CN108578982B - System for determining movement displacement and movement speed of user and universal movement device using same - Google Patents
System for determining movement displacement and movement speed of user and universal movement device using same Download PDFInfo
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- CN108578982B CN108578982B CN201810400893.7A CN201810400893A CN108578982B CN 108578982 B CN108578982 B CN 108578982B CN 201810400893 A CN201810400893 A CN 201810400893A CN 108578982 B CN108578982 B CN 108578982B
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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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- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
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- G06T7/62—Analysis of geometric attributes of area, perimeter, diameter or volume
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- 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
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- 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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Abstract
The invention belongs to the technical field of sports equipment, and particularly relates to a system for determining the movement displacement and movement speed of a user, which is characterized by comprising a sphere which rotates along with the movement of the user, a camera which is opposite to the lowest position of the sphere, a signal receiving module and a data processing module, wherein the surface of the sphere is divided into 2M (N+1) frames by latitude lines and longitude lines, each frame is provided with a latitude direction lamp and eight latitude signal lamps, four signal lamps are binary low positions, and the other four signal lamps are binary high positions; each frame is also provided with a longitudinal direction lamp and twelve longitudinal signal lamps, wherein four signal lamps are binary low order bits, and the other eight signal lamps are binary high order bits. The invention also provides a universal movement device applying the system. The system provided by the invention is applied to a universal running mechanism, can play a good role in detecting the movement displacement, the movement speed and the movement direction of a user, and satisfies the diversified demands of the user.
Description
Technical Field
The invention belongs to the technical field of sports equipment and equipment, and particularly relates to a system for determining the movement displacement and the movement speed of a user and a universal movement device applying the system.
Background
The universal running machine is a running machine with the horizontal movement direction capable of changing along with the steps of an operator, and can provide an infinite free walking space for indoor users.
In the prior art, the schemes related to the omnidirectional movement mechanism mainly comprise the following steps:
patent CN106178399a discloses a universal running machine, the device is through setting up the rolling element that is the matrix arrangement on the running platform, and every rolling element all can independently rotate around horizontal first axis of rotation and around vertical second axis of rotation to the rotation form of each rolling element of unified control, the device structure is complicated, and various faults appear in such structure in the use easily, and the maintenance is also very troublesome.
The device disclosed in CN206792896U adopts a divergent structure, which diverges from the center of the disc to the periphery, and the structure requires the user to change the position of the standing point to realize movement in different directions, which is very inconvenient to use.
Patent CN104906750a discloses an omnidirectional running machine, which comprises a supporting system, a control system, a driving system, a steering system, a dynamic balance sensing system and a carrier for an operator to run in, the device realizes omnidirectional running through the steering system, and the control system collects the gravity center offset information of the operator in the carrier through the dynamic balance sensing system and then transmits the information to the driving system and the steering system, so that the running machine is suitable for the running direction and the running speed of the operator. However, when the device is used, the operator can not conveniently get in and out of the ball, and the interactive equipment carried by the operator must be in wireless communication, and the running speed and distance cannot be well recorded, so that certain use limitation is caused.
Patent CN202422477U discloses an all-round walking tracking means, including waist fixing device, workstation, rolling ball, arresting gear, universal ball, speed sensor, liftable support frame and universal ball solid fixed ring, realizes all-round walking through the universal ball, and speed sensor is mechanical or photoelectric etc. distributed in rolling ball's equator department. In the use process of operators, the waist is provided with a binding device, so that the comfort during use is strongly influenced, the experience feeling is poor, the speed measurement is only carried out, and the requirements of the current diversified exercise data records are difficult to meet.
Meanwhile, the existing running machine is generally arranged indoors, the occupied working platform area is large, and the space utilization rate is low, so that in order to meet the increasing demands of users, it is very necessary to develop a universal running machine which occupies small indoor working platform area and has a wide application range and can measure multiple exercise data and a system which can determine the exercise displacement and the exercise speed.
Disclosure of Invention
The present invention provides a system for determining a movement speed and a movement direction and a universal movement device using the same, which solve one or more of the above-mentioned problems in the prior art.
According to one aspect of the present invention there is provided a system for determining a user movement displacement and movement velocity comprising:
the sphere which rotates along with the movement of the user is provided with N wefts and M warps, the surface of the sphere is divided into 2M (n+1) frames by the wefts and the warps, the longitude and the latitude of the center of each frame are used for representing the longitude and the latitude of the frame,
each frame is provided with a latitudinal direction lamp and eight latitudinal direction lamps, the eight latitudinal direction lamps are arranged in two rows in the longitudinal direction, the latitudinal direction lamps are on to indicate north latitude and to be marked as positive numbers, and the latitudinal direction lamps are off to indicate south latitude and to be marked as negative numbers; the latitude signal lamps adopt binary codes, the lamps are on to represent 1, the lamps are off to represent 0, wherein four signal lamps are binary low bits, and the other four signal lamps are binary high bits;
each frame is also provided with a longitude direction lamp and twelve longitude signal lamps, the twelve longitude signal lamps are arranged in three rows in the transverse direction, the longitude direction lamp is on to indicate the east longitude and is marked as a positive number, and the longitude direction lamp is off to indicate the west longitude and is marked as a negative number; the longitude signal lamp adopts binary codes, the lamp is on to represent 1, the lamp is off to represent 0, four signal lamps are binary low bits, the other eight signal lamps are binary high bits,
at least one camera facing the sphere and having a camera facing the lowest position of the sphere,
a signal receiving module for receiving the light signal of single frame detected by the camera,
the data processing module converts the received light signals into decimal longitude and latitude, converts the decimal longitude and latitude into corresponding coordinate information, calculates the movement speed, the displacement in unit time and/or the movement direction of the user,
m, N is a natural number, wherein the larger the value of M, N, the more accurate the speed, displacement, direction of measurement.
The warp threads on the surface of the sphere are circles which take the center of the sphere as an origin, the radius of the sphere as a radius and pass through the top end and the bottom end of the sphere, and the lengths of the warp threads are equal; the weft on the surface of the sphere is a circle which is perpendicular to the center line of the sphere and surrounds the circumference of the surface of the sphere, and each weft is parallel.
Wherein the data processing module calculates the motion displacement of the user by the formula (I):
wherein A is the previous frame acquired by the camera, and the longitude is alpha 1 Latitude is beta 1 The method comprises the steps of carrying out a first treatment on the surface of the B is the next frame acquired by the camera, and the longitude of B is alpha 2 Latitude is beta 2 ；Arc length of A to B, i.e. the movement displacement of the user; r is the radius of the sphere; θ is the angle of AB;
the data processing module calculates the movement speed of the user by the formula (II):
where t is time and V is the motion speed per unit time of the user.
The system for determining the movement displacement and the movement speed, which is provided by the invention, is applied to the universal running mechanism, can well detect the movement displacement, the movement speed and the movement direction of a user, and satisfies the diversified demands of the user.
According to another aspect of the present invention, there is provided a universal movement device comprising a movement mechanism rotatable in any direction, a support mechanism, a system for determining the movement displacement and movement velocity of a user, wherein:
the movement mechanism is a sphere, and the part of the sphere, which rotates to the upper part, is a movement platform which is always contacted with the sole of the user;
the supporting mechanism comprises four rollers, four fixed shafts and a bracket, each roller is positioned on one side face of the sphere, two adjacent rollers are mutually perpendicular, each fixed shaft passes through the middle of one roller, two ends of each fixed shaft are fixed on the bracket, the surface of the sphere is in contact with the surface of the roller, and the sphere drives the roller to rotate around the fixed shaft when rotating;
the system for determining the movement displacement and the movement speed comprises a sphere rotating along with the movement of a user, at least one camera which is opposite to the sphere and provided with a signal receiving module which is opposite to the lowest position of the sphere and is used for receiving the light signals of a single frame detected by the camera, and a data processing module which is used for converting the received light signals into decimal longitude and latitude, converting the decimal longitude and latitude into corresponding coordinate information and calculating the movement speed, the displacement in unit time and/or the movement direction of the user,
wherein the sphere has N wefts and M warps, the surface of the sphere is divided into 2M (n+1) frames by the wefts and the warps, the longitude and the latitude of the center of each frame represent the longitude and the latitude of the frame,
each frame is provided with a latitudinal direction lamp and eight latitudinal direction lamps, the eight latitudinal direction lamps are arranged in two rows in the longitudinal direction, the latitudinal direction lamps are on to indicate north latitude and to be marked as positive numbers, and the latitudinal direction lamps are off to indicate south latitude and to be marked as negative numbers; the latitude signal lamp adopts binary coding, the lamp is lighted to represent 1, the lamp is turned off to represent 0, wherein four signal lamps are binary low bits, the other four signal lamps are binary high bits,
each frame is also provided with a longitude direction lamp and twelve longitude signal lamps, the twelve longitude signal lamps are arranged in three rows in the transverse direction, the longitude direction lamp is on to indicate the east longitude and is marked as a positive number, and the longitude direction lamp is off to indicate the west longitude and is marked as a negative number; the longitude signal lamp adopts binary codes, the lamp is on to represent 1, the lamp is off to represent 0, four signal lamps are binary low bits, the other eight signal lamps are binary high bits,
m, N is a natural number.
Wherein the data processing module calculates the motion displacement of the user by the formula (I):
wherein A is the previous frame acquired by the camera, and the longitude is alpha 1 Latitude is beta 1 The method comprises the steps of carrying out a first treatment on the surface of the B is the next frame acquired by the camera, and the longitude of B is alpha 2 Latitude is beta 2 ；Arc length of A to B, i.e. the movement displacement of the user; r is the radius of the sphere; θ is the angle of AB;
the data processing module calculates the movement speed of the user by the formula (II):
where t is time and V is the motion speed per unit time of the user.
In some embodiments, the motion mechanism of the universal motion device is arranged underground, and the motion platform protrudes out of the ground. Therefore, the user contacts with the motion mechanism through the motion platform and acts on the motion mechanism to roll, the effect of saving the indoor occupied working platform area is achieved, and the motion mechanism of the universal motion device is arranged underground, so that the influence and loss of environmental factors such as chemical media, light, temperature, humidity and the like are reduced, and the service life is prolonged.
In some embodiments, the safety device is arranged around the motion platform and comprises an armrest and a column for fixing the armrest. Therefore, the method has the effect of guaranteeing the safety of the user.
In some embodiments, an entrance for a user to go in and out is formed on one side of the safety device, and a baffle and a control switch for controlling the opening and closing of the baffle are arranged at the entrance. Therefore, the user can conveniently manage the universal running machine.
In some embodiments, the motion mechanism is fully covered with warps and wefts, and 0 degree warps and 0 degree wefts are determined; establishing a three-dimensional rectangular coordinate system: the direction of increasing the latitude is the positive direction of the Z axis by taking the spherical center as the origin O, the plane of 0-degree latitude is the plane where the X axis and the Y axis are located, the direction from the earth center to the zero-degree meridian on the plane is the positive direction of the X axis, and the positive direction of the Y axis is determined according to the right-hand rule. Thus, the coordinates are conveniently established on the motion mechanism so as to be convenient for quantifying and calculating the coordinates of the center of each frame.
In some embodiments, a high-speed camera may be respectively arranged right in front of, right in the left of and right below the motion mechanism, if the sampling frequency of the camera is high enough, the longitude and latitude coordinates of the center of the area opposite to each camera before moving and the longitude and latitude of the center of the area opposite to the current camera after moving in each frame may be obtained, then the moving distance of the center of each area under each camera is calculated by the following calculation formula, and the maximum value is compared to obtain the moving distance of the person on the motion platform, and meanwhile, the speed and direction of the person can be obtained.
Taking a camera in front of the camera as an example, the three-dimensional coordinate of the center point A of the area before movement is set as (x 1 ，y 1 ，z 1 ) The three-dimensional coordinates of the center point B of the area after the movement are (x 2 ，y 2 ，z 2 )。
Due to arcR is determined, and can be obtained by obtaining the angle θ between OA and OB>Is a length of (c).
The angle θ can be found by a vector formula: vector OA ∈ vector OB = |oa|| OB|cos θ
Then
And:
x 1 ＝R·cosβ 1 cosα 1 ，y 1 ＝R·cosβ 1 cosα 1 ，z 1 ＝R·sinβ 1
x 2 ＝R·cosβ 2 cosα 2 ，y 2 ＝R·cosβ 2 sinα 2 ，z 2 ＝R·sinβ 2
so that:
thus, θ=arccos [ cos β ] 1 cosβ 2 cos(α 1 -α 2 )+cosβ 1 cosβ 2 ]
Wherein A is the previous frame acquired by the camera, and the longitude is alpha 1 Latitude is beta 1 The method comprises the steps of carrying out a first treatment on the surface of the B is the next frame acquired by the camera, and the longitude of B is alpha 2 Latitude is beta 2 ；Arc length of A to B, i.e. the movement displacement of the user; r is the radius of the sphere; θ is the angle of AB, and the directions A to B can be represented by directional line segment AB.
And the same principle can be adopted, and the moving distance of the lower area of the cameras right below and left is taken as the maximum value among the three areas, namely the moving distance.
Speed of speedWhere t is the time it takes for A to B.
Drawings
FIG. 1 is a schematic diagram of an LED lamp arrangement in a system for determining a user's movement displacement and movement speed according to an embodiment of the present invention;
fig. 2 is a schematic diagram of the principle of calculating the longitude and latitude coordinates of the center of the area where the LED lamp shown in fig. 1 is located;
FIG. 3 is a schematic diagram of the LED lamp of FIG. 1 illustrating a binary high and low position;
FIG. 4 is a schematic view of a structure of a universal motion device according to another embodiment of the present invention;
FIG. 5 is a front view of the universal motion device of FIG. 3;
FIG. 6 is a schematic view of the safety device of the universal motion device of FIG. 3;
FIG. 7 is a schematic diagram of the speed and movement distance calculation of the running machine according to the present invention, wherein FIG. 7a is a diagram showing the coordinates of the region before the movement of the rolling element, and FIG. 7b is a diagram showing the coordinates of the region after the movement of the rolling element;
FIG. 8 is a schematic diagram of radius calculation of a ball of the exercise mechanism of the universal treadmill of FIG. 1.
Detailed Description
The invention is described in further detail below with reference to the accompanying drawings.
As shown in fig. 7a and 7b, the present invention provides a system for determining a displacement and a speed of movement of a user, comprising a ball 1 rotated with the movement of the user, a camera 6 facing the lowest position of the ball, a signal receiving module (not shown), and a data processing module (not shown);
as shown in fig. 1-3, the surface of the sphere 1 is divided into 2M (n+1) frames 12 by N wefts and M warps, the longitude and latitude of the center of each frame 12 are used for representing the longitude and latitude of the frame, the center of each frame 12 is provided with signal lamps in an L-shaped arrangement, the on and off of the signal lamps are designed according to binary codes, namely, the signal lamp on-meter is set as "1", the signal lamp off-meter is set as "0",
specifically, each frame 12 is provided with a latitudinal direction lamp and eight latitudinal signal lamps 81, the latitudinal signal lamps 81 adopt red LED lamps as indication, are arranged in two rows in the longitudinal direction, the latitudinal direction lamps are on to represent north latitude and mark as positive numbers, the latitudinal direction lamps are off to represent south latitude and mark as negative numbers; the latitude signal lamp 81 is binary coded, the lamp is on to represent 1, the lamp is off to represent 0, four signal lamps are binary low bits, the other four are binary high bits,
each frame 12 is also provided with a longitude direction lamp and twelve longitude signal lamps 82, the twelve longitude signal lamps 82 adopt blue LED lamps as indication, are transversely arranged in three rows, the longitude direction lamps are on to represent east longitude and indicate positive numbers, the longitude direction lamps are off to represent west longitude and indicate negative numbers; the longitude signal light 82 is binary coded, the light is on to represent 1, the light is off to represent 0, four signal lights are binary low bits, and the other eight signal lights are binary high bits.
The signal receiving module is used for receiving the LED lamp on-off signal of the single frame 12 opposite to the camera 6,
the data processing module is used for converting the received light signals into decimal longitude and latitude, converting the decimal longitude and latitude into corresponding coordinate information, and calculating the movement speed, the displacement in unit time and/or the movement direction of the user.
Wherein the data processing module calculates the motion displacement of the user according to the following method:
wherein A is the previous frame acquired by the camera, and the longitude is alpha 1 Latitude is beta 1 The method comprises the steps of carrying out a first treatment on the surface of the B is the next frame acquired by the camera, and the longitude of B is alpha 2 Latitude is beta 2 ；Arc length of A to B, i.e. the movement displacement of the user; r is the radius of the sphere; θ is the angle of AB.
The data processing module calculates the movement speed V of the user according to the following method:
in the formula, t is the time taken by the camera to face the area from the area center point A before moving to the area center point B after moving, and V is the movement speed of the user in unit time.
As shown in fig. 4 to 6, the universal movement device using the system for determining the movement displacement and the movement speed of the user comprises a movement mechanism 1 capable of rotating in any direction, a supporting mechanism, a camera, a signal receiving module for receiving the light signal of a single frame detected by the camera, and a data processing module, wherein:
the movement mechanism 1 is a sphere, and the part of the sphere 1 which rotates to the upper part is a movement platform 11 which is always contacted with the sole of a user; the sphere has N wefts and M warps, the surface of the sphere 1 is divided into 2M (N+1) frames by the wefts and the warps, the longitude and the latitude of the center of each frame 12 represent the longitude and the latitude of the frame,
each frame 12 is provided with a latitudinal lamp 83 and eight latitudinal signal lamps 81, wherein the latitudinal lamp is on to indicate north latitude and is marked as positive, and the latitudinal lamp is off to indicate south latitude and is marked as negative; the latitude signal lamp 81 adopts binary coding, the lamp is on to represent 1, the lamp is off to represent 0, wherein four signal lamps are binary low bits, and the other four signal lamps are binary high bits;
each frame 12 is also provided with a longitude direction lamp 84 and twelve longitude signal lamps 82, wherein the longitude direction lamp is on to indicate east longitude and is marked as positive, and the longitude direction lamp is off to indicate west longitude and is marked as negative; the longitude signal lamp 82 adopts binary coding, the lamp is on to represent 1, the lamp is off to represent 0, four signal lamps are binary low bits, and the other eight signal lamps are binary high bits;
the supporting mechanism comprises four rollers 3, four fixed shafts 4 and a bracket 5, each roller 3 is positioned on one side face of the sphere 1, two adjacent rollers 3 are perpendicular to each other, each fixed shaft 4 passes through the middle of one roller 3, two ends of each fixed shaft 4 are fixed on the bracket 5, the surface of the sphere 1 is in contact with the surface of the roller 3, and the roller 3 is driven to rotate around the fixed shaft 4 when the sphere rotates;
the number of cameras 6 is three, and the cameras are all right opposite to the sphere center of the sphere 1 and are respectively distributed under, in front of and right of the sphere 1. As shown in fig. 6, the universal running machine further comprises a safety device 7 arranged around the movement platform 11, the safety device 7 comprises a handrail 71 and a column 74 for fixing the handrail 73, one side of the safety device 7 is provided with an inlet which is convenient for a user to go in and out, and the inlet is provided with a baffle 71 and a control switch 72 for controlling the baffle 71 to open and close.
In the present embodiment, the universal movement device is provided below the ground 2, and the movement platform 11 protrudes above the ground 2 as a movement surface to be brought into contact with the user.
Specifically, the system and the device provided by the invention are used for determining the motion displacement and the motion speed in the following manner:
the ball body 1 is fully covered with warps and wefts, 0 degree warps and 0 degree wefts are determined, so that the longitude and latitude of the center of each area 12 can be known, longitude and latitude values are converted into binary numbers, the situation of the on-off of the LED lamps in the center of each area is presented, and the situation of the on-off of the LED lamps is set in advance; establishing a three-dimensional rectangular coordinate system: the sphere center is the origin O, the increasing direction of the latitude is the Z-axis forward direction, the 0-degree weft plane is the plane where the X-axis and the Y-axis are located, the direction from the earth center to the zero-degree warp on the plane is the X-axis forward direction, and the Y-axis forward direction is determined according to the right-hand rule.
As shown in fig. 7a, one camera 6 is provided in each of the right front, right side and right lower side of the sphere 1. If the sampling frequency of the cameras 6 is high enough, in a short time, the longitude and latitude coordinates of the area 12 opposite to each camera 6 before moving and the longitude and latitude of the area 12 opposite to each camera 6 after moving in each frame can be obtained, as shown in fig. 7b, then the change value of the distance of the area 12 opposite to each camera 6 is obtained through calculation by algorithm, the maximum value is compared, the distance of the person moving on the moving platform 11 is obtained, and meanwhile, the speed and direction of the person can be obtained.
The longitude and latitude coordinates of the area 1 opposite to the camera 6 are calculated by adopting binary codes, wherein the binary codes are determined according to the on-off condition of the LED lamp, so that the position coordinates of the opposite areas before and after movement are determined.
As shown in fig. 1 and 2, specifically, in order to determine the coordinate position of the center of each area 12 on the sphere 1, the longitude and latitude coordinates of the center of the area 12 are represented by using the on/off of the L-shaped red and blue LED lights, the on/off of the light represents 1, the on/off of the light represents 0, the on/off of the eight red LED lights 81 represents the latitude coordinate of the center of the area 12 where the sphere is located, and the on/off of the twelve blue LED lights 82 represents the longitude coordinate of the center of the area 12 where the sphere is located.
As shown in FIG. 2, the red light region represents a binary number 0001 1110, i.e., 0×2 0 +1×2 1 +1×2 2 +1×2 3 +1×2 4 +0×2 5 +0×2 6 +0×2 7 =30, then decimal 30; the blue light area represents a binary number 0000 0111 1000, namely a decimal number 120, and therefore, at this time, the coordinates of the center of the area over which the camera is facing are latitude 30 °, longitude 120 °, and thus the coordinate position of the center of the frame 12 over which the camera 6 is facing is determined.
Taking a camera in front of the camera as an example, the three-dimensional coordinate of the center point A of the area before movement is set as (x 1 ，y 1 ，z 1 ) The three-dimensional coordinates of the center point B of the area after the movement are (x 2 ，y 2 ，z 2 )。
Due to arcR is determined, and can be obtained by obtaining the angle θ between OA and OB>Is a length of (c).
The angle θ can be found by a vector formula: vector OA vector OB = OA OB cos θ
Then
Converting the longitude and latitude coordinates into three-dimensional rectangular coordinates:
x 1 ＝R·cosβ 1 cosα 1 ，y 1 ＝R·cosβ 1 cosα 1 ，z 1 ＝R·sinβ 1
x 2 ＝R·cosβ 2 cosα 2 ，y 2 ＝R·cosβ 2 sinα 2 ，z 2 ＝R·sinβ 2
so that:
thus, θ=arccos [ cos β ] 1 cosβ 2 cos(α 1 -α 2 )+cosβ 1 cosβ 2 ]
Wherein A is the previous frame acquired by the camera, and the longitude is alpha 1 Latitude is beta 1 The method comprises the steps of carrying out a first treatment on the surface of the B is the next frame acquired by the camera, and the longitude of B is alpha 2 Latitude is beta 2 ；Arc length of A to B, i.e. the movement displacement of the user; r is the radius of the sphere; θ is the angle of AB, and the directions A to B can be represented by directional line segment AB.
Similarly, the distance of the movement of the lower regions of the cameras right below and left is the maximum value among the three.
Speed of movement
Where t is time and V is the motion speed per unit time of the user.
As shown in fig. 8, in the method for determining the radius R of the movement mechanism, to calculate the radius R, the height h of the sphere exposing the working platform and the radius R of the cross section (i.e. the user's movement range) of the sphere taken by the working platform are known.
The radius R of the movement mechanism is determined by the following method:
the range of motion of the person is assumed to be 1 square meterWhen the gradient of the exposed part of the ball is less than 3%, the person looks like a track, namely +.>Obtaining h less than or equal to 0.0168m and R 2 ＝(R-h) 2 +r 2 Substituting r=0.56 m and h is less than or equal to 0.0168m into the above formula to obtain R is more than or equal to 9.34m.
I.e. the radius of the ball is not less than 9.34m when the range of motion of the person is 1 square meter.
In other embodiments, the signal lamp can be designed to be turned on or off according to the binary code, the signal lamp can be set to be turned on or off to be "0", and the signal lamp can be set to be turned off to be "1", so that the signal lamp is converted into decimal longitude and latitude after being coded, and the technical effect required by the invention can be achieved.
The universal running machine provided by the invention has the advantages of simple structure, low cost and convenience in maintenance, and the main body part is arranged underground, so that the damage influence of the external environment on the device can be reduced; the surface of the motion mechanism is marked with coordinates according to longitude and latitude, information generated when the motion mechanism moves is captured by the information capturing device, the running speed and running direction of a user can be measured according to the change condition of the coordinate information, the movement distance can be measured, and the diversified requirements of the user are met; when in use, the waistband binding is not needed, the height and weight of the user are not limited, and the user directly moves on the spherical surface, so that the movement is more free, and the use is simpler and more convenient.
What has been described above is merely some embodiments of the present invention. It will be apparent to those skilled in the art that various modifications and improvements can be made without departing from the spirit of the invention.
Claims (9)
1. A system for determining a user movement displacement and movement velocity, comprising:
the sphere which rotates along with the movement of the user is provided with N wefts and M warps, the surfaces of the sphere are divided into 2M (N+1) frames by the wefts and the warps, the longitude and the latitude of the center of each frame represent the longitude and the latitude of the frame,
each frame is provided with a latitude direction lamp and eight latitude signal lamps, wherein the latitude direction lamp is on to represent north latitude and is marked as positive number, and the latitude direction lamp is off to represent south latitude and is marked as negative number; the latitude signal lamps adopt binary codes, the lamps are on to represent 1, the lamps are off to represent 0, wherein four signal lamps are binary low bits, and the other four signal lamps are binary high bits;
each frame is also provided with a longitude direction lamp and twelve longitude signal lamps, wherein the longitude direction lamp is on to represent the east longitude and is marked as a positive number, and the longitude direction lamp is off to represent the west longitude and is marked as a negative number; the longitude signal lamp adopts binary codes, the lamp is on to represent 1, the lamp is off to represent 0, four signal lamps are binary low bits, the other eight signal lamps are binary high bits,
at least one camera facing the sphere and having a camera facing the lowest position of the sphere,
a signal receiving module for receiving the light signal of single frame detected by the camera,
the data processing module converts the received light signals into decimal longitude and latitude, converts the decimal longitude and latitude into corresponding coordinate information, calculates the movement speed, the displacement in unit time and/or the movement direction of the user,
m, N is a natural number.
2. The system for determining a user's movement displacement and movement velocity according to claim 1, wherein the data processing module calculates the user's movement displacement by formula (i):
wherein A is the previous frame acquired by the camera, and the longitude is alpha 1 Latitude is beta 1 The method comprises the steps of carrying out a first treatment on the surface of the B is the next frame acquired by the camera, and the longitude of B is alpha 2 Latitude is beta 2 ；Arc length of A to B, i.e. the movement displacement of the user; r is the radius of the sphere; θ is the angle of AB.
3. The system for determining a user's movement displacement and movement velocity according to claim 1 or 2, wherein the data processing module calculates the user's movement velocity by formula (ii):
where t is time and V is the motion speed per unit time of the user.
4. The universal movement device is characterized by comprising a movement mechanism capable of rotating in any direction, a supporting mechanism and a system for determining movement displacement and movement speed of a user,
the movement mechanism is a sphere, and the part of the sphere, which rotates to the upper part, is a movement platform which is always contacted with the sole of a user;
the supporting mechanism comprises four rollers, four fixed shafts and a bracket, each roller is positioned on one side face of the sphere, two adjacent rollers are perpendicular to each other, each fixed shaft passes through the middle of one roller, two ends of each fixed shaft are fixed on the bracket, the surface of the sphere is in contact with the surface of the roller, and the rollers are driven to rotate around the fixed shafts when the sphere rotates;
the system for determining a user movement displacement and movement velocity comprises:
the sphere which rotates along with the movement of the user is provided with N wefts and M warps, the surfaces of the sphere are divided into 2M (N+1) frames by the wefts and the warps, the longitude and the latitude of the center of each frame represent the longitude and the latitude of the frame,
each frame is provided with a latitudinal direction lamp and eight latitudinal signal lamps, wherein the latitudinal direction lamp is on for indicating north latitude and is marked as positive number, and the latitudinal direction lamp is off for indicating south latitude and is marked as negative number; the latitude signal lamps adopt binary codes, the lamp on represents 1, the lamp off represents 0, wherein four signal lamps are binary low bits, and the other four signal lamps are binary high bits;
each frame is also provided with a longitude direction lamp and twelve longitude signal lamps, wherein the longitude direction lamp is on to represent the east longitude and is marked as a positive number, and the longitude direction lamp is off to represent the west longitude and is marked as a negative number; the longitude signal lamp adopts binary codes, the lamp is on to represent 1, the lamp is off to represent 0, four signal lamps are binary low bits, the other eight signal lamps are binary high bits,
at least one camera facing the sphere and having a camera facing the lowest position of the sphere,
a signal receiving module for receiving the light signal of single frame detected by the camera,
the data processing module is used for converting the received lamplight signals into decimal longitude and latitude, converting the decimal longitude and latitude into corresponding coordinate information and calculating the movement speed, the displacement in unit time and/or the movement direction of a user
M, N is a natural number.
5. The universal exercise device of claim 4, wherein the data processing module calculates the user's exercise displacement by formula (i):
wherein A is the previous frame acquired by the camera, and the longitude is alpha 1 Latitude is beta 1 The method comprises the steps of carrying out a first treatment on the surface of the B is the next frame acquired by the camera, and the longitude of B is alpha 2 Latitude is beta 2 ；Arc length of A to B, i.e. the movement displacement of the user; r is the radius of the sphere; θ is the angle of AB.
6. The universal exercise device of claim 4, wherein the data processing module calculates the user's speed of movement by formula (ii):
where t is time and V is the motion speed per unit time of the user.
7. The universal motion device according to any one of claims 4-6, further comprising a safety device disposed around the motion platform, the safety device comprising a handrail and a post for securing the handrail.
8. The universal movement device according to claim 7, wherein an entrance for a user to go in and out is provided at one side of the safety device, and a baffle and a control switch for controlling the opening and closing of the baffle are provided at the entrance.
9. The universal movement device according to claim 7, wherein the movement mechanism capable of realizing universal movement is arranged underground, and the movement platform protrudes from the ground.
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| CN110091621A (en) * | 2019-06-04 | 2019-08-06 | 广东工业大学 | A kind of spheriodal typewriter and its fixture |
| CN112723067A (en) * | 2020-12-23 | 2021-04-30 | 沈阳格林豪森物业管理有限公司 | Elevator floor monitoring system and method |
| CN112723070A (en) * | 2020-12-23 | 2021-04-30 | 沈阳格林豪森物业管理有限公司 | Elevator running speed monitoring system and method |
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