模块主体的底侧，且所述压力传感器与所述主控制器进行电性连接。
在其中一个实施例中，所述移动复位装置为可穿戴设备。
在其中一个实施例中，所述移动复位装置为固定装置，移动物位于所述移动复位装置上。
根据本申请的另一方面，还提供了一种实现移动复位的移动复位方法，所述移动复位方法包括以下步骤：当人在弹性体上移动时，检测人在所述弹性体上的移动方向；根据所述移动方向，通过行波发生源在所述弹性体上形成一行波，所述行波的传递方向与所述移动方向相同，以实现人在所述弹性体上的移动复位。
根据本申请的另一方面，还提供了一种实现移动复位的地屏幕，所述地屏幕包括：显示层；如上任一实施例所述的移动复位装置。所述移动复位装置铺设于所述显示层的显示面上，其中，所述行波发生源与所述显示层的主控制器进行电性连接。
根据本申请的另一方面，还提供一种捕捉位置移动的方法，所述捕捉位置移动的方法包括以下步骤：S110，检测人在预设平面上形成的两个初始压力点的位置信息；S120，当检测到其中一个初始压力点消失时，以另一个初始压力点的所在位置作为系统原点，并依次将该预设该平面上再次形成的第一个压力点的所在位置作为方向点，将该预设平面上再次形成的第二个压力点的所在位置作为第二零点；以及S130，基于所述系统原点、所述方向点以及所述第二零 点三者之间的位置关系，判定人当前在所述预设平面上的位置移动状态。
在其中一个实施例中，所述预设平面为移动复位装置的表面。
根据本申请的另一方面，还提供一种显示系统，所述显示系统包括如上所述的地屏幕，其中，所述显示系统对位于所述地屏幕的移动复位装置上的人的位置移动进行捕捉时，执行如上所述的捕捉位置移动的方法。
附图说明
为了更清楚地说明本申请实施例或现有技术中的技术方案，下面将对实施例或现有技术描述中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图仅仅是本申请的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动性的前提下，还可以根据这些附图获得其他的附图。
图1为本申请实施例一的第一示例的移动复位装置的结构示意图。
图2为本申请实施例一的第二示例的移动复位装置的结构示意图。
图3为图2中所示的移动复位装置的截面图。
图4为本申请实施例一的第三示例的移动复位装置的一种阵列形式结构示意图。
图5为本申请实施例一的第三示例的移动复位的装置的另一种阵列形式结构示意图。
图6为本申请实施例二移动复位方法的流程框图。
图7为本申请实施例三的实现位置移动的地屏幕的结构示意图。
图8为本申请实施例四捕捉位置移动的方法的流程框图。
图9为图8所示的捕捉位置移动的方法的步骤S130的具体流程框图。
图10至图13为图8所示的捕捉位置移动的方法中判定人当前在预设平面上的位置移动状态的原理示意图。
具体实施方式
下面结合附图对本申请的具体实施方式作进一步说明。在此需要说明的是，对于这些实施方式的说明用于帮助理解本申请，但并不构成对本申请的限定。此外，下面所描述的本申请各个实施方式中所涉及的技术特征只要彼此之间未构成冲突就可以相互组合。
实施例一
如图1所示，本申请实施例一提供一种实现移动复位的移动复位装置1。该移动复位装置 1包括主控制器(未图示)、弹性体100以及至少一行波发生源200。行波发生源200与弹性体100进行紧密连接，行波发生源200与主控制器进行电性连接。
在本实施例中，如图1所示，图1为移动复位装置1的第一示例，此时，移动复位装置1为可穿戴式设备，使得弹性体100穿戴在人脚下。本实施例的行波发生源200包括压电陶瓷片以及驱动模组。压电陶瓷片可内置于弹性体中或可贴设于弹性体的外表面。驱动模组与主控制器进行电性连接，且驱动模组驱动连接压电陶瓷片。工作时，驱动模组在主控制器的控制下向压电陶瓷片施加一定的高频交变电压，压电陶瓷片在被极化后就会随着高频电压的幅值变化而膨胀或者收缩，此时，由于压电陶瓷片或内置于弹性体100中或贴设于弹性体100的外表面(即与弹性体100紧密连接)，故弹性体100会受到压电陶瓷片膨胀或者收缩的影响而产生振动，该振动形式为驻波。当存在两组在空间和时间上分别相差90度(举例，不一定为90度)的驻波(每个驱动模组可在主控制器的控制下，通过先后向相应的压电陶瓷片施加不同的高频交变电压来形成这两组驻波)相互叠加，就能形成行波。
本实施例以在弹性体100形成前后左右四个方向上的行波为例，其弹性体100具体采用矩形结构，四个行波发生源200依次环绕弹性体100设置，且每个行波发生源200紧贴在弹性体100的相应侧边上。此时，一个行波发生源200在弹性体100上形成在对应的一个方向上的行波。只要是弹性体100能够发生弹性形变，其形状是非必要的，弹性体100可以是圆形、不规则形等。行波的作用形式本质上是通过弹性变形作用于人的，故只要介质能够发生弹性变形即可。因此，弹性体100的具体结构在此不作限定。
如图1所示，当人的双脚穿戴上移动复位装置1时，人在地面2行走的过程中，身体前倾，左右脚交替抬起落下，在一只脚抬起时，另一只脚向后蹬地面2，脚有相对向后运动的趋势。由于有摩擦产生静摩擦力，地面2受到向后的摩擦力，同时给人一个向前的反作用力。这就是说，地面2受到向后的力，而人受到向前的力。如果没有摩擦力，地面2对人只有向上的支持力，没有水平方向上的力，人就无法水平移动。就好似在冰面上行走，十分容易因为身体的重心变动而失衡，导致摔倒，是一个道理。人为了维持重心的稳定，在行走过程中通过摆臂的动作，及左右脚交替本身的特征，来维持重心的基本不变。当弹性体100(相当于超声波电机的定子)安装在人脚下时，其下方受压的地面2就相当于超声波电机的转子，在行波发生源200产生行波时，行波在传递过程中，会对人施加一个与行波传递方向相反的推力，人受到推力作用时，会朝着推力的作用方向复位。即，当该行波的移位效果与人的移动实现动态平衡时，人就相当于在原地走太空步，虽然人有行走的动作，但人并未移动。重点在于避免复位过程中的 打滑、重心不稳造成的摔倒等。
另外，如图1所示，移动复位装置1还包括至少一压力传感器300。压力传感器300可内置于弹性体100中或可贴设于弹性体100的上表面或可贴设于弹性体100的下表面。压力传感器300与主控制器进行电性连接。通过压力传感器300的设置，可用于检测该弹性体100的受压情况，以便于对位于该弹性体100上的人的当前移动状态作出相应的判断。
如图2及图3所示，图2与图3为移动复位装置1的第二示例，此时，本移动复位装置1为固定装置，移动物(如人)可位于移动复位装置1上。在该示例中，移动复位装置1的弹性体100包括中心弹性体110、若干边界弹性体120。若干边界弹性体120依次环绕中心弹性体110设置，且每个边界弹性体120的内侧紧贴在中心弹性体110的相应侧边上。每个边界弹性体120与一行波发生源200进行紧密连接。相邻的两个边界弹性体120之间间隔预设距离。该行波发生源200(例如，其压电陶瓷片)紧贴在相应的边界弹性体120的外侧(亦可根据实际环境内置于边界弹性体120中，或贴设于边界弹性体120的其它外表面上，以确保行波发生源200与相应的边界弹性体120进行紧密连接)。
由于单一行波发生源200便可以产生复位行波，因而，可根据实际复位方向任意设置本移动复位装置1的行波发生源200的数目。作为一种可选的示例，如图2所示，本移动复位装置1具体包括N个边界弹性体120与N个行波发生源200。中心弹性体110的横截面为正N边形，每个边界弹性体120设置在中心弹性体110的对应一侧边上。相应的，N个行波发生源200分别设置在N个边界弹性体120的远离中心弹性体110的侧边上，以形成N/2组对向设置的行波发生源组。N可以为大于3的偶数。这样一来，每个行波发生源组均包括两个对向设置的行波发生源200。当一个行波发生源200发出行波并传递到对向的另一行波发生源200时，另一行波发生源200一方面可基于所接收到的振动波信息，产生一个大小相等，振幅相反的振动波，用以将该行波吸收；另一方面可基于所接收到的振动波信息和产生该行波的行波发生源200的驱动信息，计算出该行波传递过程中的损耗，并产生一个波长振动波，用以补偿该行波的损耗，形成往复同相位、同振幅的振动。吸收该行波能够将该行波振动产生的影响降低，形成往复同相位、同振幅的振动能够最大程度的发挥该行波的推动能力。
另外，如图3所示，移动复位装置1还包括若干压力传感器300。中心弹性体110的底侧及每个边界弹性体120的底侧分别至少设置有一压力传感器300。每个压力传感器300均与主控制器进行电性连接。这些压力传感器300可用于检测相应弹性体(包括中心弹性体110和边界弹性体120)的受压情况，以便根据这些受压情况判断人在移动复位装置1上的当前移动状 态。故这些压力传感器300的安装位置亦不被仅限于设置在相应弹性体的底侧，亦可以是内置于相应弹性体中或设置于相应弹性体的顶侧等一些可以检测到相应弹性体的受压情况的位置。
如图2所示，当人站在中心弹性体110内时，对于移动复位装置1来说没有位置复位的需求，故各个行波发生源200可以不用工作。而当人踏出中心弹性体110时，此时就需要产生行波，将人重新推回中心弹性体110当中。例如，当人前移踏出中心弹性体110，来到位置A处的边界弹性体120上时，位置B处的行波发生源200在相应的边界弹性体120上形成向前传递的行波，并经中心弹性体110传递至位置A处的边界弹性体120上，进而被位置1处对向设置的行波发生源200检测接收。当行波通过中心弹性体110时，由于中心弹性体110与各个边界弹性体120相连，故单束行波可在各个边界弹性体120上产生余波，这种余波可能会干扰系统正常工作。但在本申请中，由于相邻的两个边界弹性体120之间间隔预设距离，使得相邻的两个边界弹性体120之间均形成相应的间隙10，这样各个边界弹性体120之间相互隔绝，故这种余波不会在各边界弹性体120间产生二次影响。可以明确的是，在本申请中，行波的主要能量会集中在位置B处的边界弹性体120、中心弹性体110、位置A处的边界弹性体120这一路径上。而人就会在这一路径上被行波的推力推动进行持续的复位。
这里有几种特殊的情况：
当人落地的位置刚好是两个边界弹性体120的中间时，由于两边界弹性体120的复位方向是交错的，所以人在复位过程中会受到两个不同的复位行波作用，进而在这两个复位行波的合力方向上运动，其复位逻辑正好是装置所需的。但如果两种复位行波同时作用在一只脚上时，对于这只脚来说就会承受两种朝向截然不同的摩擦力，其感觉较为明显，故可以通过不断细分边界弹性体120占用角度(即，增加边界弹性体120的数量)来降低脚所受到的两种摩擦力的差异，从而减小在相邻的边界弹性体120上行波推力的差异。
当人在快速移动过程中突然转弯变向时，例如，当人左脚踩在一个边界弹性体120上，右脚踩在另一边界弹性体120上时，两种不同的边界弹性体120会在不同方向上推动人的脚。如果两只脚受到的推动力朝向不同，则人十分容易被绊倒。此时，同样需要减小相邻的两个边界弹性体120之间朝向的区别，使得两只脚受到的力区别尽量小。
还有许多应用中的其他问题，在此就不一一列举。总之，移动复位装置1中的两种弹性体，中心弹性体110的体积要尽量小，最好小到刚好能够容下一人站立，保证人只要一移动，就会被系统检测并开始进行复位。而边界弹性体120的数量要足够多，最好设置有成百上千个边界弹性体120，如此设置，相邻的边界弹性体120在不同朝向上产生的复位行波差别极小，可减 小上述问题的出现。
如图4及图5所示，图4与图5为移动复位装置1的第三示例，此时，本移动复位装置1为固定装置，移动物(如人)位于移动复位装置1上。在该实施例中，移动复位装置1包括若干集成模块400，若干集成模块400呈阵列式排布。每个集成模块400包括模块主体、弹性体100以及行波发生源200。具体地，行波发生源200铺设于相应的模块主体的顶侧。行波发生源200包括多个压电陶瓷片以及多个驱动模组，多个压电陶瓷片分别与相应的弹性体紧密连接(可以是分别内置于集成模块400或分别贴设于集成模块400的外表面)，多个驱动模组分别与主控制器进行电性连接，且每个驱动模组分别驱动连接一压电陶瓷片。
图4为移动复位装置1的集成模块400(或者弹性体100)的一种阵列形式，移动复位装置1的集成模块400采用矩形结构，行波发生源200包括两个压电陶瓷片以及两个驱动模组。两个压电陶瓷片分别与弹性体100紧密连接(可以是分别内置于弹性体100中或分别贴设于弹性体100的外表面)。两个驱动模组分别与主控制器进行电性连接，且每个驱动模组分别驱动连接一个压电陶瓷片。对于图4中的每个集成模块400而言，其上面的两压电陶瓷片可以是第一方向排列，亦可以与第一方向垂直的第二方向排列。在图4中，第一方向为图4的左右方向，第二方向为图4的上下方向。对于沿第一方向排列的两压电陶瓷片而言，当左侧压电陶瓷片起振时，行波向右侧传递。当右侧压电陶瓷片起振时，行波向左侧传递。对于沿第二方向排列的两压电陶瓷片而言，当上侧压电陶瓷片起振时，行波向下侧传递。当下侧压电陶瓷片起振时，行波向上侧传递。对于每个集成模块400来说，就具备了一个传递的行波的形式。本图中的移动复位装置1按横纵间隔交替排布上述两种不同排列的集成模块400，使得人能够同时实现在第一方向、第二方向上的复位。同理，若要实现多向复位，可相应改变对压电陶瓷片的驱动方式。
在图4所示的示例中，只要尽量控制每个集成模块400的尺寸，确保一个脚掌可以覆盖众多的集成模块400，就可以保证两种不同方向的行波传动过程中，人的正常移动不受影响。可以等人运动到一定距离后进行一次复位，或者可跟随人的运动状态进行实时复位。只要将人的移动最终分解为水平方向的复位量和竖直方向的复位量即可。
图5为移动复位装置1的集成模块400’(或者弹性体100’)的另一种阵列形式，该移动复位装置1通过多个集成模块400’拼接配合而成，为一个大的复位模块，用以进行位置复位，其中不同的是单个集成模块400’在3个方向上都分别安装了行波发生源200的压电陶瓷片，使得集成模块400’能够传递三个不同方向上的行波，即行波发生源包括三个压电陶瓷片以及三个 驱动模组。三个压电陶瓷片呈三角排列分布且分别与弹性体紧密连接(可以是分别内置于弹性体中或分别贴设于弹性体的外表面)。三个驱动模组分别与主控制器进行电性连接，且每个驱动模组分别驱动连接行波发生源200的一个压电陶瓷片。此时，单个集成模块400’可以是多边形结构，但是集成模块400’的形状及压电陶瓷片的数量都不受限制。弹性体的材料也不受限制，只要弹性体由具备一定弹性变形的材料形成，使得行波在传递至此时，能够跟随进行形变和一定范围的椭圆运动即可。对于本领域技术人员而言，该集成模块400’亦可包括矩形弹性体，矩形弹性体的每个侧边均可至少紧密连接有一行波发生源200。通过相应方向的行波发生源200在该矩形集成模块400’上形成行波。当人站在图5的移动复位装置1上时，首先是感觉到站在一个比较软的物体上，由于行波移位过程中振幅极为小，所以复位过程中基本不会感觉到震动。通过适当地控制人在移动和复位过程中的受力关系，减小移动复位过程中的惯性，人甚至可以基本感受不到移动复位装置1的整个复位过程。在图5的移动复位装置1中，人在不同方向的移动，最终都会被归结为在三个方向上的复位，只是复位的程度不同罢了。
另外，图4或图5的每个集成模块400或400’还包括至少一压力传感器300。压力传感器300或设置于模块主体的顶侧或内置于模块主体中或设置于模块主体的底侧，且压力传感器与主控制器进行电性连接，以检测每个集成模块400或400’的受压情况，而通过检测分布在装置400或400’上的各个压力传感器300，就能判断人在移动复位装置1上的运动状态。
本实施例中的移动复位装置1既可为可穿戴设备，亦可为固定装置，对于本领域技术人员而言，其可根据实际需要进行任意变形，只要通过行波发生器200在弹性体100上产生行波来使得弹性体100上的移动物体实现移动复位，即落入本申请的保护范围内。
上述实施例中移动复位装置包括主控制器、弹性体以及至少一行波发生源，行波发生源与弹性体进行紧密连接，行波发生源与主控制器进行电性连接。此外，上述移动复位的装置中的多个行波发生源可具有多种排布，该排布形式包括从多个不同方向发生行波振动，以在任一方向上实现人的移动复位。因而，当通过移动复位的装置检测到人在该弹性体上的移动方向后，则可根据该移动方向，通过行波发生源在该弹性体上形成一行波，该行波的传递方向与该移动方向相同，此时，基于直线式行波型超声波电动机相同的驱动原理，行波在传递过程中，会对人施加一个与行波传递方向相反的推力，人受到推力作用时，会朝着推力的作用方向复位，这样一来，便可实现人在该弹性体上的移动复位。
此外，本申请的移动复位装置通过对多个行波发生源的排布设置，该排布形式包括从多个不同方向发生行波振动，以在任一方向上实现人的移动复位。可见，本申请的技术方案可有效 解决现有技术中没有较好的多方向移动复位驱动方案的技术问题。实施例二
如图6所示，本申请实施例二还提供了一种实现移动复位的移动复位方法，该移动复位方法包括步骤S110至S120。
在步骤S110，当人在弹性体上移动时，检测人在该弹性体上的移动方向。
具体地，本申请实施例中的移动复位方法可应用在上述实施例一的移动复位装置1中或其他通过行波发生源在相应的弹性体上形成行波进行复位的装置中，本方法步骤中针对人的移动方向的检测，可以通过检测压力传感器来判定，也可以通过外部手段，包括摄像头来确定。
在步骤S120，根据该移动方向，通过行波发生源在该弹性体上形成一行波，该行波的传递方向与该移动方向相同，以实现人在该弹性体上的移动复位。
在本申请实施例提供的移动复位方法中，当人在弹性体上移动时，先检测人在弹性体上的移动方向，再根据该移动方向，通过行波发生源在该弹性体上形成一行波。该行波的传递方向与该移动方向相同，此时，基于直线式行波型超声波电动机相同的驱动原理，行波在传递过程中，会对人施加一个与行波传递方向相反的推力，人受到推力作用时，会朝着推力的作用方向复位，这样一来，便可实现人在该弹性体上的移动复位，从而可实现在任一方向上实现人的移动复位。
实施例三
根据本申请的实施例三，提供一种实现移动复位的地屏幕2。该地屏幕2包括显示层21以及根据如上实施例一的任意示例所述的移动复位装置1。移动复位装置1铺设于显示层21的显示面上。移动复位装置1包括弹性体100以及至少一行波发生源200，行波发生源200与弹性体100紧密连接，且行波发生源200与显示层21的主控制器进行电性连接。
在本实施例中，如图7所示，为不影响显示层21的正常显示，该地屏幕2还包括隔离保护层22。隔离保护层22夹设于移动复位装置1与显示层21之间。此外，隔离保护层22以及移动复位装置1由高透光率材料形成。该弹性体100可具有如图1至图5中所示的结构形式，当地屏幕2被应用在沉浸式显示系统当中时，该弹性体100可满足实现移动复位的各种情形的需求，亦可满足普通的维护设备自动移位需求，以实现地屏幕2的自动维护、自动检测的功能。
本施例三提供的实现位置移动的地屏幕，其由上往下依次设置有移动复位装置与显示层，其中，移动复位装置包括弹性体主体以及至少一行波发生源，行波发生源与弹性体主体紧密连接，且行波发生源与显示层的主控制器进行电性连接。这样一来，当人或物体置于移动复位装置的弹性体上时，其便可通过行波发生源在该弹性体上形成一行波，此时，基于直线式行波型 超声波电动机相同的驱动原理，行波在传递过程中，会对置于弹性体上的人或物体施加一个与行波传递方向相反的推力，人或物体受到推力作用时，便可朝着推力的作用方向移动(或复位)。这样便可能实现在地屏幕表面任意移动物体，这个移动的物体可以是人，也可以是维护设备、检测装置，进而实现地屏幕的自动维护、自动检测的功能。当这种地屏幕被应用在沉浸式显示系统当中时，不需要额外加装移动复位装置，通过地屏幕本身就能实现移动复位。可见，根据本申请的技术方案可有效解决现有技术中地屏幕采用跑步机进行传动容易对地屏幕的显示效果造成阻隔的技术问题。
实施例四
根据本申请的实施例四，提供一种捕捉位置移动的方法，如图8所示。该方法包括步骤S110至S130。
在步骤S110，检测人在预设平面上形成的两个初始压力点的位置信息。
具体地，在该预设平面上布置有若干压力传感器。步骤S110包括通过这些若干压力传感器检测该预设平面上的受压信息，以得到上述两个初始压力点的位置信息。作为一个可选的方案，若干压力传感器在预设平面上呈矩阵分布，这样，这些压力传感器可用于检测在预设平面上任一受力点的受压情况。当某一压力传感器检测到受压信息时，该压力传感器的所在位置即为相应压力点的位置，即，相应压力点的位置信息即为检测到受压信息的压力传感器的位置信息。
这样一来，当人双脚站立在该预设平面上时，会形成两个初始压力点，并被相应的压力传感器检测到，从而可获取得到相应的初始压力点的位置信息。人在行走过程中的两个脚掌可设定为两个压力源。在人站定不动时，两个压力源被判定为相同的源压力，该方法结束。
在步骤S120，当检测到其中一个初始压力点消失时，以另一个初始压力点的所在位置作为系统原点，并依次将该预设该平面上再次形成的第一个压力点的所在位置作为方向点，将该预设平面上再次形成的第二个压力点的所在位置作为第二零点。
具体地，当人在行走或奔跑时，其需先迈出一个脚，此时，该迈出的脚在预设平面上形成的初始压力点会消失，可基于此，作出此时需进行捕捉人的位置移动的判定。即，当检测到其中一个初始压力点消失时，以另一个初始压力点的所在位置作为系统原点，并依次将该预设该平面上再次形成的第一个压力点的所在位置作为方向点，将该预设平面上再次形成的第二个压力点的所在位置作为第二零点。
这时，对于人来说，一共走了两步，分别是一只脚迈出的第一步，另一只脚再迈出的第二 步。而对于系统来说，从两个压力点中的一个压力点消失算起，一共检测到三个点，分别是系统原点、方向点和第二零点。
在步骤S130，基于该系统原点、该方向点以及该第二零点三者之间的位置关系，判定人当前在该预设平面上的位置移动状态。
具体地，通过上述方法步骤得到系统原点、方向点和第二零点的所在位置后，可执行步骤S130。如图9所示，步骤S130可包括步骤S131至S132。
在步骤S131，以系统原点作为基点，将该预设平面均分为左侧扇形区域、右侧扇形区域以及后侧扇形区域。
在步骤S132，根据该方向点所在的区域与该第二零点所在的区域，判定人当前在该预设平面上的位置移动状态。
如图10至图13所示，以系统原点Ⅰ作为基点，将该预设平面均分为左侧扇形区域A、右侧扇形区域B以及后侧扇形区域C，此时，便可根据方向点Ⅱ所在的区域与第二零点Ⅲ所在的区域，判定人当前在预设平面上的位置移动状态，步骤S132中的具体判定过程如下。(1)若方向点Ⅱ所在的区域为左侧扇形区域A，第二零点Ⅲ所在的区域亦为左侧扇形区域A，则判定人当前在预设平面上左转，即图10所示。(2)若方向点Ⅱ所在的区域为左侧扇形区域A，第二零点Ⅲ所在的区域为右侧扇形区域B，则判定人当前在预设平面上前进，即图11所示。(3)若方向点Ⅱ所在的区域为右侧扇形区域B，第二零点Ⅲ所在的区域亦为右侧扇形区域B，则判定人当前在预设平面上右转，即图12所示。(4)若方向点Ⅱ所在的区域为右侧扇形区域B，第二零点Ⅲ所在的区域为左侧扇形区域A，则判定人当前在预设平面上前进。(5)若第二零点Ⅲ所在的区域为后侧扇形区域C，则判定人当前在预设平面上后退，即图13所示。(6)若第二零点Ⅲ所在的区域为左侧扇形区域A与右侧扇形区域B之间的分界线上，则判定人当前在预设平面上前进。(7)若方向点Ⅱ所在的区域为后侧扇形区域C与左侧扇形区域A或与右侧扇形区域A之间的分界线上，则判定人当前在预设平面上后退。
该预设平面为上述实施例所述的移动复位装置1的弹性体的表面。
使用该捕捉位置移动的方法可以迅速追踪待人在移动复位装置1上的运动情况，因此，根据本申请的技术方案可有效解决现有技术中捕捉人在某一空间内的移动位置时检测过程过于复杂的技术问题。
虽然本申请以位于移动复位装置上的移动物为人为例描述了捕捉位置移动的方法，但是本领域技术人员将领会的是，位于移动复位装置上的移动物不仅限于人，还可为诸如(例如机器 人、鸭子等)的两脚移动物、三脚移动物、四脚移动物(例如猫、狗)等其他移动物。例如，当位于移动复位装置上的移动物为四脚移动物时，该该捕捉位置移动的方法还可包括判断并比较四个压力点的位置，以得出相应的系统原点、方向点以及第二零点。
实施例五
根据本申请的实施例五，提供一种显示系统。该显示系统包括根据实施例三所述的地屏幕2。该地屏幕2包括显示层21、隔离保护层22以及移动复位装置1。移动复位装置1、隔离保护层22以及显示层21由上往下依次设置，该显示系统对位于移动复位装置1上的人的位置移动进行捕捉时，执行上述实施例四中的捕捉位置移动的方法。
在本实施例中，该显示系统还包括左侧显示屏、右侧显示屏、前侧显示屏、后侧显示屏以及顶侧显示屏。左侧显示屏、右侧显示屏、前侧显示屏、后侧显示屏以及顶侧显示屏分别位于地屏幕的左侧、右侧、前侧、后侧以及顶侧，以配合地屏幕1的显示层21对位于移动复位装置1上的人进行沉浸式显示。该显示系统对位于移动复位装置1上的人进行位置移动捕捉时，其各侧的显示屏可实时显示相应的显示内容。
显示系统可以迅速追踪待人在移动复位装置1上的运动情况，并利用移动复位装置1及时对人进行位置复原。可见，根据本申请的技术方案可有效解决现有技术中捕捉人在某一空间内的移动位置时检测过程过于复杂的技术问题。
以上结合附图对本申请的实施方式作了详细说明，但本申请不限于所描述的实施方式。对于本领域的技术人员而言，在不脱离本申请原理和精神的情况下，对这些实施方式进行多种变化、修改、替换和变型，仍落入本申请的保护范围内。

Claims (23)

  1. 一种移动复位装置，其特征在于，包括主控制器、弹性体以及至少一行波发生源，所述行波发生源与所述弹性体进行紧密连接，所述行波发生源与所述主控制器进行电性连接。
  2. 根据权利要求1所述的移动复位装置，其特征在于，所述行波发生源包括压电陶瓷片以及驱动模组，所述压电陶瓷片内置于所述弹性体中或设于所述弹性体的外表面，所述驱动模组与所述主控制器进行电性连接，且所述驱动模组驱动连接所述压电陶瓷片。
  3. 根据权利要求1所述的移动复位装置，其特征在于，所述移动复位装置还包括至少一压力传感器，所述压力传感器内置于所述弹性体中或贴设于所述弹性体的上表面或贴设于所述弹性体的下表面，且所述压力传感器与所述主控制器进行电性连接。
  4. 根据权利要求1所述的移动复位装置，其特征在于，所述弹性体包括中心弹性体、若干边界弹性体，所述若干边界弹性体依次环绕所述中心弹性体设置，且每个所述边界弹性体的内侧紧贴在所述中心弹性体的相应侧边上，每个所述边界弹性体与一个所述行波发生源进行紧密连接，相邻的两个所述边界弹性体之间间隔预设距离。
  5. 根据权利要求4所述的移动复位装置，其特征在于，所述弹性体包括N个所述边界弹性体，所述中心弹性体的横截面为正N边形，所述移动复位装置包括N个所述行波发生源，每个所述边界弹性体设置在所述中心弹性体的对应一个侧边上，及N个所述行波发生源分别设置在N个所述边界弹性体的远离所述中心弹性体的侧边上，以形成N/2组对向设置的行波发生源组。
  6. 根据权利要求5所述的移动复位装置，其特征在于，N为大于3的偶数。
  7. 根据权利要求1所述的移动复位装置，其特征在于，所述移动复位装置包括若干集成模块，所述若干集成模块呈阵列式排布，每个所述集成模块包括模块主体、所述弹性体以及所述行波发生源。
  8. 根据权利要求7所述的移动复位装置，其特征在于，所述弹性体铺设于相应的所述模块主体的顶侧，所述行波发生源包括多个压电陶瓷片以及多个驱动模组，所述多个压电陶瓷片分别与相应的所述弹性体紧密连接，所述多个驱动模组分别与所述主控制器进行电性连接，且每个所述驱动模组分别驱动连接一所述压电陶瓷片。
  9. 根据权利要求7所述的移动复位装置，其特征在于，每个所述集成模块还包括至少一压力传感器，所述压力传感器设置于所述模块主体的顶侧或内置于所述模块主体中或设置于所述模块主体的底侧，且所述压力传感器与所述主控制器进行电性连接。
  10. 根据权利要求1-9任一项所述的移动复位装置，其特征在于，所述移动复位装置为 可穿戴设备。
  11. 根据权利要求1-9任一项所述的移动复位装置，其特征在于，所述移动复位装置为固定装置，移动物位于所述移动复位装置上。
  12. 一种移动复位方法，其特征在于，所述移动复位方法包括以下步骤：
    当人在弹性体上移动时，检测人在所述弹性体上的移动方向；
    根据所述移动方向，通过行波发生源在所述弹性体上形成一行波，所述行波的传递方向与所述移动方向相同，以实现人在所述弹性体上的移动复位。
  13. 一种实现移动复位的地屏幕，其特征在于，包括：
    显示层；
    如权利要求1-11中任一项所述的移动复位装置，所述移动复位装置铺设于所述显示层的显示面上，
    其中，所述行波发生源与所述显示层的主控制器进行电性连接。
  14. 根据权利要求13所述的地屏幕，其特征在于，所述地屏幕还包括隔离保护层，所述隔离保护层夹设于所述移动复位装置与所述显示层之间。
  15. 根据权利要求14所述的地屏幕，其特征在于，所述隔离保护层和/或所述移动复位装置由高透光率材料形成；所述移动复位装置、所述隔离保护层以及所述显示层由上往下依次设置。
  16. 一种捕捉位置移动的方法，其特征在于，包括以下步骤：
    S110，检测人在预设平面上形成的两个初始压力点的位置信息；
    S120，当检测到其中一个初始压力点消失时，以另一个初始压力点的所在位置作为系统原点，并依次将该预设该平面上再次形成的第一个压力点的所在位置作为方向点，将该预设平面上再次形成的第二个压力点的所在位置作为第二零点；以及
    S130，基于所述系统原点、所述方向点以及所述第二零点三者之间的位置关系，判定人当前在所述预设平面上的位置移动状态；其中，所述预设平面为移动复位装置的表面，所述移动复位装置包括主控制器、弹性体以及至少一行波发生源，所述行波发生源与所述弹性体进行紧密连接，所述行波发生源与所述主控制器进行电性连接。
  17. 根据权利要求16所述的捕捉位置移动的方法，其特征在于，步骤S110包括：
    通过布置在所述预设平面上的若干压力传感器检测所述预设平面上的受压信息，以得到所述两个初始压力点的位置信息。
  18. 根据权利要求17所述的捕捉位置移动的方法，其特征在于，所述若干压力传感器在所述预设平面上呈矩阵分布。
  19. 根据权利要求16所述的捕捉位置移动的方法，其特征在于，步骤S130包括以下步骤：
    S131，以所述系统原点作为基点，将所述预设平面均分为左侧扇形区域、右侧扇形区域以及后侧扇形区域；以及
    S132，根据所述方向点所在的区域与所述第二零点所在的区域，判定人当前在所述预设平面上的位置移动状态。
  20. 根据权利要求19所述的捕捉位置移动的方法，其特征在于，步骤S132包括以下步骤：
    若所述方向点的所在区域为所述左侧扇形区域，所述第二零点的所在区域亦为所述左侧扇形区域，则判定人当前在所述预设平面上左转；
    若所述方向点的所在区域为所述左侧扇形区域，所述第二零点的所在区域为所述右侧扇形区域，则判定人当前在所述预设平面上前进；
    若所述方向点的所在区域为所述右侧扇形区域，所述第二零点的所在区域亦为所述右侧扇形区域，则判定人当前在所述预设平面上右转；
    若所述方向点的所在区域为所述右侧扇形区域，所述第二零点的所在区域为所述左侧扇形区域，则判定人当前在所述预设平面上前进；以及
    若所述第二零点的所在区域为所述后侧扇形区域，则判定人当前在所述预设平面上后退。
  21. 根据权利要求20所述的捕捉位置移动的方法，其特征在于，步骤S132还包括以下步骤：
    若所述第二零点的所在区域为所述左侧扇形区域与所述右侧扇形区域之间的分界线上，则判定人当前在所述预设平面上前进；以及
    若所述方向点的所在区域为所述后侧扇形区域与所述左侧扇形区域或与所述右侧扇形区域之间的分界线上，则判定人当前在所述预设平面上后退。
  22. 一种显示系统，其特征在于，所述显示系统包括如权利要求13-15中任一项所述的地屏幕，其中，所述显示系统对位于所述地屏幕的移动复位装置上的人的位置移动进行捕捉时，执行如权利要求16-21中任一项所述的捕捉位置移动的方法。
  23. 根据权利要求22所述的显示系统，其特征在于，所述显示系统还包括左侧显示屏、右侧显示屏、前侧显示屏、后侧显示屏以及顶侧显示屏；所述左侧显示屏、所述右侧显示屏、所述前侧显示屏、所述后侧显示屏以及所述顶侧显示屏分别位于所述地屏幕的左侧、右侧、前侧、后侧以及顶侧，以配合所述地屏幕的显示层对位于所述移动复位装置上的人进行沉浸式显示。
PCT/CN2022/073509 2021-05-10 2022-01-24 移动复位装置、地屏幕、移动复位方法、捕捉位置移动的方法及显示系统 WO2022237234A1 (zh)

Applications Claiming Priority (6)

Application Number Priority Date Filing Date Title
CN202110505792.8 2021-05-10
CN202120989446.7 2021-05-10
CN202110505792.8A CN115317857A (zh) 2021-05-10 2021-05-10 一种实现移动复位的装置及方法
CN202110506991.0A CN115328295A (zh) 2021-05-10 2021-05-10 一种捕捉位置移动的方法及显示系统
CN202110506991.0 2021-05-10
CN202120989446.7U CN215182810U (zh) 2021-05-10 2021-05-10 一种实现位置移动的地幕

Publications (1)

Publication Number Publication Date
WO2022237234A1 true WO2022237234A1 (zh) 2022-11-17

Family

ID=84028022

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/CN2022/073509 WO2022237234A1 (zh) 2021-05-10 2022-01-24 移动复位装置、地屏幕、移动复位方法、捕捉位置移动的方法及显示系统

Country Status (1)

Country Link
WO (1) WO2022237234A1 (zh)

Citations (13)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5343108A (en) * 1991-01-17 1994-08-30 Seiko Epson Corporation Ultrasonic step motor
EP1443632A2 (de) * 2003-01-31 2004-08-04 Siemens Aktiengesellschaft Flächenlinearmotor, insbesondere für frei lenkbare Versuchsfahrzeuge, und Versuchsanlage mit einem Flächenlinearmotor
US20050148432A1 (en) * 2003-11-03 2005-07-07 Carmein David E.E. Combined omni-directional treadmill and electronic perception technology
CN104874152A (zh) * 2015-06-11 2015-09-02 苏州百源软件设计有限公司 万向跑步运动器械
US20150321337A1 (en) * 2014-05-06 2015-11-12 Kenneth Dean Stephens, Jr. Enhanced Environment Simulator for Proxy Robot Handlers
CN105554490A (zh) * 2015-12-23 2016-05-04 上海大象无形展览展示有限公司 一种椭圆地幕与椭圆环幕联动的3d显示装置及方法
US20170336860A1 (en) * 2016-05-20 2017-11-23 Disney Enterprises, Inc. System for providing multi-directional and multi-person walking in virtual reality environments
US20180217662A1 (en) * 2017-01-30 2018-08-02 Disney Enterprises, Inc. Floor system providing omnidirectional movement of a person walking in a virtual reality environment
CN109641143A (zh) * 2016-09-06 2019-04-16 索尼移动通讯有限公司 用于全方向移动的设备
CN109677273A (zh) * 2019-01-22 2019-04-26 西南交通大学 一种可静止起浮的超导电动悬浮列车的控制方法
US20200088758A1 (en) * 2018-09-19 2020-03-19 Disney Enterprises, Inc. System for stabilizing an object to control tipping during omnidirectional movement
CN211294288U (zh) * 2020-01-20 2020-08-18 吉利汽车研究院（宁波）有限公司 Cave虚拟现实显示系统
CN215182810U (zh) * 2021-05-10 2021-12-14 深圳市洲明科技股份有限公司 一种实现位置移动的地幕

Patent Citations (13)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5343108A (en) * 1991-01-17 1994-08-30 Seiko Epson Corporation Ultrasonic step motor
EP1443632A2 (de) * 2003-01-31 2004-08-04 Siemens Aktiengesellschaft Flächenlinearmotor, insbesondere für frei lenkbare Versuchsfahrzeuge, und Versuchsanlage mit einem Flächenlinearmotor
US20050148432A1 (en) * 2003-11-03 2005-07-07 Carmein David E.E. Combined omni-directional treadmill and electronic perception technology
US20150321337A1 (en) * 2014-05-06 2015-11-12 Kenneth Dean Stephens, Jr. Enhanced Environment Simulator for Proxy Robot Handlers
CN104874152A (zh) * 2015-06-11 2015-09-02 苏州百源软件设计有限公司 万向跑步运动器械
CN105554490A (zh) * 2015-12-23 2016-05-04 上海大象无形展览展示有限公司 一种椭圆地幕与椭圆环幕联动的3d显示装置及方法
US20170336860A1 (en) * 2016-05-20 2017-11-23 Disney Enterprises, Inc. System for providing multi-directional and multi-person walking in virtual reality environments
CN109641143A (zh) * 2016-09-06 2019-04-16 索尼移动通讯有限公司 用于全方向移动的设备
US20180217662A1 (en) * 2017-01-30 2018-08-02 Disney Enterprises, Inc. Floor system providing omnidirectional movement of a person walking in a virtual reality environment
US20200088758A1 (en) * 2018-09-19 2020-03-19 Disney Enterprises, Inc. System for stabilizing an object to control tipping during omnidirectional movement
CN109677273A (zh) * 2019-01-22 2019-04-26 西南交通大学 一种可静止起浮的超导电动悬浮列车的控制方法
CN211294288U (zh) * 2020-01-20 2020-08-18 吉利汽车研究院（宁波）有限公司 Cave虚拟现实显示系统
CN215182810U (zh) * 2021-05-10 2021-12-14 深圳市洲明科技股份有限公司 一种实现位置移动的地幕

Similar Documents

Publication Publication Date Title
US10416754B2 (en) Floor system providing omnidirectional movement of a person walking in a virtual reality environment
US9812045B2 (en) Large projection screen image device with seesaw structure for virtual reality
US10228758B2 (en) System for providing multi-directional and multi-person walking in virtual reality environments
US20170150108A1 (en) Autostereoscopic Virtual Reality Platform
US9575404B2 (en) Virtual reality theater structure
JP5732064B2 (ja) 透明裸眼立体画像表示装置及び方法
US10732197B2 (en) System for stabilizing an object to control tipping during omnidirectional movement
CN105629620B (zh) 折射透镜及其驱动方法、显示装置
KR102486439B1 (ko) Rgbg 픽셀 구조를 가지는 광 필드 3차원 표시 장치의 구동 방법, 및 광 필드 3차원 표시 장치
CN101065783A (zh) 水平透视显示
Furukawa et al. " Vection field" for pedestrian traffic control
KR102082781B1 (ko) 폴더블 디스플레이 장치 및 이의 제어 방법 및 장치.
JP2012064095A (ja) 触感呈示装置及び触感呈示装置の制御方法
KR101803313B1 (ko) 지진 체험 시뮬레이션 장치
JP2023510455A (ja) 高感度角度検出器を含むヘッドマウントディスプレイシステムのための位置追跡システム
CN114287067A (zh) 结构化致动器：成形的电活性聚合物
JP6594041B2 (ja) 危険体感システム
WO2022237234A1 (zh) 移动复位装置、地屏幕、移动复位方法、捕捉位置移动的方法及显示系统
CN105791807B (zh) 一种3d显示方法及系统
KR101872331B1 (ko) 지진 시뮬레이터 시스템
CN215182810U (zh) 一种实现位置移动的地幕
US10033993B2 (en) System for delivering stereoscopic images
JP2023515748A (ja) レンチキュラーベースの操縦可能なバックライティングを使用するマルチビュー裸眼立体視ディスプレイ
WO2007114225A1 (ja) 立体的二次元画像表示装置
Bohdal Devices for Virtual and Augmented Reality

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 22806211

Country of ref document: EP

Kind code of ref document: A1

NENP Non-entry into the national phase

Ref country code: DE

122 Ep: pct application non-entry in european phase

Ref document number: 22806211

Country of ref document: EP

Kind code of ref document: A1