CN108578982A - System for determining user movement displacement and movement velocity and the universal movement device using the system - Google Patents
System for determining user movement displacement and movement velocity and the universal movement device using the system Download PDFInfo
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- CN108578982A CN108578982A CN201810400893.7A CN201810400893A CN108578982A CN 108578982 A CN108578982 A CN 108578982A CN 201810400893 A CN201810400893 A CN 201810400893A CN 108578982 A CN108578982 A CN 108578982A
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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
- A63B22/00—Exercising apparatus specially adapted for conditioning the cardio-vascular system, for training agility or co-ordination of movements
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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
- A63B24/00—Electric or electronic controls for exercising apparatus of preceding groups; Controlling or monitoring of exercises, sportive games, training or athletic performances
- A63B24/0021—Tracking a path or terminating locations
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/20—Analysis of motion
- G06T7/246—Analysis of motion using feature-based methods, e.g. the tracking of corners or segments
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/60—Analysis of geometric attributes
- G06T7/62—Analysis of geometric attributes of area, perimeter, diameter or volume
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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
- A63B24/00—Electric or electronic controls for exercising apparatus of preceding groups; Controlling or monitoring of exercises, sportive games, training or athletic performances
- A63B24/0021—Tracking a path or terminating locations
- A63B2024/0053—Tracking a path or terminating locations for locating an object, e.g. a lost ball
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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
- A63B2220/00—Measuring of physical parameters relating to sporting activity
- A63B2220/10—Positions
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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
- A63B2220/00—Measuring of physical parameters relating to sporting activity
- A63B2220/30—Speed
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/10—Image acquisition modality
- G06T2207/10016—Video; Image sequence
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- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02D—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN INFORMATION AND COMMUNICATION TECHNOLOGIES [ICT], I.E. INFORMATION AND COMMUNICATION TECHNOLOGIES AIMING AT THE REDUCTION OF THEIR OWN ENERGY USE
- Y02D30/00—Reducing energy consumption in communication networks
- Y02D30/70—Reducing energy consumption in communication networks in wireless communication networks
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Abstract
The invention belongs to sports equipment equipment technical fields, more particularly to the system for being used to determine user movement displacement and movement velocity, it is characterized in that, include the sphere rotated with user movement, camera, signal receiving module and the data processing module of face sphere lowest order, wherein, spherome surface is divided into 2M (N+1) a frame by weft and warp, latitude indicator and eight latitude signal lamps there are one being set on each frame, wherein four signal lamps are binary low level, and four additional is a binary high position；It is additionally provided with a longitudinal lamp and 12 longitude signal lamps on each frame, wherein four signal lamps are binary low level, in addition eight are a binary high position.The present invention also provides the universal movement devices of the application system.System provided by the present invention is applied in universal running apparatus, can play the role of good detection, satisfied users diversified demand to the moving displacement of user, movement velocity and the direction of motion.
Description
Technical field
The invention belongs to sports equipment equipment technical fields, more particularly to a kind of for determining user movement displacement and movement
The universal movement device of the system and application of the speed system.
Background technology
Universal treadmill refers to the treadmill that a kind of horizontal movement direction can change with operator's step, it can be interior
User provides unlimited space of freely walking.
In the prior art, the scheme for being related to omnidirectional moving mechanism is mainly the following：
Patent CN106178399A discloses a kind of universal treadmill, which is arranged by being arranged in running platform in matrix
The rolling member of row, and each rolling member can be independently around horizontal the first rotation axis rotation and around the second vertical rotation shaft rotation
Dynamic, to be uniformly controlled the rotation formula of each rolling member, the apparatus structure is complicated, and such structure is easy out in use
Existing various failures, repair are also pretty troublesome.
Device disclosed in patent CN206792896U then uses the structure of divergent shape, is in diverging around from disc centre
Shape, this structure need user oneself to change the position of standpoint, could realize the movement of different directions, use very not
Just.
Patent CN104906750A discloses a kind of comprehensive treadmill, including support system, control system, driving system
System, steering and dynamic equilibrium sensor-based system, and for the carrier that operator runs in it, which passes through steering
Realize it is comprehensive run, control system by dynamic equilibrium sensor-based system acquire carrier in operator centre-of gravity shift information after
Drive system and steering are passed to, to make treadmill be adapted with operator's running direction and speed.But use this
When device, for operator in ball, disengaging is very inconvenient, and the portable interactive device of operator must be wireless communication
, velocity and distance can not be recorded very well, to cause certain use to limit to.
Patent CN202422477U discloses a kind of omnibearing ambulation tracks of device, including waist fixing device, workbench,
Roller ball, brake apparatus, Universal caster, speed measuring device, liftable supporting rack and Universal caster fixed ring pass through Universal caster reality
Existing omnibearing ambulation, speed measuring device are mechanical or photo-electric etc., are distributed in the Chi Daochu of roller ball.Operator is using process
In, waist has restraint device, strong comfort when influencing to use, and experience sense can only be tested the speed by poor, it is difficult to be met present
The requirement of diversified exercise data record.
Meanwhile existing treadmill is typically disposed in interior, accounts for workbench product greatly, space availability ratio is not high, therefore, in order to
Meets the needs of user is growing, it is quite necessary to develop a kind of interior and account for workbench and accumulate small and applied widely, energy
The system surveyed the universal treadmill of multinomial exercise data and can determine that moving displacement and movement velocity.
Invention content
The present invention provides a kind of system for determining movement velocity and the direction of motion and the universal movement using the system
Device solves one or more in above-mentioned prior art problem.
According to an aspect of the invention, there is provided a kind of system for determining user movement displacement and movement velocity,
Including：
The sphere rotated with user movement, sphere have N weft and M warp, weft and warp to draw spherome surface
It is divided into 2M (N+1) a frame, the longitude and latitude of the frame is represented with the longitude and latitude at the center of each frame,
It is set on each frame there are one latitude indicator and eight latitude signal lamps, in two rows on eight latitude signal lamp longitudinal directions
Arrangement, latitude indicator light yellow indicate north latitude, are denoted as positive number, and the extinguishing of latitude indicator then indicates south latitude, is denoted as negative；Latitude is believed
Signal lamp uses binary coding, lamp light yellow to indicate 1, and lamp extinguishing then indicates 0, wherein four signal lamps are binary low level, separately
Outer four are a binary high position；
It is additionally provided with a longitudinal lamp and 12 longitude signal lamps, 12 longitude signal lamp transverse direction sides on each frame
It is arranged upwards in three rows, longitudinal lamp light yellow indicates east longitude, is denoted as positive number, and the extinguishing of longitudinal lamp then indicates west longitude, is denoted as
Negative；Longitude signal lamp uses binary coding, lamp light yellow to indicate 1, and lamp extinguishing then indicates 0, wherein four signal lamps be two into
The low level of system, in addition eight are a binary high position,
The camera of at least one face sphere and there are one camera face sphere lowest order,
Signal receiving module, the light signal for receiving the single frame that camera detection arrives,
The light signal received is converted into metric longitude and latitude by data processing module, and reconvert is at corresponding seat
Information is marked, and calculates the movement velocity of user, the displacement in the unit interval and/or the direction of motion,
M, N is natural number, and the numerical value of wherein M, N are bigger, and the speed of measurement, displacement, direction are more accurate.
Wherein, the warp of spherome surface refers to being radius as origin, radius of sphericity using the centre of sphere and passing through sphere top and bottom
The circle at end, every all equal through line length；The weft of spherome surface refers to, vertical with ball centre line and around spherome surface
One week circle, every weft are parallel.
Wherein, data processing module calculates the moving displacement of user by formula (I)：
In formula, A is the former frame of camera acquisition, longitude α1Latitude is β1；B is a later frame of camera acquisition,
Longitude is α2Latitude is β2；For the moving displacement of the arc length of A to B, that is, user；R is the radius of sphere；θ is the folder of AB
Angle；
Data processing module calculates the movement velocity of user by formula (II)：
In formula, t is the time, and V is the movement velocity in the Subscriber Unit time.
System provided by the present invention for determining moving displacement and movement velocity is applied in universal running apparatus,
It can play the role of good detection, satisfied users diversified demand to the moving displacement of user, movement velocity and the direction of motion.
According to another aspect of the present invention, a kind of universal movement device is provided, including can be toward any direction rotation
Motion, supporting mechanism, the system for determining user movement displacement and movement velocity, wherein：
Motion is sphere, and sphere turns to the position of top as the motion platform with user's plantar contact always；
Supporting mechanism includes four rollers, four fixing axles and holder, and each roller is located at a side of sphere, and phase
It is mutually perpendicular between two adjacent rollers, each fixing axle passes through among a roller, and the both ends of fixing axle are fixed on branch
On frame, surface and the cylinder surface of sphere contact with each other, and drive roller to be rotated around fixing axle when sphere rotates；
System for determining moving displacement and movement velocity include the sphere rotated with user movement, it is at least one just
Camera to sphere and there are one camera face sphere lowest order, the light for receiving the single frame that camera detection arrives
The signal receiving module of signal and for the light signal received to be converted into metric longitude and latitude, reconvert into correspondence
Coordinate information and calculate the data processing module of the movement velocity of user, the displacement in the unit interval and/or the direction of motion,
Wherein, sphere has N weft and M warp, weft and warp that spherome surface is divided into 2M (N+1) a frame, with
The longitude and latitude at the center of each frame represents the longitude and latitude of the frame,
It is set on each frame there are one latitude indicator and eight latitude signal lamps, in two rows on eight latitude signal lamp longitudinal directions
Arrangement, latitude indicator light yellow indicate north latitude, are denoted as positive number, and the extinguishing of latitude indicator then indicates south latitude, is denoted as negative；Latitude is believed
Signal lamp uses binary coding, and lamp is bright to indicate 1, and lamp is put out, and indicates 0, wherein four signal lamps are binary low level, in addition four
A is a binary high position,
It is additionally provided with a longitudinal lamp and 12 longitude signal lamps, 12 longitude signal lamp transverse direction sides on each frame
It is arranged upwards in three rows, longitudinal lamp light yellow indicates east longitude, is denoted as positive number, and the extinguishing of longitudinal lamp then indicates west longitude, is denoted as
Negative；Longitude signal lamp uses binary coding, lamp light yellow to indicate 1, and lamp extinguishing then indicates 0, wherein four signal lamps be two into
The low level of system, in addition eight are a binary high position,
M, N is natural number.
Wherein, data processing module calculates the moving displacement of user by formula (I)：
In formula, A is the former frame of camera acquisition, longitude α1Latitude is β1；B is a later frame of camera acquisition,
Longitude is α2Latitude is β2；For the moving displacement of the arc length of A to B, that is, user；R is the radius of sphere；θ is the folder of AB
Angle；
Data processing module calculates the movement velocity of user by formula (II)：
In formula, t is the time, and V is the movement velocity in the Subscriber Unit time.
In some embodiments, the motion of universal movement device is set to underground, and motion platform protrudes from ground.By
This, user, which is contacted with motion by motion platform and acts on motion, makes its rolling, and there is saving interior to account for work
The effect of platform product, and the motion of universal movement device reduces environmental factor such as chemical mediator, light, temperature because being set to underground
The influence and loss of degree, humidity etc. and prolong the service life.
In some embodiments, further include safety device, be set to motion platform surrounding, safety device includes handrail and use
In the column of fixed handrail.Have the effect of ensureing user security as a result,.
In some embodiments, safety device side is equipped with the entrance to come in and go out convenient for user, and inlet is equipped with baffle
And the control switch of control baffle folding.Universal treadmill is managed convenient for user as a result,.
In some embodiments, latitude and longitude are covered on motion, determine 0 ° of warp and 0 ° of weft；It establishes three-dimensional
Rectangular coordinate system：Using the centre of sphere as origin O, the increased direction of latitude is that Z axis is positive, and 0 ° of weft plane is that X-axis and Y-axis place are flat
Face, the earth's core to the direction of zero degree warp is X-axis positive direction on this plane, and Y-axis positive direction is determined according to the right-hand rule.As a result,
Convenient for establishing coordinate on motion, in order to which the coordinate to each frame center is quantified and is calculated.
In some embodiments, a height respectively can be set in the front of motion, front-left and underface respectively
Fast camera, if in the case of camera sample frequency is sufficiently high, mobile preceding each camera face in each frame can be obtained
When the longitude and latitude of the regional center of preceding camera face after the latitude and longitude coordinates of regional center and movement, then pass through following meter
Formula is calculated, the distance of each regional center movement under each camera is calculated, compares and takes its maximum value, show that people is flat in movement
The distance of platform movement, while can also find out its speed and direction.
By taking the camera of front as an example, if it is (x that mobile forefoot area, which takes the three-dimensional coordinate of central point A,1, y1, z1), after mobile
The three-dimensional coordinate of regional center point B is (x2, y2, z2)。
Due to arcWhat R was to determine, as long as the angle theta for obtaining OA and OB is obtained withLength.
Angle θ can be acquired by vector form：Vectorial OA ● vectorial OB=| OA | | OB | cos θ
Then
Again：
x1=Rcos β1cosα1, y1=Rcos β1cosα1, z1=Rsin β1
x2=Rcos β2cosα2, y2=Rcos β2sinα2, z2=Rsin β2
So：
Therefore, θ=arccos [cos β1cosβ2cos(α1-α2)+cosβ1cosβ2]
In formula, A is the former frame of camera acquisition, longitude α1Latitude is β1；B is a later frame of camera acquisition,
Longitude is α2Latitude is β2；For the moving displacement of the arc length of A to B, that is, user；R is the radius of sphere；θ is the folder of AB
The direction at angle, A to B can be indicated with directed line segment AB.
It can similarly obtain, the distance that region is moved under the camera of underface and front-left takes the maximum value between three of them,
It is used as move distance.
SpeedWherein t is A to B the time it takes.
Description of the drawings
Fig. 1 is that LED light arrangement is shown in the determination user movement displacement of an embodiment of the present invention and the system of movement velocity
It is intended to；
Fig. 2 is that LED light shown in FIG. 1 calculates its region center latitude coordinates principle schematic；
Fig. 3 is that LED light shown in FIG. 1 indicates binary system high-low-position schematic diagram；
Fig. 4 is the universal movement apparatus structure schematic diagram of another embodiment of the present invention；
Fig. 5 is the front view of universal movement device shown in Fig. 3；
Fig. 6 is the safety apparatus structure schematic diagram of universal movement device shown in Fig. 3；
Fig. 7 is treadmill speed of the present invention and move distance schematic diagram calculation, wherein Fig. 7 a are that rolling member moves forefoot area
Coordinate display figure, Fig. 7 b are that rolling member moves rear region coordinate display figure；
Fig. 8 is the radius schematic diagram calculation of the motion sphere of universal treadmill described in Fig. 1.
Specific implementation mode
The invention will now be described in further detail with reference to the accompanying drawings.
As shown in figs. 7 a and 7b, it is for determine user movement displacement and movement velocity the present invention provides a kind of
System includes with user movement and the camera 6 of 1, face sphere lowest order of sphere for rotating, signal receiving module are (in figure
It is not shown) and data processing module (not shown)；
As shown in Figure 1-Figure 3,1 surface of sphere is divided into a frames 12 of 2M (N+1) by N weft and M warp, with each frame
The longitude and latitude at 12 centers represents the longitude and latitude of the frame, and 12 center of each frame is equipped with the signal lamp of " L " type arrangement, is compiled according to binary system
On and off of code modelled signal lamp namely setting signal lamp is bright is calculated as " 1 ", signal lamp, which goes out, is calculated as " 0 ",
Specifically, each frame 12 is set there are one latitude indicator and eight latitude signal lamps 81, and latitude signal lamp 81 uses
Red LED lamp is used as instruction, is arranged in two rows of on longitudinal direction, and latitude indicator light yellow expression north latitude is denoted as positive number, latitude indicator
Extinguishing then indicates south latitude, is denoted as negative；Latitude signal lamp 81 uses binary coding, lamp light yellow to indicate 1, and lamp extinguishing then indicates 0,
Wherein four signal lamps are binary low level, and four additional is a binary high position,
It is additionally provided with 82,12 longitude signal lamps 82 of a longitudinal lamp and 12 longitude signal lamps on each frame 12
It is used as and is indicated using blue LED lamp, arranged in three rows in transverse direction, longitudinal lamp light yellow indicates east longitude, is denoted as positive number, longitude side
West longitude is then indicated to lamp extinguishing, is denoted as negative；Longitude signal lamp 82 uses binary coding, lamp light yellow to indicate 1, and lamp extinguishes then table
Show 0, wherein four signal lamps are binary low level, in addition eight are a binary high position.
Signal receiving module is used to receive the LED light light on and off signal of the single frame 12 of 6 faces of camera,
Data processing module is used to the light signal received being converted into metric longitude and latitude, and reconvert is at corresponding
Coordinate information, and calculate the movement velocity of user, the displacement in the unit interval and/or the direction of motion.
Wherein, data processing module calculates the moving displacement of user according to following methods：
In formula, A is the former frame of camera acquisition, longitude α1Latitude is β1；B is a later frame of camera acquisition,
Longitude is α2Latitude is β2；For the moving displacement of the arc length of A to B, that is, user；R is the radius of sphere；θ is the folder of AB
Angle.
Data processing module calculates the movement velocity V of user according to following methods：
In formula, t becomes mobile rear region central point B by moving forefoot area central point A by camera face region and spends
Time, V be the Subscriber Unit time in movement velocity.
As Figure 4-Figure 6, the universal movement device of above-mentioned determining user movement displacement and the system of movement velocity, packet are utilized
Include can toward the motion 1 of any direction rotation, supporting mechanism, camera, for receiving single frame that camera detection arrives
The signal receiving module and data processing module of light signal, wherein：
Motion 1 is sphere, and sphere 1 turns to the position of top as the motion platform with user's plantar contact always
11；Sphere has N weft and M warp, and 1 surface of sphere is divided into 2M (N+1) a frame by weft and warp, with each frame 12
The longitude and latitude at center represents the longitude and latitude of the frame,
It is set on each frame 12 there are one latitude indicator 83 and eight latitude signal lamps 81, latitude indicator light yellow indicates north
Latitude, is denoted as positive number, and the extinguishing of latitude indicator then indicates south latitude, is denoted as negative；Latitude signal lamp 81 uses binary coding, lamp bright
Expression 1, lamp extinguishing then indicates 0, wherein four signal lamps are binary low level, four additional is a binary high position；
It is additionally provided with a longitudinal lamp 84 and 12 longitude signal lamps 82, longitudinal lamp light yellow table on each frame 12
Show east longitude, be denoted as positive number, the extinguishing of longitudinal lamp then indicates west longitude, is denoted as negative；Longitude signal lamp 82 uses binary coding,
Lamp light yellow indicates 1, and lamp extinguishing then indicates 0, wherein four signal lamps are binary low level, in addition eight are binary high
Position；
Supporting mechanism includes four rollers, 3, four fixing axles 4 and holder 5, and each roller 3 is located at a side of sphere 1
Face, and be mutually perpendicular between two adjacent rollers 3, each fixing axle 4 passes through among a roller 3, and the two of fixing axle 4
End is fixed on holder 5, and surface and 3 surface of roller of sphere 1 contact with each other, and drive roller 3 is around 4 turns of fixing axle when sphere rotates
It is dynamic；
The quantity of camera 6 is set as three, and equal 1 centre of sphere of face sphere is distributed in underface, the front of sphere 1 respectively
And front-right.As shown in fig. 6, universal treadmill further includes the safety device 7 set on 11 surrounding of motion platform, safety device 7
Column 74 including handrail 71 and for fixing handrail 73,7 side of safety device are equipped with the entrance to come in and go out convenient for user, inlet
The control switch 72 opened and closed equipped with baffle 71 and control baffle 71.
In the present embodiment, universal movement device is set to ground 2 hereinafter, motion platform 11 protrudes from ground 2, as
The moving surface contacted with user.
Specifically, in such a way that system provided by the present invention and device are realized and determine moving displacement and movement velocity such as
Under：
Be covered with latitude and longitude on sphere 1, determine 0 ° of warp and 0 ° of weft, then known to where 12 center of each region
Latitude and longitude value is converted into binary number by longitude and latitude, is presented with each regional center LED light light on and off situation, and set in advance
LED light light on and off situation；Establish three-dimensional cartesian coordinate system：The centre of sphere is origin O, and the increased direction of latitude is that Z axis is positive, and 0 ° of weft is flat
Face is plane where X-axis and Y-axis, and the earth's core to the direction of zero degree warp is X-axis positive direction on this plane, true according to the right-hand rule
Determine Y-axis positive direction.
As shown in Figure 7a, a camera 6 is respectively set in the front of sphere 1, front-right and underface respectively.If camera
In the case of 6 sample frequencys are sufficiently high, in a short time, the region of 6 face of mobile preceding each camera in each frame can be obtained
Then the longitude and latitude in the region 12 of 6 face of 12 latitude and longitude coordinates and mobile rear camera passes through algorithm meter as shown in Figure 7b
It calculates, obtains the changing value of 6 12 distances of face region of each camera, compare and take its maximum value, obtain people in motion platform 11
The distance of movement, while can also find out its speed and direction.
Wherein, the latitude and longitude coordinates in the region 1 of 6 face of camera are calculated using binary coding, wherein binary system
The light on and off situation according to LED light is encoded to determine, so that it is determined that the position coordinates in the front and back face region of movement.
As depicted in figs. 1 and 2, specifically, in order to determine the coordinate position at 12 center of each region on sphere 1, L is used here
The red and blue LED lamp on/off of type carrys out the latitude coordinates at 12 center of binary coding representation region, and lamp is bright to indicate 1, and lamp goes out, and indicates 0,
It is gone out with eight red LED light bright 81 and indicates the latitude coordinate at its 12 center of residing region, 12 blue LED light 82 carry out table
Show the longitude coordinate at its 12 center of residing region.
As shown in Fig. 2, redlight district domain representation binary number 0,001 1110, i.e., 0 × 20+1×21+1×22+1×23+1×24
+0×25+0×26+0×27=30, then it represents that the decimal system 30；Blue lamp region expression binary number 0,000 0,111 1000, i.e., ten
System number 120, therefore, the coordinate of camera institute face regional center is 30 ° of latitude, 120 ° of longitude, so that it is determined that camera shooting at this time
The coordinate position at 12 center of first 6 face frames.
By taking the camera of front as an example, if it is (x that mobile forefoot area, which takes the three-dimensional coordinate of central point A,1, y1, z1), after mobile
The three-dimensional coordinate of regional center point B is (x2, y2, z2)。
Due to arcWhat R was to determine, as long as the angle theta for obtaining OA and OB is obtained withLength.
Angle θ can be acquired by vector form：Vectorial OA* vectors OB=| OA | | OB | cos θ
Then
Latitude coordinates are converted into three-dimensional rectangular coordinate：
x1=Rcos β1cosα1, y1=Rcos β1cosα1, z1=Rsin β1
x2=Rcos β2cosα2, y2=Rcos β2sinα2, z2=Rsin β2
So：
Therefore, θ=arccos [cos β1cosβ2cos(α1-α2)+cosβ1cosβ2]
In formula, A is the former frame of camera acquisition, longitude α1Latitude is β1；B is a later frame of camera acquisition,
Longitude is α2Latitude is β2；For the moving displacement of the arc length of A to B, that is, user；R is the radius of sphere；θ is the folder of AB
The direction at angle, A to B can be indicated with directed line segment AB.
It can similarly obtain, the distance that region is moved under the camera of underface and front-left takes the maximum value between three of them.
Movement velocity
In formula, t is the time, and V is the movement velocity in the Subscriber Unit time.
As shown in figure 8, motion radius R determines method, radius R is calculated, it is flat must first to know that sphere exposes work
The height h of platform, and by the radius r in the section (i.e. User Activity range) of the sphere of workbench interception.
Motion radius R is determined with the following method：
The scope of activities hypothesis of people is 1 square metre, thenThe part that ball exposes, when the gradient is small
When 3%, people is above just as though walking upon flat ground, i.e.,Obtain h≤0.0168m, and R2=(R-h)2+r2, by r=
0.56m, h≤0.0168m substitute into above formula, obtain R >=9.34m.
I.e. when the scope of activities of people is 1 square metre, the radius of ball is not less than 9.34m.
In other embodiments, according to the on and off of binary coding modelled signal lamp, can also setting signal lamp it is bright
It is calculated as " 0 ", signal lamp, which goes out, is calculated as " 1 ", is converted to decimal system longitude and latitude after being encoded with this, can also reach institute of the present invention
The technique effect wanted.
Universal treadmill provided by the present invention, it is of simple structure and low cost, easy to maintenance, and main part is placed in ground
Under, can reduce external environment influences the damage of the present apparatus；Motion surface is marked into coordinate by longitude and latitude, is caught using information
It catches device and captures generated information when motion movement, user's race can be not only measured according to the situation of change of coordinate information
Leg speed degree and running direction, but also move distance can be measured, meet user's diversification requirement；Without waistband ligature when use,
User's height and weight is not limited, user directly moves on spherical surface so that movement is freer, and use is easier.
Above-described is only some embodiments of the present invention.For those of ordinary skill in the art, not
Under the premise of being detached from the invention design, various modifications and improvements can be made, these belong to the protection model of the present invention
It encloses.
Claims (9)
1. the system for determining user movement displacement and movement velocity, which is characterized in that including：
The sphere rotated with user movement, the sphere have N weft and M warp, weft and warp to draw spherome surface
It is divided into 2M (N+1) a frame, the longitude and latitude of the frame is represented with the longitude and latitude at the center of each frame,
It is set on each frame there are one latitude indicator and eight latitude signal lamps, latitude indicator light yellow indicates north latitude, is denoted as just
Number, the extinguishing of latitude indicator then indicate south latitude, are denoted as negative；Latitude signal lamp uses binary coding, lamp light yellow to indicate 1, lamp
Extinguishing then indicates 0, wherein four signal lamps are binary low level, four additional is a binary high position；
A longitudinal lamp and 12 longitude signal lamps are additionally provided on each frame, longitudinal lamp light yellow indicates east longitude, note
For positive number, the extinguishing of longitudinal lamp then indicates west longitude, is denoted as negative；Longitude signal lamp uses binary coding, lamp light yellow to indicate
1, lamp extinguishing then indicates 0, wherein four signal lamps are binary low level, in addition eight are a binary high position,
The camera of at least one face sphere and there are one camera face sphere lowest order,
Signal receiving module, the light signal for receiving the single frame that camera detection arrives,
The light signal received is converted into metric longitude and latitude by data processing module, and reconvert is believed at corresponding coordinate
Breath, and the movement velocity of user, the displacement in the unit interval and/or the direction of motion are calculated,
M, N is natural number.
2. the system according to claim 1 for determining user movement displacement and movement velocity, which is characterized in that described
Data processing module calculates the moving displacement of user by formula (I)：
Wherein, A is the former frame of camera acquisition, longitude α1Latitude is β1；B is a later frame of camera acquisition, longitude
For α2Latitude is β2；For the moving displacement of the arc length of A to B, that is, user；R is the radius of sphere；θ is the angle of AB.
3. the system according to claim 1 or 2 for determining user movement displacement and movement velocity, which is characterized in that
The data processing module calculates the movement velocity of user by formula (II)：
In formula, t is the time, and V is the movement velocity in the Subscriber Unit time.
4. universal movement device, which is characterized in that including can toward the motion of any direction rotation, supporting mechanism, for true
Determine the system of user movement displacement and movement velocity,
The motion is sphere, and the position that the sphere turns to top is flat with the movement of user's plantar contact always
Platform；
The supporting mechanism includes four rollers, four fixing axles and holder, and each roller is located at a side of sphere, and phase
It is mutually perpendicular between two adjacent rollers, each fixing axle passes through among a roller, and the both ends of fixing axle are fixed on branch
On frame, surface and the cylinder surface of sphere contact with each other, and drive roller to be rotated around fixing axle when sphere rotates；
The system for determining user movement displacement and movement velocity includes：
The sphere rotated with user movement, the sphere have N weft and M warp, weft and warp to draw spherome surface
It is divided into 2M (N+1) a frame, the longitude and latitude of the frame is represented with the longitude and latitude of each frame center,
It being set on each frame there are one latitude indicator and eight latitude signal lamps, the bright expression north latitude of latitude indicator is denoted as positive number,
Latitude indicator goes out, and indicates south latitude, is denoted as negative；Latitude signal lamp uses binary coding, and lamp is bright to indicate 1, and lamp goes out, and indicates
0, wherein four signal lamps are binary low level, four additional is a binary high position；
A longitudinal lamp and 12 longitude signal lamps are additionally provided on each frame, longitudinal lamp light yellow indicates east longitude, note
For positive number, the extinguishing of longitudinal lamp then indicates west longitude, is denoted as negative；Longitude signal lamp uses binary coding, lamp light yellow to indicate
1, lamp extinguishing then indicates 0, wherein four signal lamps are binary low level, in addition eight are a binary high position,
The camera of at least one face sphere and there are one camera face sphere lowest order,
Signal receiving module, the light signal for receiving the single frame that camera detection arrives,
The light signal received is converted into metric longitude and latitude by data processing module, and reconvert is believed at corresponding coordinate
Breath, and calculate the movement velocity of user, the displacement in the unit interval and/or the direction of motion
M, N is natural number.
5. universal movement device according to claim 4, which is characterized in that the data processing module is counted by formula (I)
Calculate the moving displacement of user：
Wherein, A is the former frame of camera acquisition, longitude α1Latitude is β1；B is a later frame of camera acquisition, longitude
For α2Latitude is β2；For the moving displacement of the arc length of A to B, that is, user；R is the radius of sphere；θ is the angle of AB.
6. universal movement device according to claim 4, which is characterized in that the data processing module is counted by formula (II)
Calculate the movement velocity of user：
In formula, t is the time, and V is the movement velocity in the Subscriber Unit time.
7. according to claim 4-6 any one of them universal movement devices, which is characterized in that further include safety device, be set to
Motion platform surrounding, the safety device include handrail and the column for fixing handrail.
8. universal movement device according to claim 7, which is characterized in that the safety device side, which is equipped with, is convenient for user
The entrance of discrepancy, and the control switch that inlet is equipped with baffle and control baffle opens and closes.
9. universal movement device according to claim 7, which is characterized in that described to realize that universal motion is set to
Underground, the motion platform protrude from ground.
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