CN110465077A - Virtual reality multiple degrees of freedom amusement experience system - Google Patents

Abstract

The invention relates to an amusement device, in particular to a multi-degree-of-freedom amusement experience system integrating special effects and virtual reality. It includes the track and the multi-degree-of-freedom experience device running on the track, and also includes the vehicle control system for controlling the multi-degree-of-freedom experience device. The vehicle control system is used to control the movement of various components of the vehicle; the positioning system set along the track, the virtual The reality system, the virtual reality system is worn on the head of the user to provide the user with experience content; the master control system communicates with the vehicle control system in real time through the communication system, and is used to monitor and dispatch the multi-degree-of-freedom experience device. The vehicle control system The system communicates with the virtual reality system to realize the cooperation between the action of the multi-degree-of-freedom experience device and the content of the virtual reality system. Dynamic play experience.

Description

Virtual reality multi-degree-of-freedom amusement experience system

technical field

The invention relates to an amusement device, in particular to a multi-degree-of-freedom amusement experience system integrating special effects and virtual reality.

Background technique

At present, amusement machines are developing rapidly in China. With the rise of theme parks, traditional sightseeing cars combined with screen movies and landscaping tour experience have become a rookie and mainstream in the amusement machine industry, but they also have many shortcomings:

1. After the design and production of the project, there is only one film, and its landscaping and decoration are all made according to the scenes or themes of the film. After tourists experience it once, they will rarely experience it again, because the content of the project is fixed, and You can only look in the direction of the screen, and the content and feeling are still the same after multiple experiences (the sound you hear, the landscaping and the video you see are the same), resulting in a low revisit rate;

2. The cost of project upgrading and transformation is extremely high, and the original landscaping and decoration need to be completely dismantled and then redone;

3. The upgrading cycle of the project is long, and the upgrading cycle of a normal project needs to be several months to one or two years;

4. The production and installation period of the project is long, usually the production and construction period of the project is more than one year;

5. The cost of the project is extremely high, and the cost of decoration, projection system, sound system, machine model and lighting system can reach tens of millions of RMB;

6. Wireless WIFI communication is generally used in the market, and the signal is poor, especially when switching APs, or when there are walls or other barriers, the communication is easily lost or interrupted, and the use of intercom pagers will also cause interference; cause a safety hazard;

7. The positioning is not accurate. At present, counters are generally used in the market to determine the position of the vehicle by reading the number of beams on the ground track. First, the accuracy is about 500mm. Once the vehicle is parked in the scene to watch the movie, and make corresponding The movement of the vehicle will cause the vehicle to shake back and forth along the track, and the counter will read the same beam repeatedly and count repeatedly, which will eventually lead to counting errors; After the vehicle moves its position, the vehicle cannot identify its own position;

8. The experience is poor. The vehicles commonly seen on the market have only 2-4 degrees of freedom, and the range of acceleration and angular acceleration is also narrow, resulting in a weak sense of physical experience.

In addition, there is no multi-degree-of-freedom tour bus project that combines VR virtual reality and real-time spatial positioning in the global market.

Contents of the invention

The technical problem to be solved by the present invention is to provide a virtual reality multi-degree-of-freedom amusement experience system. The amusement experience system realizes multi-vehicle scheduling. The content environment is simulated to give users a real and dynamic play experience.

The technical solution for realizing the purpose of the present invention is to provide a virtual reality multi-degree-of-freedom amusement experience system, including a track and a multi-degree-of-freedom experience device running on the track, and is characterized in that: it also includes a vehicle control system for controlling the multi-degree-of-freedom experience device , the vehicle control system is used to control the movement of various components of the vehicle;

The positioning system is set along the track, the vehicle control system reads the position information of the positioning system,

Virtual reality system, the virtual reality system is worn on the user's head to provide users with experience content;

The master control system, which communicates with the vehicle control system in real time through the communication system, is used to monitor and dispatch the multi-degree-of-freedom experience device;

The vehicle control system communicates with the virtual reality system to realize the cooperation between the action of the multi-degree-of-freedom experience device and the content of the virtual reality system. Furthermore, it also includes a special effect system connected with the master control system. The special effect system simulates the content environment for the user according to the position of the multi-degree-of-freedom experience device and the content of the virtual reality system.

Furthermore, the master control system includes a data processing unit, a system control unit connected to the data processing unit, and a vehicle dispatching unit. The system control unit and the vehicle dispatching unit communicate with the vehicle control system and the positioning system through the communication system. It includes a display unit connected with the data processing unit, and the display unit is used to display the running map of the vehicle on the track system.

Furthermore, the vehicle control system includes a vehicle system control module, which is connected to a communication module, which is responsible for data transmission with the master control system and the virtual reality system, and a platform control module, which is connected to a motion planning module And the motion motor control module, the motion motor control module is connected with multiple motion control motors, the platform control module drives each motion control motor according to the motion mode stored in the motion planning module, and also includes the walking control module, connected to the walking control module There is a positioning reading module for reading the positioning system, a motion planning module for storing motion planning, and a walking motor control module, and the walking motor control module is connected with the walking motor.

Further, the virtual reality system includes a virtual reality data processing module, the virtual reality processing module is connected with the vehicle control system through the communication module, the virtual reality processing module is also provided with a VR head-mounted display gyroscope, and a VR head-mounted display display component .

Further, the multi-degree-of-freedom experience device includes a chassis assembly that can walk on the track, and a cabin assembly for carrying people. The multi-degree-of-freedom platform assembly and the drive cabin are connected between the cabin assembly and the chassis assembly. The body assembly can rotate relative to the multi-degree-of-freedom platform assembly.

Further, the chassis assembly includes a vehicle chassis frame. The four corners of the lower surface of the vehicle chassis frame are provided with support wheel assemblies that move and support on the rails. Assemblies and rear drive assemblies, the front and rear ends of the chassis frame of the vehicle are provided with anti-collision beams to prevent vehicle collisions.

Further, the multi-degree-of-freedom platform includes three lower fixing bases fixedly connected with the chassis assembly, each lower fixing base is rotatably connected with a group of electric cylinder assemblies, and also includes an upper mounting plate, the lower mounting plate of the upper mounting plate An upper fixing seat is arranged on the surface, and the upper ends of the adjacent electric cylinder components of the adjacent lower fixing seats are connected in rotation with the same upper fixing seat.

Further, the rotating mechanism includes a slewing bearing, and the slewing bearing includes a slewing inner ring and a slewing outer ring, the slewing outer ring is fixedly connected to the multi-degree-of-freedom platform, and the slewing inner ring is fixedly connected to the cabin assembly. The multi-degree-of-freedom The platform is also provided with a rotary drive motor, and the output end of the rotary drive motor is provided with a rotary gear, and the rotary gear cooperates with the transmission teeth on the inner peripheral surface of the rotary inner ring.

Furthermore, the cabin body assembly includes a cabin body connected to a multi-degree-of-freedom platform, a plurality of seats are fixed in the cabin body, and a pressing bar assembly is also provided in the cabin body to prevent people from flying out of the cabin body.

The present invention has positive effects: 1. The present invention uses a virtual reality system to display visual content to the user. First, the experience content of the user's ride on the virtual reality multi-degree-of-freedom amusement experience system can be completely different each time, and there is no repeatability. Multiple tour experience, secondly, the virtual reality system is used to display visual content to users, so that there is no need to decorate the physical scene, and there is no need to modify the existing physical scene during the transformation of the old amusement facilities.

2. The present invention realizes real-time monitoring of the number and position of the multi-degree-of-freedom experience devices on the track through the master control system, controls the number of multi-degree-of-freedom experience devices on the track, avoids collision accidents, and ensures the normal operation of the equipment combined with the position and state of the multi-degree-of-freedom experience device, and feed back to the vehicle control system. The vehicle control system calibrates the screen and action according to its track position and action state with the virtual reality system, giving users more The simulation experience conforms to the content and environment, and improves the user's gaming experience.

3. The present invention also includes a special effect system connected with the master control system. The special effect system is used to simulate the environmental elements in the content of the virtual reality system, such as elements perceivable by users such as cold wind, hot wind, rain, smell, etc., and virtual reality The content of the system is perfectly combined to enhance the user's play experience.

4. The multi-degree-of-freedom experience device of the present invention can move forward, backward, and turn along the track, and realize the movement of the six-degree-of-freedom cabin body through the multi-degree-of-freedom platform, and then realize the movement of the cabin body components through the rotating mechanism. 360-degree rotation provides users with a strong sense of physical experience.

Description of drawings

1 is a schematic diagram of the composition of the virtual reality multi-degree-of-freedom amusement experience system of the present invention;

Figure 2 is a schematic diagram of the composition of the master control system;

Fig. 3 is a schematic diagram of the composition of the virtual reality system;

Fig. 4 is a schematic diagram of the structure of the vehicle control system;

Fig. 5 is a schematic structural diagram of a multi-degree-of-freedom experience device;

Fig. 6 is an exploded schematic diagram of a multi-degree-of-freedom experience device.

The markings in the above drawings are as follows:

1 is a multi-degree-of-freedom experience device, 7 is a track,

2 is the vehicle control system, 20 is the vehicle system control module, 21 is the communication module, 22 is the platform control module, 23 is the motion control platform, 220 is the motion planning module, 221 is the motion motor control module, 222 is the motion control motor, 230 is a positioning reading module, 231 is a motion planning module, 232 is a walking motor control module, and 233 is a walking motor;

3 is the positioning system,

4 is a virtual reality system, 40 is a virtual reality data processing module, 41 is a VR head display gyroscope, 42 is a VR head display reality component,

5 is a master control system, 50 is a data processing unit, 51 is a system control unit, 52 is a vehicle dispatching unit, 53 is a display unit, 54 is a communication system,

6 is the special effect system,

10 is a vehicle chassis assembly, 11 is a cabin assembly, 13 is a multi-degree-of-freedom platform assembly, 14 is a rotating mechanism,

100 is a chassis frame, 101 is a support wheel assembly, 102 is a front drive assembly, 103 is a rear drive assembly, 104 is an anti-collision beam,

130 is the lower fixing seat, 131 is the electric cylinder assembly, 132 is the upper mounting plate, 133 is the upper fixing seat,

140 is a rotary support, 1401 is a rotary inner ring, 1402 is a rotary outer ring, 1403 is a rotary drive motor, 1404 is a rotary gear, and 1405 is a transmission tooth;

110 is a cabin body, 112 is a seat, and 113 is a depression bar assembly.

Detailed ways

(Example 1)

See Fig. 1, the virtual reality multi-degree-of-freedom amusement experience system of this embodiment includes a track and a multi-degree-of-freedom experience device 1 running on the track, and is characterized in that it also includes a vehicle control system for controlling the multi-degree-of-freedom experience device 2. The vehicle control system 2 is used to control the movement of various components of the vehicle. While controlling, various movement data will be collected and communicated to the master control system. The master control system will analyze the movement data to monitor each movement data. Motion stability of a multi-degree-of-freedom experience device;

The positioning system 3 arranged along the track, the vehicle control system 2 reads the position information of the positioning system, and the positioning system is used to determine the position of the multi-degree-of-freedom experience device on the track; in this embodiment, two-dimensional code positioning or one-dimensional code positioning is used , specifically a two-dimensional code tape or a one-dimensional code tape arranged along the track; the accuracy is within 2mm, no matter where the multi-degree-of-freedom experience device is, or whether it is in a backward state, as long as the entire system is powered on, the multi-degree-of-freedom The precise position of the experience device can be fed back and read in real time, and there is no cumulative error;

The virtual reality system 4, the virtual reality system 4 is worn on the head of the user to provide experience content for the user, the virtual reality system is a commonly used VR eye, worn on the head of the user, and displays content to the user;

The master control system 5, the master control system 5 communicates with the vehicle control system 2 in real time through the communication system 50, and is used to monitor and dispatch the multi-degree-of-freedom experience device. The movement confidence, position information and content information of the device are monitored, and the positioning system reads the position data of the multi-degree-of-freedom experience device on the track to judge the distance between the multi-degree-of-freedom experience devices on the track to avoid the occurrence of multi-degree-of-freedom experience devices. The collision problem of the high-speed experience device ensures the safety of the entire amusement experience system. At the same time, the data of the positioning system is compared with the data of the vehicle control system to perform a closed-loop control and improve the control accuracy. The communication in this embodiment The system is divided into two parts: one part is the leaky wave communication system connected with the vehicle control system. The leaky wave communication system transmits vehicle information in real time without being affected by walls or other space barriers, and the leaky wave communication system will not be affected by the on-site intercom. The influence of the signal ensures the real-time and reliability of the communication. The other part is the Ethernet that communicates with the special effect system, that is, the commonly used WiFi communication system. This type of communication has high requirements for real-time, as long as it can communicate at a precise time point Just; for example, the connection between the master control system and the turnout control system of the track, and the connection with the special effect control system.

The vehicle control system 2 communicates with the virtual reality system 4 to realize the cooperation between the action of the multi-degree-of-freedom experience device and the content of the virtual reality system. The vehicle control system communicates with the virtual reality system, and the communication between the two shortens the communication time The time of the process improves the response time between the vehicle control system and the virtual reality system, so that the displayed content of the virtual reality system can match the action of the multifunctional experience device, and the consistency between the content and the user experience is improved. Further, each A vehicle control system communicates with the vehicle's virtual reality system, the signal is directly transmitted, the object is accurate, and there will be no signal error that may exist after being transmitted by the master control system.

Furthermore, it also includes a special effect system 6 connected to the master control system. The special effect system 6 simulates the content environment for the user according to the position of the multi-degree-of-freedom experience device and the content of the virtual reality system. The content environment includes various objects that the human body can perceive. Various elements, such as heat and cold, smell, and some weather systems. Commonly used weather systems include rain or snow, etc., and can also simulate sound elements. The special effect system includes a special effect control module for the communication of the master control system. Each special effect point is used to simulate a content environment. The special effect control module is also connected to a sound system, and the sound system is used to improve the user experience of sound effects.

See Fig. 2, master control system 5 comprises data processing unit 50, and in the present embodiment, data processing unit adopts industrial PC, and the system control unit 51 that is connected with data processing unit 50 and vehicle scheduling unit 52, system control unit 51 Carry out data communication with the vehicle dispatching unit 52 through the communication system 54 with the vehicle control system 2 and the positioning system 3, and also include a display unit 53 connected to the data processing unit, the display unit is a display, and the display unit 53 is used to display that the vehicle is on the track the running map of

See Fig. 4, vehicle control system 2 comprises vehicle system control module 20, and vehicle system control module is industrial PLC, and industrial PLC adopts soft PLC WindowsCE system, supports multiple communication protocols in the current market, and data interaction is convenient, and vehicle system control module 20 is connected with Communication module 21, communication module 21 is responsible for data transmission with master control system 5 and virtual reality system 4, and platform control module 22, platform control module 22 is connected with motion planning module 220 and motion motor control module 221, and platform control module is used for To control the motion of the multi-degree-of-freedom platform, the motion planning module is used to store various motion planning data. On the one hand, it can be used to provide motion parameters for the motion motor control module, and at the same time, it can also judge the motion results of the motion motor control module to realize closed loop Control, the motion motor control module 221 is connected with a plurality of motion control motors 222, and the platform control module 22 drives each motion control motor according to the motion mode stored in the motion planning module, and also includes a walking control module 23, on which the walking control module 23 The positioning reading module 230 of the reading and positioning system is connected, and the motion planning module 231 and the walking motor control module 232 storing the motion planning are connected. The walking motor control module 232 is connected with the walking motor 233 .

See Fig. 3, described virtual reality system 4 comprises virtual reality data processing module 40, and virtual reality processing module 40 is connected with vehicle control system 2 through communication module, and virtual reality processing module 40 is also provided with VR head-mounted display gyroscope 41, And the VR head display display component 42, the VR head display display component is used to display content to the user, the VR head display gyroscope is used to detect the current state of the user, and the virtual reality data processing module cooperates with the vehicle control system to realize content and action The coincidence provides the user's play experience effect.

5 and 6, the multi-degree-of-freedom experience device 1 includes a chassis assembly 10 that can walk on rails, and a cabin assembly 11 for carrying people, and the cabin assembly 11 and the chassis assembly 10 are connected with The multi-degree-of-freedom platform assembly 13 and the rotating mechanism 14 that the drive cabin assembly can rotate relative to the multi-degree-of-freedom platform assembly, a multi-degree-of-freedom experience device is designed here, the device includes a chassis assembly, and the chassis assembly automatically Walking can realize forward and backward. The multi-degree-of-freedom platform can realize the movement functions of the cabin components such as left and right movement, up and down lifting, front and rear pitching, left and right tilting, yaw, etc., realizing the diversity of movement of the cabin components, and setting the rotation at the same time The mechanism can realize the 360° rotation of the cabin body component relative to the multi-degree-of-freedom platform component, which adds to the feeling of the rotation experience.

The chassis assembly 10 includes a vehicle chassis frame 100, the vehicle chassis frame 100 is composed of two longitudinal beams arranged in parallel and a mounting plate, the left and right sides of the mounting plate are welded to one side of the longitudinal beam, and the lower surface of the vehicle chassis frame 100 The support wheel assembly 101 that moves and supports on the track is provided on the four corners of the track, the support wheel assembly includes a support wheel connecting plate connected with the chassis frame of the vehicle, and a rotatable supporting wheel frame is provided on the supporting wheel connecting plate, and the supporting wheel passes through The rotating shaft is connected to the support wheel frame, and the front and rear drive assemblies 102 and 103 are respectively arranged at the front and rear ends of the chassis frame 100 of the vehicle, and the front drive assembly and the rear drive assembly are used to drive the vehicle forward or backward on the guide rail. , the two driving components have reliable driving force, and the front and rear ends of the vehicle chassis frame 100 are provided with anti-collision beams 104 to prevent vehicle collisions, and the anti-collision beams absorb energy during the collision process, reducing the collision process Damage to the entire multi-degree-of-freedom experience device.

The multi-degree-of-freedom platform 13 includes three lower fixing bases 130 fixedly connected with the chassis assembly, each lower fixing base 130 is rotatably connected with a group of electric cylinder assemblies 131, and also includes an upper mounting plate 132, an upper mounting plate 132 The lower surface of the lower surface is provided with an upper fixed seat 133, and the upper end of the adjacent electric cylinder assembly 131 of the adjacent lower fixed seat 130 is rotatably connected with the same upper fixed seat 132. In this embodiment, the electric cylinder assembly is used as the power source, and it can also be Using air cylinders and oil cylinders, choose according to the actual situation. During use: a single electric cylinder assembly can be stretched, or multiple electric cylinder assemblies can be linked, so as to realize the diversity of multi-degree-of-freedom platform movements.

The rotating mechanism 14 includes a slewing support 140, the slewing support 140 includes a slewing inner ring 1401 and a slewing outer ring 1402, the slewing outer ring 1402 is fixedly connected to the multi-degree-of-freedom platform 13, and the slewing inner ring 1401 is fixedly connected to the cabin assembly 11, The multi-degree-of-freedom platform 13 is also provided with a rotary drive motor 1403. The output end of the rotary drive motor 1403 is provided with a rotary gear 1404. The rotary gear 1404 cooperates with the transmission teeth 1405 on the inner peripheral surface of the rotary inner ring. The slewing bearing has The function of rotation and connection, on the one hand, realizes the connection between the cabin body component and the multi-degree-of-freedom platform, and on the other hand, realizes the rotation of the cabin body component relative to the multi-degree-of-freedom platform; the rotation drive motor drives the transmission gear to rotate, and the transmission gear drives the rotation The inner ring rotates to realize the rotation of the cabin assembly.

The cabin body assembly 11 includes a cabin body 110 connected with a multi-degree-of-freedom platform, a plurality of seats 112 are fixed in the cabin body 110, and a pressure bar assembly 113 to prevent personnel from flying out of the cabin body is also provided in the cabin body , the pressure bar assembly is arranged on the front side of the seat, and can swing around the turning point. After the swing, the pressure bar is located above the legs of the human body in a sitting posture and in front of the chest. The user can grasp it on the bar. The set pressure bar assembly restricts users in the up and down direction, prevents people from flying out of the cabin assembly, and improves the safety of the equipment. According to the requirements of the scene and content, different decorations can be used on the outer cloth of the cabin assembly The panel is decorated, and the cabin body assembly is decorated in the style of the vehicle in this embodiment.

Track 7 comprises the track steel plate that is used for walking, and the support wheel of support wheel assembly walks on track steel plate, and positioning system is the two-dimension code band that arranges along track, also is provided with driving guide steel plate between track steel plates, drives guide steel plate and The driving wheels of the front drive assembly and the rear drive assembly are in contact, and the rotation of the drive wheel acts on the driving guide steel plate to generate thrust to push the multi-degree-of-freedom experience device, realizing the forward and backward of the multi-degree-of-freedom experience device. The track is divided into running track and maintenance track The track is equipped with a switch for track switching and a switch control system between the running track and the maintenance track. The switch control system communicates with the master control system and is responsible for the steering of the track switch.

The present invention uses a virtual reality system to display visual content to the user. First, the experience content of the user can be completely different each time the user rides the virtual reality multi-degree-of-freedom amusement experience system, and there is no repeatability. The reality system displays visual content to users without the need to decorate the physical scene, and there is no need to modify the existing physical scene during the renovation of the old amusement facilities. The present invention realizes the real-time monitoring of the quantity and position of the on-orbit multi-degree-of-freedom experience devices through the master control system, controls the number of on-orbit multi-degree-of-freedom experience devices, avoids collision accidents, and ensures the normal operation of the equipment , combined with the position and state of the multi-degree-of-freedom experience device, and fed back to the vehicle control system, the vehicle control system will calibrate the screen and action with the virtual reality system according to its track position and action state, so that the user is more in line with the content And the simulation experience of the environment to enhance the user's play experience. The present invention also includes a special effect system connected with the master control system, the special effect system is used to simulate the environmental elements in the content of the virtual reality system, such as elements perceivable by users such as cold wind, hot wind, rain, smell, etc. The content is perfectly combined to enhance the gaming experience for users. The multi-degree-of-freedom experience device of the present invention can move forward, backward, and turn along the track, and realize the movement of the six-degree-of-freedom cabin body through the multi-degree-of-freedom platform, and then realize the 360-degree movement of the cabin body assembly through the rotating mechanism Rotation provides users with a strong sense of physical experience.

Apparently, the above-mentioned embodiments are only examples for clearly illustrating the present invention, rather than limiting the implementation of the present invention. For those of ordinary skill in the art, other changes or changes in different forms can be made on the basis of the above description. It is not necessary and impossible to exhaustively list all the implementation manners here. And these obvious changes or modifications derived from the spirit of the present invention are still within the protection scope of the present invention.

Claims (10)

1. A virtual reality multi-degree-of-freedom amusement experience system, comprising a track (7) and a multi-degree-of-freedom experience device (1) running on the track, characterized in that: it also includes a vehicle control device for controlling the multi-degree-of-freedom experience device system (2), the vehicle control system (2) for controlling the movement of various components of the vehicle; A positioning system (3) arranged along the track, the vehicle control system reads the position information of the positioning system; Virtual reality system (4), the virtual reality system is worn on the head of the user to provide experience content for the user; The master control system (5), the master control system communicates with the vehicle control system in real time through the communication system (54), and is used to monitor and dispatch the multi-degree-of-freedom experience device; The vehicle control system (2) communicates with the virtual reality system (4) to realize the cooperation between the action of the multi-degree-of-freedom experience device and the content of the virtual reality system. 2. The virtual reality multi-degree-of-freedom amusement experience system according to claim 1, characterized in that it also includes a special effect system (6) connected to the master control system, and the special effect system is based on the position of the multi-degree-of-freedom experience device and the virtual reality system The content simulates the content environment for users. 3. The virtual reality multi-degree-of-freedom amusement experience system according to claim 1, characterized in that: the general control system (5) includes a data processing unit (50), and a system control unit (51) connected to the data processing unit and The vehicle dispatching unit (52), the system control unit (51) and the vehicle dispatching unit conduct data communication with the vehicle control system and the positioning system through the communication system, and also include a display unit (53) connected to the data processing unit, and the display unit (53 ) is used to display the running map of the vehicle on the track system, and the positioning system is a two-dimensional code or one-dimensional code positioning. 4. The virtual reality multi-degree-of-freedom amusement experience system according to claim 1, characterized in that: the vehicle control system (2) includes a vehicle system control module (20), and the vehicle system control module (20) is connected to a communication module (21 ), the communication module (21) is responsible for data transmission with the master control system and the virtual reality system, and the platform control module (22), the platform control module (22) is connected with the motion planning module (220) and the motion motor control module (221) , the motion motor control module (221) is connected to multiple motion control motors (222), the platform control module drives each motion control motor according to the motion mode stored in the motion planning module, and also includes a walking control module (23), walking The control module (23) is connected with the positioning reading module (230) for reading the positioning system, and the motion planning module (231) and the walking motor control module (232) for storing the motion planning, and the walking motor control module and the walking motor (233 )connect. 5. The virtual reality multi-degree-of-freedom amusement experience system according to claim 1, characterized in that: the virtual reality system (4) includes a virtual reality data processing module (40), and the virtual reality processing module (40) communicates The module is connected with the vehicle control system (2), and the virtual reality processing module (40) is also equipped with a VR head-mounted display gyroscope (41) and a VR head-mounted display display component (42). 6. The virtual reality multi-degree-of-freedom amusement experience system according to claim 1, characterized in that: the multi-degree-of-freedom experience device (1) includes a chassis assembly (10) that can walk on rails, and is used to carry The cabin assembly (11) of the personnel, the multi-degree-of-freedom platform assembly (13) is connected between the cabin assembly (11) and the chassis assembly (10), and the driving cabin assembly can rotate relative to the multi-degree-of-freedom platform assembly Agency (14). 7. The virtual reality multi-degree-of-freedom amusement experience system according to claim 6, characterized in that: the chassis assembly (10) includes a vehicle chassis frame (100), and the four corners of the lower surface of the vehicle chassis frame (100) A supporting wheel assembly (101) is provided for moving and supporting on the rails, and a front drive assembly (102) and a rear drive assembly (103) are respectively provided at the front and rear ends of the vehicle chassis frame (100), and the vehicle chassis frame The front and rear ends of (100) are provided with anti-collision beams (104) to prevent vehicle collisions. 8. The virtual reality multi-degree-of-freedom amusement experience system according to claim 6, characterized in that: the multi-degree-of-freedom platform (13) includes three lower fixing seats fixedly connected with the chassis components, and each lower fixing seat A group of electric cylinder assemblies (131) are rotatably connected on the seat (130), and also include an upper mounting plate (132). The lower surface of the upper mounting plate (132) is provided with an upper fixing seat (133), and the adjacent lower fixing seat ( 130) the upper end of the similar electric cylinder assembly is rotationally connected with the same upper holder (133). 9. The virtual reality multi-degree-of-freedom amusement experience system according to claim 6, characterized in that: the rotating mechanism (14) includes a slewing support (140), and the slewing support (140) includes a slewing inner ring (1401) and The outer rotary ring (1402), the outer rotary ring (1402) is fixedly connected to the multi-degree-of-freedom platform (13), the inner rotary ring (1401) is fixedly connected to the cabin assembly (11), and the multi-degree-of-freedom platform (13) A rotary drive motor (1403) is also provided, and the output end of the rotary drive motor (1403) is provided with a rotary gear (1404), and the rotary gear (1401) cooperates with the transmission teeth (1405) on the inner peripheral surface of the rotary inner ring. 10. The virtual reality multi-degree-of-freedom amusement experience system according to claim 6, characterized in that: the cabin assembly (11) includes a cabin (110) connected to a multi-degree-of-freedom platform, the cabin (110) A plurality of seats (112) are fixed inside, and the cabin body (110) is also provided with a pressing bar assembly (113) to prevent people from flying out of the cabin body.