CN108283793A - A kind of Omni-mobile platform and the method that double-legged information is accurately tracked based on this platform - Google Patents
A kind of Omni-mobile platform and the method that double-legged information is accurately tracked based on this platform Download PDFInfo
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B26/00—Exercising apparatus not covered by groups A63B1/00 - A63B25/00
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B71/00—Games or sports accessories not covered in groups A63B1/00 - A63B69/00
- A63B71/06—Indicating or scoring devices for games or players, or for other sports activities
- A63B71/0619—Displays, user interfaces and indicating devices, specially adapted for sport equipment, e.g. display mounted on treadmills
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F18/00—Pattern recognition
- G06F18/20—Analysing
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- G06F18/232—Non-hierarchical techniques
- G06F18/2321—Non-hierarchical techniques using statistics or function optimisation, e.g. modelling of probability density functions
- G06F18/23213—Non-hierarchical techniques using statistics or function optimisation, e.g. modelling of probability density functions with fixed number of clusters, e.g. K-means clustering
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- 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
- G06F3/011—Arrangements for interaction with the human body, e.g. for user immersion in virtual reality
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B71/00—Games or sports accessories not covered in groups A63B1/00 - A63B69/00
- A63B71/06—Indicating or scoring devices for games or players, or for other sports activities
- A63B71/0619—Displays, user interfaces and indicating devices, specially adapted for sport equipment, e.g. display mounted on treadmills
- A63B71/0622—Visual, audio or audio-visual systems for entertaining, instructing or motivating the user
- A63B2071/0638—Displaying moving images of recorded environment, e.g. virtual environment
- A63B2071/0644—Displaying moving images of recorded environment, e.g. virtual environment with display speed of moving landscape controlled by the user's performance
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B2225/00—Miscellaneous features of sport apparatus, devices or equipment
- A63B2225/50—Wireless data transmission, e.g. by radio transmitters or telemetry
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B2230/00—Measuring physiological parameters of the user
- A63B2230/62—Measuring physiological parameters of the user posture
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
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- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
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- Y02E10/50—Photovoltaic [PV] energy
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Abstract
A kind of method that double-legged information is accurately tracked the present invention relates to Omni-mobile platform and based on this platform, it include the under(-)chassis equipped with running disk and braced frame, under(-)chassis is rotatablely connected with braced frame, braced frame is equipped with girdle ring towards the side of running disk, the top edge of running disk is equipped with infrared tracking frame, infrared tracking frame is connected to controller, and controller is connected to angular encoder, and angular encoder is set on under(-)chassis；The angular encoder information on infrared tracking frame is obtained, is converted by spin matrix, the direction of both feet is transformed into positive direction, calculates separately the coordinate of left and right foot, movement rate and body direction in every frame image, filtering, the double-legged information of accurate tracking.The present invention can intend that user is really allowed to experience oneself confirmation to be moved in immensity to greatest extent, and corresponding movement is mapped to infinite space in virtual scene and moves, and also has simple in structure, it is small, it is light-weight, it is easy to operate, it is easy to use the features such as.
Description
Technical field
The present invention relates to motion detections and control technology field, the control of the rotation action platform based on virtual reality technology
System, detection realize and application field, more particularly to a kind of Omni-mobile platform and accurately track based on this platform both feet information
Method.
Background technology
Virtual display technology is a kind of Computer Simulation system that can be created with the experiencing virtual world, it utilizes computer
A kind of simulated environment is generated, is a kind of Multi-source Information Fusion, the system of interactive Three-Dimensional Dynamic what comes into a driver's and entity behavior is imitative
Very, user is made to be immersed in the environment.Virtual reality technology using head-mounted display technology as core, be aided with space orientation technique and
Other peripheral technologies construct one and intend genuine virtual world, in non-virtual reality scene, because the long-term sitting of user makes
With PC machine, for traditional walking input mode, such as keyboard and handle, human body is already adapted to replace using the movement of finger
The movement of both legs；But for standing or moving the virtual reality scenario used, walked using traditional outer be located in virtual scene,
The feeling of immersion that virtual reality technology is built can greatly be destroyed；The use of both legs movement is a kind of original that mankind's long-term evolution adapts to
Raw motion mode can control the movement in scene using both legs instead of traditional keyboard and handle, be a kind of more natural
Interactive mode, while extending the application field of virtual reality, bring the functions such as additional body-building, training.It is moved using both legs
It is dynamic, need the contradiction for overcoming space and displacement, user to be moved in the medium and small spatial dimension of reality, corresponding movement is mapped to void
Infinite space moves in quasi- scene, while intending that user is really allowed to experience oneself confirmation to greatest extent to be moved in immensity
It is dynamic.
In order to solve this problem, occur the various universal action platforms for virtual reality, such as patent on the market
Number it is：A kind of 201510333880.9 virtual reality human body Omni-mobile inputs platform, the shape hung using column plus crossbeam
The shortcomings of formula is supported people, but equipment whole height can be caused excessively high, and volume is heavy；Patent No. for another example
A kind of 201420555831.0 human body Universal moving platform, is supported people using the structure of bracing ring, but can cause
Both hands are hung on bracing ring, for a long time using arm can be caused tingle, while also cannot achieve operation of squatting down.
And universal action platform is to needing the movable information of leg to be acquired, such as acceleration used in the prior art
Degree meter, the sensor of Tracker types are required to attachment and foot or leg, by capturing the movable information of both feet or both legs,
It in motion information transmission to scene, will be achieved in and control movement of the human body in virtual reality scenario by both legs.Sensing
The power supply mode of device is divided into wired power supply and battery powered, by hardwired for power, fishing line, coiling problem can be brought to pass through
Battery powered can bring replacement battery, and the problems such as charging for battery, the information transmission mode of sensor is divided into wire communication and nothing
Line communicates two ways.The problems such as wired communication mode controllability is high, but can bring fishing line, coiling, communication is general
For bluetooth, WIFI, Zigbee etc., complex environment, such as exhibition at the scene, in market, sensor signal is easy by other nothings
The interference of line signal can cause signal delay excessive, or even can not be reliably connected, because mobile feedback is non-to requirement of real-time
Chang Gao, human motion need timely to feed back in scene, no to postpone it will cause mobile, human motion, are not moved in scene
Dynamic, human body stopped, and not stop in scene.The inconsistent dizziness that can greatly cause user of this reality and virtual scene
Reaction（Motion sickness）.This is the critical issue that the universal action platform of virtual reality must solve.Sensor current simultaneously needs
Shoes or other positions are attached to, this requires that wearing of the user into line sensor, increases the complexity of operation.
Invention content
It is easy to operate the technical problem to be solved in the present invention is to provide a kind of simple in structure, it is easy to use, accurate positioning
Omni-mobile platform.
In order to solve the above-mentioned technical problem, the technical scheme is that a kind of Omni-mobile platform, including under(-)chassis,
It is provided with running disk on the under(-)chassis, braced frame, the under(-)chassis and support frame are additionally provided on the under(-)chassis
Frame is rotatablely connected, and the side of the braced frame towards running disk is provided with girdle ring, and the top edge of the running disk is equipped with infrared chase after
Track frame, the infrared tracking frame are connected to controller, and the controller is connected to angular encoder, and the angular encoder is set to
On under(-)chassis.
Preferably, the running disk is regular polygon, and running disk is concave surface running disk.
Preferably, the shape of the infrared tracking frame is adapted with the edge of running disk, and the infrared tracking frame includes head and the tail
Several pcb boards being vertically arranged to connect；Several groups luminous tube and reception pipe, any group of correspondence are provided on the pcb board
The luminous tube and reception pipe of setting are at horizontal axial symmetry or vertical axial symmetry.
Using above-mentioned technical proposal, by the setting of infrared tracking frame, luminous tube and reception pipe are formed in screen surface
Infrared ray intersects detection network, and any opaque object blocks the transmitting and reception of infrared LED pipe, will generate and block letter accordingly
Number.Microcontroller blocks signal by scanning these, then carries out data processing, you can the coordinate position for positioning shelter, in user
It need not dress and the tracing and positioning moved to user's both feet can be realized with sensor shoes.
Preferably, the infrared tracking frame is octagon；The infrared tracking frame includes be correspondingly provided with pcb board first
Frame and the second tracking frame are tracked, the corresponding pcb board of the first tracking frame is that strip is plate shaped, and the second tracking frame is corresponding
Pcb board is step type, and the first tracking frame and the second tracking frame are arranged alternately and connect from beginning to end, and the second tracking frame corresponds to
Pcb board both ends distance and the first corresponding pcb board of tracking frame equal length；The luminous tube and reception pipe are each perpendicular to
Pcb board is equipped with.
Preferably, the infrared tracking frame is octagon；The infrared tracking frame includes be correspondingly provided with pcb board first
Frame and the second tracking frame are tracked, the pcb board corresponding to the first tracking frame and the second tracking frame is the item of equal length
Shape is plate shaped, and the first tracking frame and the second tracking frame are arranged alternately and connect from beginning to end；Described first tracks the corresponding PCB of frame
Luminous tube and reception pipe on plate are each perpendicular to pcb board setting, and described second tracks the luminous tube on the corresponding pcb board of frame and connect
Closed tube is horizontally disposed at 45 degree of angles with pcb board.
Since running disk uses the design of octagon, also correspondence is set as octagon to infrared tracking frame, and passes through
Both the above design enable luminous tube on pcb board and reception pipe at horizontal or vertical symmetrical, makes entirely that infrared tracking frame is not
In the presence of no crosspoint acquisition blind area the case where, realize in infrared tracking frame formed X, Y axis infrared ray intersect detection network.
Preferably, the braced frame includes back support, and vertical supporting guide is provided on the back support,
Crouching is slidably connected in the vertical supporting guide jumps limiting mechanism；It includes sliding restriction plate and control that limiting mechanism is jumped in the crouching
The horizontal taper axis of restriction plate braking is slided, the sliding restriction plate is slidably connected with vertical supporting guide, the horizontal taper
Axis runs through the sliding restriction plate, and one end that the taper of the horizontal taper axis is smaller is connected on girdle ring, and the other end is socketed with
The both ends of return spring, the return spring are connected to end and the sliding restriction plate of horizontal tapered axis respectively；The sliding limit
Universal ball bearing is provided in making sheet, the inner ring of the universal ball bearing is connected to the conical surface of horizontal taper axis, universal ball bearing
Outer ring be socketed with rubber ring, the outer ring of the rubber ring is connected to vertical supporting guide.
Using above-mentioned technical proposal, horizontal taper axis is connected to through sliding restriction plate on girdle ring, and girdle ring is connected to operation
The waist of personnel, sliding restriction plate slide in vertical supporting guide realization user of service freely squat down and take-off movement, water
Put down tapered axis because girdle ring stretching forward, taper becomes larger, and squeezes everything ball bearing, and then squeeze rubber ring, rubber ring with it is perpendicular
Frictional force between straight supporting guide increases, and after increasing to a certain extent, the two locking, sliding restriction plate can not support vertically
Arbitrarily slided on guide rail, so limit user of service freely squat down and take-off movement.
Preferably, limit spring, the limit bullet are provided between the sliding restriction plate and the vertical supporting guide
Spring is socketed in the vertical supporting guide, and is mutually fixedly installed with sliding restriction plate, and the length of the limit spring is less than
The length of the vertical supporting guide.
Preferably, two sections of limit springs, respectively upper limit spring and lower limit are socketed in the vertical supporting guide
Spring, between upper limit spring and lower limit spring, the length of two sections of limit springs adds the sliding restriction plate
The length for sliding restriction plate is less than the length of the vertical supporting guide.
Due to the setting of limit spring so that sliding restriction plate plays buffering when vertical supporting guide slide downward
Effect, and equally play the role of buffering when more than certain altitude when upward sliding, to protect user of service
Safety.
Preferably, the scaffold further includes support arm, and central shaft, the support arm are provided on the under(-)chassis
Top connect with back support, the bottom end of the support arm is equipped with the central shaft；In the braced frame also
Be provided with control support arm braking locking mechanism, the locking mechanism include pivoting support and at least one pinion gear, it is described
Pivoting support is set between support arm and central shaft, and the pivoting support is connect with central axis, and support arm is fixed on back
Turn in bearing, the pivoting support is engaged by external tooth with pinion gear, and the pinion gear is rotatably set on under(-)chassis, described
Pinion gear bottom is equipped with electricity loss brake, and the electricity loss brake is connected to controller.
Using above-mentioned technical proposal, it is rotatablely connected by scaffold and under(-)chassis, realizes each side of operating personnel
The rotation of position, and then realize the arbitrary steering in operating personnel's virtual environment, small tooth is driven by the control of electricity loss brake
The braking of wheel, and then the pivoting support engaged with pinion gear is also braked therewith so that scaffold and under(-)chassis mutually locking,
Ensure safety when user of service or more machine.
The method that the invention also discloses a kind of accurately to track double-legged information based on Omni-mobile platform, including following step
Suddenly：
T1：User climbs up Omni-mobile platform, and infrared tracking frame detects block information and generates HID data packets；
T2：The coordinate of each touch point is extracted from HID data packets, filters facet plot point；
T3：The coordinate of all touch points in the HID data packets of each frame is clustered, double-legged coordinate is obtained, clustering algorithm is adopted
With K-means algorithms；
T4：The information for obtaining the angular encoder on infrared tracking frame, is converted by spin matrix, and the direction of both feet is transformed to
X-axis positive direction calculates separately the coordinate of left and right foot in every frame image；
T5：Calculate movement rate and direction：
The distance between movement rate=present frame two legs subtract the absolute value of the distance between previous frame two legs；
The output valve of body direction=angular encoder interface module；
T6：Judge direction of travel according to the setting of direction of travel in design；
T7：Movement rate is filtered, rate is filtered using Kalman filter, the accurate double-legged information of tracking.
The small point of area is first filtered out by the block information for detecting infrared tracking frame, then clusters the seat for obtaining both feet
Then mark distinguishes left and right foot, and then calculates movement rate and body direction, be finally filtered, adopted using above technical scheme
Collect location information in running disk of bipod or two legs, and then calculate speed and the direction of human body walking, and by this information input
Into virtual reality scenario.
The beneficial effects of the invention are as follows：
1, simple in structure, it is small, it is light-weight, it is easy to operate, it is easy to use.
2, it is squatted down by special back-supported structure realization and is operated with take-off, and to Vertical Square during people advances
Upward displacement is limited, and is protected to human body, prevents it from falling down.
3, it realizes servo rotary operation by increasing floating bearing in running disk bottom, and is realized and supported by locking mechanism
The locking of frame, safety of the guarantor in upper and lower machine.
4, the direction of both feet, rate are accurately tracked by infrared tracking frame, the information such as angle have the interference of environment resistant light
Ability, the advantages such as operating lag is low.
Description of the drawings
Fig. 1 is the three-dimensional structure diagram of the present invention；
Fig. 2 is the three-dimensional structure diagram of the invention without running disk；
Fig. 3 is the side view of the present invention；
Fig. 4 is the cross section view of A-A ' in Fig. 3；
Fig. 5 is the infrared tracking frame schematic diagram of regular quadrangle in the prior art；
Fig. 6 is the structural schematic diagram of octagon infrared tracking frame blind area；
Fig. 7 is the structural schematic diagram that the infrared tracking frame sawtooth frame of octagon solves blind area, wherein straight line portion corresponds to the
One tracking frame, stepped part correspond to the second tracking frame, dotted line corresponding infrared ray between luminous tube and reception pipe；
Fig. 8 is the design sketch that the infrared tracking frame of octagon solves blind area with the luminescent device at 45 degree of angles, wherein dotted line is luminous
Corresponding infrared ray between pipe and reception pipe；
Fig. 9 is the attachment structure schematic diagram of the photophore and pcb board at 45 degree of angles；
Figure 10 is the connection diagram of the receiver and pcb board at 45 degree of angles.
In figure：1- under(-)chassis, 2- running disks, 4- girdle rings, the infrared tracking frames of 5-, 11- support arms, 12- central shafts, 13- are returned
Turn bearing, 14- pinion gears, 15- electricity loss brakes, 31- back-supporteds, 32- vertical supporting guides, 33- sliding restriction plates, 34-
Horizontal taper axis, 35- return springs, the universal ball bearings of 36-, 37- rubber rings, 38- limit springs, 51-PCB plates, 52- are received
Pipe, 53- luminous tubes, 54- first track frame, and 55- second tracks frame, 6- infrared rays.
Specific implementation mode
The specific implementation mode of the present invention is described further below in conjunction with the accompanying drawings.It should be noted that for
The explanation of these embodiments is used to help understand the present invention, but does not constitute limitation of the invention.In addition, disclosed below
The each embodiment of the present invention in involved technical characteristic can be combined with each other as long as they do not conflict with each other.
A kind of Omni-mobile platform as shown in Figures 1 to 10, including under(-)chassis 1 are provided with running disk on under(-)chassis 1
22, braced frame is additionally provided on under(-)chassis 1, under(-)chassis 1 is rotatablely connected with braced frame, and waist is provided in braced frame
Ring 4 is provided with infrared tracking frame 5 on the top surface in running disk 2, and the top surface of running disk 2 is all contained in infrared tracking frame 5, infrared to chase after
Track frame 5 is connected to controller, and the controller is connected to angular encoder, and the angular encoder is set on under(-)chassis 1.This
Invention further includes having head-mounted display, activity of the adapting operation personnel in virtual environment.
The shape of infrared tracking frame 5 is adapted with the shape of running disk 2, and infrared tracking frame 5 includes several pcb boards 51, PCB
Several luminous tubes 53 and reception pipe 52, the quantity of luminous tube 53 and reception pipe 52 on infrared tracking frame 5 are provided on plate 51
It is equal, and luminous tube 53 is corresponding with reception pipe 52 at horizontal axial symmetry or vertical axial symmetry, and needle is installed in 52 front of reception pipe
To the filter plate of characteristic frequency to improve the ability of environment resistant light interference.Luminous tube 53 and reception pipe 52 are gathered pcb board 51, and it is fixed to make
Position is more accurate.
Depending on the shape of running disk 2, running disk 2 can be designed as any in a center of symmetry the shape of infrared tracking frame 5
Shape may further select regular polygon, can further select the positive sides 2N+4 shape（N is natural number）, such as：Six sides
Shape, decagon etc., running disk 2 are concave design, coordinate specific friction coefficient by the design of concave surface running disk 2, force both feet
In situ walking come simulate people on level land walking come realize user in virtual scene immensity move, concave surface
Running disk 2 generally coordinates specific shoes to realize specific friction coefficient.
The shape of same infrared tracking frame 5 follows running disk 2 and designs, it is only necessary to by the luminous tube on infrared tracking frame 5
53 and reception pipe 52 is angled is fixed on the pcb board 51 for constituting infrared tracking frame 5, and ensure luminous tube 53 and receive
Pipe 52 is corresponding at horizontal axial symmetry or vertical axial symmetry, and the pcb board 51 that luminous tube 53 and reception pipe 52 are gathered all.
Since universal action platform needs the rotation of 360 ° of human body of realization, so ideal running disk 2 should use circular design,
But difficult using circular design processing technology, machining accuracy is difficult to control, and therefore, uses the running disk 2 of the design of octagon,
This design makes running disk 2 close to circle, while greatly reducing difficulty of processing again, is achieved between design and processes good flat
Weighing apparatus.Infrared tracking frame 5 on the market is quadrangle, and the information acquired in this way does not have blind area, and infrared tracking frame 5 is designed as four
Side shape is attached in octagon running disk 2, as shown in figure 5, the floor space of entire running disk 2 can be caused excessive（Infrared outer frame needs
Increase shell）, infrared tracking frame 5 is designed as circle, it is smaller than quadrangle floor space, not only have asking for information collection blind area
Topic, processing, when production, will also face processing charges height（Round infrared frame needs to use flexible PCB）, precision is not easily controlled
Problem, therefore, optimum mode are that infrared tracking frame 5 is bonded octagon running disk 2, i.e., infrared frame are designed as octagon.
But another problem is brought, as shown in fig. 6, eight triangle portions on wherein eight sides, infrared light 6 is not by handing over
Crunode can cause the information at this eight positions not acquired reliably, and existence information acquires blind area.When both feet are located at herein,
The information of both feet will not acquire, and the present invention is asked to solve bipod in the information collection blind area in this eight regions by two methods
Topic.
Embodiment 1：Infrared tracking frame 5 is octagon, and infrared tracking frame 5 includes the tracking of the first tracking frame 54 and second
Frame 55, the first tracking frame 54 and second track 55 spaced setting of frame, and the first tracking 54 corresponding pcb board 51 of frame is set as item
Shape is plate shaped, and the second tracking 55 corresponding pcb board 51 of frame is set as right angle zigzag, i.e., zigzag bevel edge as shown in Figure 7, tiltedly
The sawtooth on side is small as possible, and the shape size of sawtooth is equal, and jagged pcb board 51 may be used several PCB and pass through PCB
Connector is spliced, and luminous tube 53 and reception pipe 52 are each perpendicular to the setting of pcb board 51.
Embodiment 2：Infrared tracking frame 5 is octagon, and infrared tracking frame 5 includes the tracking of the first tracking frame 54 and second
Frame 55, the first tracking frame 54 and second track 55 spaced setting of frame, and the first tracking frame 54 and second is tracked corresponding to frame 55
Pcb board 51 be set as that strip is plate shaped, the luminous tube 53 and reception pipe 52 on the first tracking 54 corresponding pcb board 51 of frame hang down
Directly in pcb board 51 be arranged, second tracking 55 corresponding pcb board 51 of frame on luminous tube 53 and reception pipe 52 with pcb board 51 at
45 degree of angle settings；I.e. each luminescent device is made of two luminous tubes 53 as shown in Figure 9 and Figure 10, and each receiving device is by two
Reception pipe 52 forms；Two luminous tubes 53 or two reception pipes 52 are connected to pcb board 51 with welding surface at an angle of 90 degrees at 45 degree of fillet welding
On；After luminescent device is welded to pcb board 51, by program control, it can be achieved that same infrared four sides type frame phase as shown in Figure 8
Same effect.
Braced frame includes back-supported 31, and vertical supporting guide 32 is provided on back-supported 31, and vertical support is led
Crouching is slidably connected on rail 32 and jumps limiting mechanism, and it includes sliding restriction plate 33 and control sliding restriction plate 33 to squat and jump limiting mechanism
The horizontal taper axis 34 of braking, sliding restriction plate 33 are slidably connected with vertical supporting guide 32, and horizontal taper axis 34 is through sliding
Restriction plate 33, and the smaller one end of its taper is connected on girdle ring 4, and the larger one end of taper is socketed with back on horizontal tapered axis
Two sections of position spring 35, return spring 35 abut horizontal tapered axis and slide restriction plate 33 respectively, setting in sliding restriction plate 33
There are universal ball bearing 36, the inner ring of universal ball bearing 36 to abut the conical surface of horizontal taper axis 34, the outer snare of universal ball bearing 36
It is connected to rubber ring 37, the outer ring of rubber ring 37 abuts vertical supporting guide 32.
As shown in Figure 1, vertical supporting guide 32 is set as two cylinder bars, back-supported 31 and vertical supporting guide 32
It links together, and girdle ring 4 links together with sliding restriction plate 33, by sliding restriction plate 33 in vertical supporting guide 32
Up and down motion freely squat down reaching operating personnel and take-off movement.User needs to limit when normal walking is with running
Girdle ring 4 is moved in vertical direction, at this point, the limit of vertical direction is realized by universal ball bearing 36 with rubber ring 37.
As shown in figure 4, when user moves forward, the taper of forward lean, center of gravity Forward taper trunnion axis is increasing, vertical to prop up
Support the Distance Shortened of guide rail 32 and taper trunnion axis（Taper trunnion axis is passed through from the centre of two cylinder bars）, 37 quilt of rubber ring
What is squeezed is more severe, and the frictional force between rubber ring 37 and cylinder bar gradually increases, and when reaching certain value, vertical support is led
By complete locking, up and down motion of the sliding restriction plate 33 in vertical supporting guide 32 is limited rail 32, cannot squat down at this time, on
It jumps.Only when user stops moving ahead, physical recovery vertical state, return spring 35 pulls horizontal taper axis 34 to keep taper gradual
Become smaller, and then the frictional force between rubber ring 37 and vertical supporting guide 32 is made to reduce, can freely squat down, upper jump, by limiting,
It can prevent user is out of control in the process of walking to go down on one's kness；And in halted state, limit releases, user can squat down,
The actions such as upper jump.
Embodiment 3：It is provided with limit spring 38,38 sets of limit spring between sliding restriction plate 33 and vertical supporting guide 32
It is connected in vertical supporting guide 32, and is fixedly installed with sliding 33 phase of restriction plate, the length of limit spring 38 is less than vertical branch
Support the length of guide rail 32.Limit spring 38 primarily serves the effect of buffering, the safety for protecting operating personnel；Further,
Limit spring 38 loses a part of length in the part of 33 or more restriction plate of sliding（Length can according to circumstances be set, such as root
It is set according to the virtual scene of different active degrees）, it is therefore an objective to, so that operating personnel is not limited during take-off, but
It is to be limited after jumping to certain altitude, prevents it from receiving injury, protection operating personnel's safety.
Embodiment 4：Two sections of limit springs 38, respectively upper limit spring 38 and lower limit are socketed in vertical supporting guide 32
Position spring 38, sliding restriction plate 33 is between upper limit spring 38 and lower limit spring 38, the length of two sections of limit springs 38
In addition the length of sliding restriction plate 33 is less than the length of vertical supporting guide 32.Same two sections of limit springs 38 primarily serve buffering
Effect, the safety for protecting operating personnel；Further, upper limit spring 38 loses a part of length（Length can root
It sets according to situation, for example is set according to the virtual scene of different active degrees）, it is therefore an objective to, make operating personnel in the mistake of take-off
It will not be limited in journey, but limited after jumping to certain altitude, prevent it from receiving injury, protection operating personnel's safety.
As shown in Fig. 2, scaffold further includes having support arm 11, support arm 11 is equipped with two sections, and bends through the difference of running disk 2
It is connect with central shaft 12 and back-supported 31, central shaft 12, the top of support arm 11 and back-supported is provided on under(-)chassis 1
31 connections, the bottom end of support arm 11 are connected on central shaft 12, and the lock that control support arm 11 is braked is additionally provided in braced frame
Determine mechanism, locking mechanism includes pivoting support 13 and pinion gear 14, pivoting support 13 be set to support arm 11 and central shaft 12 it
Between, pivoting support 13 is rotatablely connected with central shaft 12, and support arm 11 is fixed on pivoting support 13, is provided on pivoting support 13
With 14 matched external tooth of pinion gear, 14 axis of pinion gear is connected in braced frame and can be freely rotated, and in pinion gear 14
The gear teeth and pivoting support 13 on external tooth be intermeshed, pinion gear 14 is connected with electricity loss brake 15.
It is rotatablely connected by scaffold and under(-)chassis 1, realizes the rotation in each orientation of operating personnel, and then realize
Arbitrary steering in operating personnel's virtual environment, operating personnel need to lock braced frame in upper machine and lower machine, to protect
Demonstrate,prove the safety of user in the process.Locking is realized by electricity loss brake 15.Electricity loss brake 15 does not have when powering off
There are magnetic field, armature to be flicked by spring and brake block is withstood on armature, is in seized state.So that pinion gear 14 is braked, into
And lock braced frame, there are two the installations of further pinion gear 14, to improve the stability of braking；When energized, magnetic is generated
, against the force of the spring sucks back armature, and certain interval is generated between brake block and left and right, and brake block is in free state, stops
Vehicle piece follows shaft rotation dynamic so that pinion gear 14 can be rotated arbitrarily.
The method that the invention also discloses a kind of accurately to track double-legged information based on Omni-mobile platform, including following step
Suddenly.
T1：User climbs up Omni-mobile platform, and infrared tracking frame 5 detects block information and generates HID data packets.
T2：The coordinate of each touch point is extracted from HID data packets, filters facet plot point.
In the present invention, since Omni-mobile platform is not the projection carried out to step, but corresponding movement letter is acquired out
Breath, therefore touch point is concentrated very much in principle, as long as so the point disperseed outside wide area touch point can be considered small area
Point.Under normal circumstances, facet plot point could be provided as the point that area is less than 5cm × 5cm, but this is not practical value, this field
Technical staff can be voluntarily arranged according to actual demand.
T3：The coordinate of all touch points in the HID data packets of each frame is clustered, double-legged coordinate is obtained, cluster is calculated
Method uses K-means algorithms.
In the present invention, coordinate system is using that angle of treadmill left back as coordinate origin, is to the right Y-axis positive direction, to
Preceding is X-axis positive direction.
T4：The information for obtaining the angular encoder on infrared tracking frame 5, is converted by spin matrix, by the direction of both feet
X-axis positive direction is transformed to, the coordinate of left and right foot in every frame image is calculated separately.
It in the present invention, is converted by spin matrix, the direction of two legs is transformed into X-axis positive direction, leaned on the left of Y-axis at this time
Foot be just left foot, the foot on the right side of the Y-axis is right crus of diaphragm.
T5：Calculate movement rate and direction：
The distance between movement rate=present frame two legs subtract the absolute value of the distance between previous frame two legs；
The output valve of body direction=angular encoder interface module.
T6：Judge direction of travel according to the setting of direction of travel in design.
In the present invention, acquiescence direction of travel is to advance, only when triggering backward movement, after direction of travel is just revised as
It moves back, backward movement is set as：Calm vertical a period of time in infrared frame, if a foot is motionless in center, another foot to
Backed off after random center then judges triggering backward movement, then direction status modifier is to retreat, be first when forward travel state to be changed to
In center quiet vertical a period of time, as long as next not triggering backward movement, then direction status modifier is to advance.
In the present invention, the interface module of head-mounted display passes through the angle quaternary number and angular speed that call OpenVR interfaces to obtain
Fusion calculation must lift one's head aobvious course angle, distinguish left and right foot with this course later, then by that big foot of movement rate
The direction of motion directly as body direction or body direction it is reversed, this can utilize head show the further area in direction
Point.
T7：Movement rate is filtered, rate is filtered using Kalman filter, accurate tracking both feet letter
Breath.
In the present invention, calculated rate uses, game picture can be very because burr is more if being directly used in game at this time
It is not smooth, it is therefore desirable to rate to be filtered, Kalman filter is used in design keeps rate smooth；But Kalman filters
The shortcomings that wave device is that the time of raising and lowering is more long, can cause to be delayed, thus therefore in the algorithm to Kalman filter into
Row optimization, enables its initial value not start from scratch, but input a period of time is followed just to start to filter, and accelerates in filter curve
Rise process, when filter input value continuously for a period of time be below certain threshold value, then export and be reduced to zero immediately.
Embodiments of the present invention are explained in detail above in association with attached drawing, but the present invention is not limited to described implementations
Mode.For a person skilled in the art, in the case where not departing from the principle of the invention and spirit, to these embodiments
A variety of change, modification, replacement and modification are carried out, are still fallen in protection scope of the present invention.
Claims (10)
1. a kind of Omni-mobile platform, it is characterised in that：Including under(-)chassis, running disk is provided on the under(-)chassis, it is described
Braced frame is additionally provided on under(-)chassis, the under(-)chassis is rotatablely connected with braced frame, and the braced frame direction is run
The side of disk is provided with girdle ring, and the top edge of the running disk is equipped with infrared tracking frame, and the infrared tracking frame is connected to control
Device, the controller are connected to angular encoder, and the angular encoder is set on under(-)chassis.
2. a kind of Omni-mobile platform according to claim 1, it is characterised in that：The running disk is regular polygon, and is run
Disk is concave surface running disk.
3. a kind of Omni-mobile platform according to claim 2, it is characterised in that：The shape of the infrared tracking frame and race
The edge of disk is adapted, and the infrared tracking frame includes end to end several pcb boards being vertically arranged；On the pcb board
It is provided with several groups luminous tube and reception pipe, any group of luminous tube being correspondingly arranged and reception pipe are at horizontal axial symmetry or vertical axes
Symmetrically.
4. a kind of Omni-mobile platform according to claim 3, it is characterised in that：The infrared tracking frame is positive eight side
Shape；The infrared tracking frame includes the first tracking frame and the second tracking frame for being correspondingly provided with pcb board, and the first tracking frame corresponds to
Pcb board be that strip is plate shaped, the corresponding pcb board of the second tracking frame is step type, and the first tracking frame and second chases after
Track frame is arranged alternately and head and the tail connect, and the both ends distance of the corresponding pcb board of the second tracking frame and the first tracking frame are corresponding
The equal length of pcb board；The luminous tube and reception pipe are each perpendicular to pcb board and are equipped with.
5. a kind of Omni-mobile platform according to claim 3, it is characterised in that：The infrared tracking frame is positive eight side
Shape；The infrared tracking frame includes the first tracking frame and the second tracking frame for being correspondingly provided with pcb board, the first tracking frame and institute
It is plate shaped to state the strip that the pcb board corresponding to the second tracking frame is equal length, the first tracking frame and the second tracking frame are handed over
For setting and head and the tail connection；Luminous tube and reception pipe on the corresponding pcb board of the first tracking frame are each perpendicular to pcb board and set
It sets, the luminous tube and reception pipe on the corresponding pcb board of the second tracking frame are horizontally disposed with pcb board at 45 degree angles.
6. a kind of Omni-mobile platform according to claim 1, it is characterised in that：The braced frame includes back-supported
Portion is provided with vertical supporting guide on the back support, and crouching is slidably connected in the vertical supporting guide and jumps limitation machine
Structure；The horizontal taper axis for jumping that limiting mechanism includes sliding restriction plate and control sliding restriction plate braking of squatting, the sliding limit
Making sheet is slidably connected with vertical supporting guide, and the horizontal taper axis runs through the sliding restriction plate, the horizontal taper axis
The smaller one end of taper is connected on girdle ring, and the other end is socketed with return spring, and the both ends of the return spring are connected to respectively
The end of horizontal tapered axis and sliding restriction plate；Universal ball bearing, the universal ball bearing are provided in the sliding restriction plate
Inner ring be connected to the conical surface of horizontal taper axis, the outer ring of universal ball bearing is socketed with rubber ring, and the outer ring of the rubber ring is supported
It is connected to vertical supporting guide.
7. a kind of Omni-mobile platform according to claim 6, it is characterised in that：The sliding restriction plate with it is described vertical
Limit spring is provided between supporting guide, the limit spring is socketed in the vertical supporting guide, and is limited with sliding
Making sheet is mutually fixedly installed, and the length of the limit spring is less than the length of the vertical supporting guide.
8. a kind of Omni-mobile platform according to claim 6, it is characterised in that：It is socketed in the vertical supporting guide
Two sections of limit springs, respectively upper limit spring and lower limit spring, the sliding restriction plate are located at upper limit spring and lower limit
Between the spring of position, the length of two sections of limit springs is less than the length of the vertical supporting guide plus the length of sliding restriction plate
Degree.
9. a kind of Omni-mobile platform according to claim 6, it is characterised in that：The scaffold further includes support
Arm is provided with central shaft on the under(-)chassis, and the top of the support arm is connect with back support, the bottom of the support arm
End is equipped with the central shaft；The locking mechanism of control support arm braking, the lock are additionally provided in the braced frame
Determine mechanism include pivoting support and at least one pinion gear, the pivoting support is set between support arm and central shaft, described
Pivoting support is connect with central axis, and support arm is fixed on pivoting support, and the pivoting support passes through external tooth and pinion gear
Engagement, the pinion gear are rotatably set on under(-)chassis, and the pinion gear bottom is equipped with electricity loss brake, the dead electricity braking
Device is connected to controller.
10. the method that one kind accurately tracking double-legged information based on the Omni-mobile platform described in any one of claim 1 ~ 9, packet
Include following steps：
T1：User climbs up Omni-mobile platform, and infrared tracking frame detects block information and generates HID data packets；
T2：The coordinate of each touch point is extracted from HID data packets, filters facet plot point；
T3：The coordinate of all touch points in the HID data packets of each frame is clustered, double-legged coordinate is obtained, clustering algorithm is adopted
With K-means algorithms；
T4：The information for obtaining the angular encoder on infrared tracking frame, is converted by spin matrix, and the direction of both feet is transformed to
X-axis positive direction calculates separately the coordinate of left and right foot in every frame image；
T5：Calculate movement rate and direction：
The distance between movement rate=present frame two legs subtract the absolute value of the distance between previous frame two legs；
The output valve of body direction=angular encoder interface module；
T6：Judge direction of travel according to the setting of direction of travel in design；
T7：Movement rate is filtered, rate is filtered using Kalman filter, the accurate double-legged information of tracking.
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Address after: 310000 room 901, building 6, No. 1818-2, Wenyi West Road, Yuhang street, Hangzhou, Zhejiang Applicant after: Hangzhou Xuxian Technology Co.,Ltd. Address before: 310000 room 901, building 6, No. 1818-2, Wenyi West Road, Yuhang street, Yuhang District, Hangzhou City, Zhejiang Province Applicant before: Hangzhou Virtual And Reality Technology Co.,Ltd. |
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Denomination of invention: An omnidirectional mobile platform and a method for accurately tracking foot information based on this platform Granted publication date: 20230801 Pledgee: Industrial and Commercial Bank of China Limited Hangzhou Yuhang sub branch Pledgor: Hangzhou Xuxian Technology Co.,Ltd. Registration number: Y2024980002755 |