CN109090748A - Human body omnidirectional moving positioning belt and its localization method - Google Patents
Human body omnidirectional moving positioning belt and its localization method Download PDFInfo
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- CN109090748A CN109090748A CN201810810600.2A CN201810810600A CN109090748A CN 109090748 A CN109090748 A CN 109090748A CN 201810810600 A CN201810810600 A CN 201810810600A CN 109090748 A CN109090748 A CN 109090748A
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- human body
- universal joint
- waistband
- omnidirectional moving
- positioning belt
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- 238000000034 method Methods 0.000 title claims description 14
- 230000004807 localization Effects 0.000 title claims description 7
- 238000013016 damping Methods 0.000 claims abstract description 58
- 230000007246 mechanism Effects 0.000 claims abstract description 28
- 230000033001 locomotion Effects 0.000 claims abstract description 26
- 238000005259 measurement Methods 0.000 claims abstract description 12
- 238000003780 insertion Methods 0.000 claims description 4
- 230000037431 insertion Effects 0.000 claims description 4
- 230000008569 process Effects 0.000 claims description 4
- 238000005452 bending Methods 0.000 claims description 3
- 239000013598 vector Substances 0.000 claims description 3
- 238000012544 monitoring process Methods 0.000 claims description 2
- 238000010586 diagram Methods 0.000 description 28
- 230000001133 acceleration Effects 0.000 description 3
- 230000000694 effects Effects 0.000 description 3
- 230000008901 benefit Effects 0.000 description 2
- 230000005540 biological transmission Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 230000007774 longterm Effects 0.000 description 2
- 230000002093 peripheral effect Effects 0.000 description 2
- 239000007787 solid Substances 0.000 description 2
- 208000027418 Wounds and injury Diseases 0.000 description 1
- 230000003044 adaptive effect Effects 0.000 description 1
- 230000004888 barrier function Effects 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 230000006378 damage Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 208000014674 injury Diseases 0.000 description 1
- 230000006855 networking Effects 0.000 description 1
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 description 1
- 238000005070 sampling Methods 0.000 description 1
- 230000035945 sensitivity Effects 0.000 description 1
- 238000004088 simulation Methods 0.000 description 1
- 238000009966 trimming Methods 0.000 description 1
Classifications
-
- A—HUMAN NECESSITIES
- A41—WEARING APPAREL
- A41F—GARMENT FASTENINGS; SUSPENDERS
- A41F9/00—Belts, girdles, or waistbands for trousers or skirts
- A41F9/02—Expansible or adjustable belts or girdles ; Adjustable fasteners comprising a track and a slide member
- A41F9/025—Adjustable belts or girdles
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
Abstract
The invention discloses a kind of human body omnidirectional moving positioning belts, including can be planar freely rotated around a vertical fixed shafts line rotary disc assembly, be connected with rotary disc assembly by damp type universal joint and can with the vertical telescopic mechanism that damp type universal joint freely swings, with the movable connection of vertical telescopic mechanism and the horizontal rotating shaft part that can be rotated around horizontal middle spindle and with the movable connection of horizontal rotating shaft part and can be strapped on human body and can be moved synchronously with human body around the waistband that junction is swung up and down, the waistband；The vertical telescopic mechanism is equipped with for measuring thirdly axis posture information and the attitude measurement module transmitted.The combination that turntable, elastic damping universal joint, vertical telescopic mechanism, horizontal rotating shaft part and waistband is arranged in the present invention realizes that waistband protects the support of human body on motion platform; it is decomposed by the rotation to three-dimensional shaft, it is ensured that the freedom of human motion and posture in waistband.
Description
Technical field
The present invention relates to sports safety safeguard more particularly to a kind of human body omnidirectional moving positioning belt and its positioning sides
Method.
Background technique
In the modern society that computer networking technology is grown rapidly, network technology not only brings scientific and technological expanding economy,
With the innovation of recreational functions, thus the terminal emulator type multiplicity of reality environment, but most terminal simulation
In device, the place for requiring large area is moved, and sensitivity is inadequate, and squatting down the movements such as steering for jump can not be from strictly according to the facts
It is existing, it is low to experience fidelity, and when due to human motion, no safeguard procedures be easy to cause injury, these are all greatlyed restrict
The development of existing human body Universal moving platform.
Using active human body omnibearing moving platform, more natural human motion experience can be obtained, but active
This means that needing to carry out effective position of human body measurement, and the mobile experience of human body cannot be influenced in measurement, but in people
Body occurs unexpected as needed to provide certain safeguard function when falling.
Summary of the invention
Goal of the invention: in view of the above-mentioned problems of the prior art, the first object of the present invention is to provide a kind of effectively guarantor
Barrier human motion and posture freedom and the human body omnidirectional moving positioning belt that position of human body and posture can be monitored at any time.
The second object of the present invention is to provide the localization method of human body omnidirectional moving positioning belt.
Technical solution: in order to achieve the above object, the invention discloses a kind of human body omnidirectional moving positioning belts, including can be around
Rotary disc assembly that one vertical fixed shafts line is planar freely rotated is connected by damp type universal joint with rotary disc assembly and can
The vertical telescopic mechanism that freely swings with damp type universal joint, with the movable connection of vertical telescopic mechanism and can be around horizontal middle spindle
The horizontal rotating shaft part of rotation and with horizontal rotating shaft part it is movable connection and can be around the waistband that junction is swung up and down, the waistband
It is strapped on human body and can be moved synchronously with human body；The vertical telescopic mechanism be equipped with for measure thirdly axis posture information simultaneously
The attitude measurement module of transmission.
Wherein, the rotary disc assembly include fixed disk, can around fixed disk rotate cursor and be located at cursor distal end and
Fixed part on universal joint for connecting damp type universal joint is also connected with for protecting damp type ten thousand on the universal joint fixed part
To the upper half outer cover of section.
Preferably, the damp type universal joint is elastic damping universal joint, which includes about two
The first fixation fork, the first cross axle and linear damper for connecting upper and lower first fixation fork of right-angled intersection setting, it is described
First fixation fork includes the first yoke portion and the first fork handle portion for external component, four shafts point of first cross axle
It is not connected by linear damper with the first yoke portion.
Further, spring is arranged on the linear damper.
Furthermore first yoke portion is arcuate structure, and two sides of the first yoke portion at the first fork handle portion are equipped with resistance
Buddhist nun's device articulated section, linear damper pass through damper articulated section and the movable connection of the first fixation fork.
Preferably, the damp type universal joint is adjustable damping universal joint, which includes about two
The second fixation fork, the second cross axle and rotary damper for connecting upper and lower second fixation fork of right-angled intersection setting, it is described
Second fixation fork includes the second yoke portion and the second fork handle portion for external component, four shaft ends point of second cross axle
It is not connected by rotary damper with the second yoke portion.
Further, the shaft end of second cross axle all has damping interconnecting piece, and the rotary damper has and damping
The compatible damping link slot of interconnecting piece, the damping interconnecting piece insertion, which damps, hinder the second cross axle can in rotation
It is rotated in Buddhist nun's device.
Preferably, the vertical telescopic mechanism include sliding-rail groove and can in sliding-rail groove vertical sliding motion sliding rail, the cunning
The upper end of track slot is successively arranged under the universal joint for connecting damp type universal joint fixed part and for protecting damp type universal joint
Lower half outer cover, the bottom level bending of the sliding rail extends to form switching part for being connected with horizontal rotating shaft part.
It furthermore further include bracket, the top of the bracket has the turntable fixed part being fixedly connected with rotary disc assembly, bracket
Bottom be equipped with mounting portion for installing motion platform.
A kind of localization method based on human body omnidirectional moving positioning belt of the present invention, using turntable fixed part center as origin,
Being directed toward turntable fixed part direction by bracket is that Y-axis is positive, positive for Z axis from bottom to top vertically, constructs right hand rectangular coordinate system,
The initial value at the center of middle waistband is x=0, y=0, z=-L, and L is vertical distance of the waistband center from origin；In use process
Attitude measurement module monitors obtain current sliding-rail groove attitude quaternion q=(w, x, y, z), and w, x, y and z respectively indicate posture quaternary
Four several vectors；By quaternary number operation, attitude quaternion q corresponding to current human position is obtained1=(w1,x1,y1,z1)
=q-1(0,0,0 ,-L) q obtains current human in the position i.e. x=x on human body omnibearing moving platform surface1, y=y1,
In (w1,x1,y1,z1) it is quaternary number w1+x1i+y1j+z1The succinct notation of k, i, j, k are three imaginary parts of quaternary number, q-1It is four
The inverse operation of first number, " " are the multiplying of quaternary number.
The utility model has the advantages that compared with prior art, the present invention has following remarkable advantage: the present invention setting turntable, bullet first
Property damping universal joint, vertical telescopic mechanism, horizontal rotating shaft part and waistband combination realize waistband to the branch of human body on motion platform
Support protection, is decomposed, it is ensured that the freedom of human motion and posture in waistband by the rotation to three-dimensional shaft；Its deuterzooid
Invention provides a kind of attitude measurement module that vertical telescopic mechanism is arranged in utilization and can effectively measure to position of human body
Positioning, and can for human body be provided with effect security protection human body omnidirectional moving positioning belt localization method, i.e., by pair
The three-axis attitude of vertical telescopic mechanism measures, and can calculate the position and the posture that obtain human body；Furthermore the present invention uses elasticity resistance
Buddhist nun's universal joint is realized under the premise of not reducing human motion freedom, effectively can provide security protection to human body；And it should
Elastic damping universal joint can provide universal swing to be connected to the Zhou Ji vertical telescopic mechanism at its both ends, and not generate axial turn
It is dynamic, while certain elastic damping can be provided for the swing, excessive speeds are able to suppress, and have and be restored to initial position
Ability；The last present invention linear damper and spring upward by control each party, realize that external component can be in four direction
It is upper to generate different damping characteristics；And the present invention that is set as of spring provides a rebound damping dynamics, realizes human body far from center
When can pull it back center in time, meet human body and advancing, different rebound damping dynamics required for retreating and moving left and right.
Detailed description of the invention
Fig. 1 is side view of the invention；
Fig. 2 is structural schematic diagram of the invention；
Fig. 3 is the structural schematic diagram of bracket in the present invention；
Fig. 4 is the structural schematic diagram of turntable component of the present invention；
Fig. 5 is the structural schematic diagram of elastic damping universal joint in the present invention；
Fig. 6 is the structural schematic diagram of the first fixation fork in the present invention；
Fig. 7 is the structural schematic diagram of the first cross axle in the present invention；
Fig. 8 is the structural schematic diagram of linear damper in the present invention；
Fig. 9 is the partial assembled schematic diagram of elastic damping universal joint in the present invention；
Figure 10 is the use state diagram of elastic damping universal joint in the present invention；
Figure 11 is the structural schematic diagram of adjustable damping universal joint in the present invention；
Figure 12 is the structural schematic diagram of the second fixation fork in the present invention；
Figure 13 is the structural schematic diagram of the second cross axle in the present invention；
Figure 14 is the structural schematic diagram of rotary damper in the present invention；
Figure 15 is the partial assembled schematic diagram of adjustable damping universal joint in the present invention；
Figure 16 is the use state diagram of adjustable damping universal joint in the present invention；
Figure 17 is the structural schematic diagram of sliding-rail groove in the present invention；
Figure 18 is the partial enlargement diagram in Figure 17 at A；
Figure 19 is the structural schematic diagram of sliding rail in the present invention；
Figure 20 is the partial enlargement diagram in Figure 19 at B；
Figure 21 is the structural schematic diagram of horizontal rotating shaft part in the present invention；
Figure 22 is the structural schematic diagram of waistband in the present invention；
Figure 23 is the assembly partial schematic diagram of turntable component of the present invention and bracket；
Figure 24 is the assembly partial schematic diagram of elastic damping universal joint in the present invention；
Figure 25 is the assembly partial schematic diagram of adjustable damping universal joint in the present invention；
Figure 26 is the schematic diagram of use state one of the present invention；
Figure 27 is the schematic diagram of use state one of the present invention.
Specific embodiment
Technical solution of the present invention is described further with reference to the accompanying drawing.
Embodiment 1
As depicted in figs. 1 and 2, a kind of human body omnidirectional moving positioning belt of the present invention, including rotary disc assembly 100, damp type
Universal joint 200, vertical telescopic mechanism 300, horizontal rotating shaft part 400, waistband 500, attitude measurement module 600 and bracket 700.Wherein
Rotary disc assembly 100 can planar be freely rotated around a vertical fixed shafts line, and the upper end of vertical telescopic mechanism 300 passes through damp type
Universal joint 200 is connected with rotary disc assembly 100 and can freely swing with damp type universal joint 200, horizontal rotating shaft part 400 with it is vertical
The lower end of telescoping mechanism 300 is movable to be connected and can rotate around horizontal middle spindle, and waistband 500 and horizontal rotating shaft part 400 are movable
It connection and can be swung up and down around junction, in use process waistband 500 is strapped on human body and can move synchronously with human body.It hangs down
Straight telescoping mechanism 300 is equipped with for measuring thirdly axis posture information and the attitude measurement module 600 transmitted.
As shown in figure 3, the top of bracket 700 has the turntable fixed part 701 being fixedly connected with rotary disc assembly 100, bracket
700 bottom is equipped with the mounting portion 702 for installing motion platform.Motion platform can provide one for the movement of human body on surface
A opposite movement velocity is sent back to human body and sets motion platform center.It should be pointed out that mounting portion 702 can be with
For arbitrary shape, such as rectangular, polygon, circle etc. are modified according to the human body omnidirectional moving pedestal shape of actual use, this
In most preferred embodiment be circle.Direction movement may be implemented in human body standing on the moving platform, what human body moved on platform
Meanwhile waistband can follow human motion to realize the protection to human body.
As shown in figure 4, rotary disc assembly 100 includes fixed part 103 and upper half on fixed disk 101, cursor 102, universal joint
Outer cover 104.Several the uniformly distributed fixed columns 105 being fixedly connected with 701 phase of turntable fixed part are additionally provided in fixed disk 101.Turn
Swing arm 102 is connected with fixed disk 101, and cursor 102 can be rotated around fixed disk 101；Wherein cursor 102 and fixed disk
101 one end is defined as proximal end, and the other end of cursor 102 is defined as distal end.Fixed part 103 is located at cursor on universal joint
102 distal end is fixedly connected with 200 phase of damp type universal joint；On the universal joint fixed part 103 be hollow columnar structures, four
Offer the threaded hole for wearing bolt week.The lower section of universal joint fixed part 103 is arranged in upper half outer cover 104, plays protection
The effect of damp type universal joint 200.
As shown in figure 5, damp type universal joint 200 is elastic damping universal joint, which includes first solid
Fixed fork 201, the first cross axle 202, linear damper 203 and spring 206.As shown in fig. 6, the first fixation fork 201 includes arc
First yoke portion 204 of structure and the first fork handle portion 205 for connecting external component, two front ends in the first yoke portion are opened respectively
Equipped with the cross axle fixation hole 214 for connecting the first cross axle 202, four axis of corresponding first cross axle 202
End is respectively provided with fixation fork fixed part 215 compatible with cross axle fixation hole 214；The middle part in the first yoke portion 204 is close to
Two sides at one fork handle portion 205 are equipped with damper articulated section 207；First fork handle portion 205 is hollow columnar structures, and surrounding opens up
There is the threaded hole for wearing bolt, is adapted with fixed part 303 under fixed part 103 on universal joint and universal joint, and pass through spiral shell
Bolt is connected and fixed.As shown in fig. 7, being respectively provided on four shafts of the first cross axle 202 solid with the cylinder body of linear damper 203
Determine the compatible damper fixed part 216 in hole 219.As shown in figure 8, linear damper 203 includes resistance cylinders 217 and can hinder
Damping piston-rod 218 flexible back and forth in Buddhist nun's cylinder body 217, the end of resistance cylinders 217 have the damping with the first cross axle 202
The cylinder body fixation hole 219 that device fixed part 216 is connected, the end of damping piston-rod 218 have the damper with the first yoke portion
The piston rod fixation hole 220 that articulated section 207 is connected.As shown in figure 9, two about 201 crosses of the first fixation fork in the present invention
It is arranged in a crossed manner, four shaft ends of the first cross axle 202 respectively with the cross axle fixation hole 214 of two the first fixation forks 201 one by one
It is correspondingly connected with, one-to-one four shafts for being connected to the first cross axle 202 of four linear dampers 203 and damper are hinged
Between portion 207, spring 206 is arranged on each linear damper 203.If Fig. 5 is that elastic damping universal joint of the present invention is balancing
Schematic diagram under state, four springs 206 are in free state at this time.As shown in Figure 10, when the first fixation fork of top 201 is swung
When enter nonequilibrium condition, two springs are in compressive state, and two springs are in tensional state, and overall trend is top first
Fixation fork 201 restores to initial rest position, i.e. initial position shown in Fig. 5.The present invention uses elastic damping universal joint, real
Under the premise of not reducing human motion freedom now, security protection effectively can be provided to human body；And the elastic damping ten thousand
Xiang Jieke provides universal swing to be connected to the Zhou Ji vertical telescopic mechanism at its both ends, and does not generate axial rotation, while energy
Certain elastic damping is enough provided for the swing, is able to suppress excessive speeds, and there is the ability for being restored to initial position.This hair
The bright linear damper and spring upward by control each party, realize that external component can generate different resistances on four direction
Damping characteristics；And spring be set as the present invention provide one rebound damping dynamics, realize suspended axle far from center when can in time by
It retracts center.
As shown in 18 and Figure 20, vertical telescopic mechanism 300 of the present invention includes sliding-rail groove 301 and can be in sliding-rail groove 301
The sliding rail 302 of vertical sliding motion can be realized by idler wheel between sliding-rail groove 301 and sliding rail 302 and be slided up and down, and the lower end of sliding-rail groove
Corresponding position is equipped with idler wheel fixed point 306, and the top of sliding rail 302 is equipped with the roll fixed shaft 307 for fixed idler whell.Such as Figure 17 institute
Showing, the upper end of sliding-rail groove 301 of the invention has fixed part 303 under the universal joint being fixedly connected with 200 phase of damp type universal joint,
Fixed part 303 is hollow columnar structures under the universal joint, and surrounding offers the threaded hole for wearing bolt.Lower half outer cover
304 are arranged in the top of fixed part 303 under universal joint, play the role of protecting damp type universal joint 200.As shown in 19, this
The bottom level bending of the sliding rail 302 of invention extends to form the switching part 305 for being connected with horizontal rotating shaft part 400.Such as figure
Shown in 21, horizontal rotating shaft part 400 includes shaft column 401 compatible with switching part and the rotary hinges axis for connecting waistband
402, switching part 305 interts in shaft column 401, and safeguard level shaft part 400 can be rotated around the shaft centre line of switching part 305；
Waistband 500 is connected by hinge with the rotary hinges axis 402 of horizontal rotating shaft part 400, makes waistband can be around waistband hinge axis 402
Shaft centre line rotation.As shown in figure 22, waistband 500 includes elastic waistbelt ontology 501 and the waistband hinge axis for fixing hinge
502。
As shown in Figure 1, Figure 2, shown in Figure 23 and Figure 24, bracket 700 plays the role of supporting other each sections, and turntable 100 will
Offer is planar freely rotated around a vertical fixed shafts line, and elastic damping universal joint plays offer vertical telescopic mechanism 300 and appoints
Meaning direction is swung, and does not generate the effect axially rotated, and sliding-rail groove 301 is used to provide the space of sliding to sliding rail 302.Sliding rail
302 can provide support for horizontal rotating shaft part 400, and horizontal rotating shaft part 400 being freely rotated along its at the end of the axial.Waistband 500
By hinge structure, the axial-rotation perpendicular to 400 direction of horizontal rotating shaft part is provided in the horizontal plane.Final human body is in the platform
It is upper to be supported protection using waistband 500, and movement and the attitudes vibration of any direction can be carried out on the platform.
As shown in Figure 26 and Figure 27, it is shown that two different location status, no matter at any state, 100 center of turntable
Axial (in figure shown in dotted line) remains parallel (in figure shown in dotted line) with the central axial of waistband 500.Therefore human body is being transported
Any position on moving platform surface, the direction of human body are all central axial consistent with turntable 100.Human body is put down in human body omnidirectional moving
The position on platform surface is the position at 500 center of waistband.Decomposed by the rotation to three-dimensional shaft, no matter any position of human body
It sets, waistband 500 can keep horizontal, thus ensure the freedom of human motion and posture in waistband 500.Due to vertically stretching
Contracting mechanism 300 will not occur only be swung in the horizontal plane, therefore along itself axial rotation by vertical telescopic machine
The three-axis attitude of structure 300 measures, and can calculate the position and the posture that obtain human body.
Attitude measurement module 600 of the invention include inertial sensor MPU9250, microprocessor STMF301 and monolithic without
Line transceiving chip.Inertial sensor MPU9250 is to be integrated with three-axis gyroscope, three axis accelerometer, three axle magnetometer in one
Inertial sensor.Inertial sensor MPU9250 be can provide high speed acceleration and angular velocity information and low speed but still
Acceptable magnetometer information, for subsequent carry out attitude algorithm；The inertial sensor belongs to digital inertial sensor, provides
SPI (Serial Peripheral Interface Serial Peripheral Interface (SPI)) communication interface can satisfy the data acquisition of high speed.
FPU built in microprocessor STMF301 (Float Point Unit FPU Float Point Unit) is carrying out same floating-point operation
When, decades of times can be improved in arithmetic speed, thus substantially increases the refresh rate of attitude algorithm.Monolithic wireless receiving and dispatching core is selected
NRF24L01 chip, the single-chip transceiver chip of ISM band of a work in 2.4G~2.525GHZ, settable 5 connect
Receive address, 5 transmission addresses, 125 optional working channels.
Based on above-mentioned hardware, current acceleration, angular speed, magnetic data can get in data acquisition.By diagonal
The timing of speed integrates, and can get three current shaft angle degree, but the angle has the error built up due to being integral.Only
Using angular velocity data, the three axis angle-datas obtained under long-term behavior will accumulate biggish error, cause data can not
It uses.But each axis component is calculated using acceleration and magnetic data, same to can get three current shaft angle degree, which exists
External world's movement and without magnetic interference when are accurate and without integral error.But since when measuring posture, meeting is along with random
Movement, therefore the data are biggish in noise, but are accurate from the point of view of long-term sampling.To acquired two kinds of posture numbers
According to can merge to obtain better attitude data using relatively simple adaptive spherical surface interpolation.
A kind of localization method based on human body omnidirectional moving positioning belt of the present invention is original with 701 center of turntable fixed part
Point, being directed toward 701 direction of turntable fixed part by bracket 700 is that Y-axis is positive, positive for Z axis from bottom to top vertically, constructs right hand right angle
Coordinate system, wherein the initial value at the center of waistband 500 is x=0, y=0, z=-L, and L is that 500 center of waistband is vertical from origin
Distance；The monitoring of attitude measurement module 600 obtains current sliding-rail groove 301 attitude quaternion q=(w, x, y, z), w in use process,
X, y and z respectively indicate four vectors of attitude quaternion；By quaternary number operation, appearance corresponding to current human position is obtained
State quaternary number q1=(w1,x1,y1,z1)=q-1(0,0,0 ,-L) q obtains current human in human body omnibearing moving platform table
Position, that is, the x=x in face1, y=y1, wherein (w1,x1,y1,z1) it is quaternary number w1+x1i+y1j+z1The succinct notation of k, i, j, k are
Three imaginary parts of quaternary number, q-1For the inverse operation of quaternary number, " " is the multiplying of quaternary number.
Embodiment 2
The structure of embodiment 2 is identical as the structure of embodiment 1, and difference place is: damp type universal joint 200 is can resistance trimming
Buddhist nun's universal joint, the adjustable damping universal joint include the second fixation fork 208, the second cross axle 209 and rotary damper 210.Such as figure
Shown in 11, the second fixation fork 208 includes the second yoke portion 211 of U-shaped structure and the second fork handle portion for connecting external component
212, two front ends in the second yoke portion 211 offer the damper fixation hole 221 for fixing rotary damper 210 respectively, with
Corresponding rotary damper 210 on offer damper connecting hole 222 compatible with damper fixation hole 221；Second fork
Shank 212 is hollow columnar structures, and surrounding offers the threaded hole for wearing bolt, with fixed part 103 on universal joint and
Fixed part 303 is adapted under universal joint, and fixation is bolted, as shown in figure 25.As shown in Figure 12 and Figure 13, the 20th
Four shaft ends of word axis 209 are equipped with the damping interconnecting piece 223 of connection rotary damper 210, corresponding rotary damper 210
Centre open up and damp link slot 213 with the compatible damping link slot 213 of damping interconnecting piece 223, the damping insertion of interconnecting piece 223
In rotate the second cross axle 209 can in rotary damper 210.As shown in figure 14, two the second fixation forks 208 in the present invention
Top-bottom cross setting, four rotary dampers 210 are separately fixed at four yokes of two the second fixation forks 208 by bolt
On, the damping interconnecting piece 223 of four shaft ends of the second cross axle 209 corresponds the damping of four rotary dampers 210 of insertion
In link slot 213.Schematic diagram under adjustable damping universal joint different conditions is as shown in Figure 15 and Figure 16.
The damping characteristic of damp type universal joint 200 is determined by the characteristic of rotary damper 210 in embodiment 2.Damping due to rotation
The different rotary dampers such as gear type, fluid-type, magnetic damping formula can be used in device 210, can produce different dampings, such as hinder
Buddhist nun's coefficient damps the difference in dead zone.It, can also be in vertical both direction by using two different rotary dampers simultaneously
It is upper to generate different dampings.Such as the rotary damper using magnetic damping formula, it can form with damping Dead Zone
Rotary damper, the i.e. basic undamped when vertical telescopic mechanism is swung with small speed, and damping can be generated when a threshold is exceeded
To limit the swing of vertical telescopic mechanism.Again for example set two rotary dampers 210 on second fixation fork 208 to
Magnetic damping formula rotary damper with Dead Zone sets two rotary dampers 210 on another second fixation fork 208
It is set to rotary damper commonly without dead zone, then vertical telescopic mechanism can be made to obtain different dampings in a different direction
Characteristic.Adjustable damping universal joint of the invention can provide universal swing to be connected to the vertical telescopic mechanism at its both ends, and not
Generate axial rotation；Secondly certain damping is provided for the swing by the way that rotary damper is arranged in the present invention, be able to suppress
Big speed, and there is the ability for being restored to initial position；The last present invention passes through the upward rotary damper of selection each party
Type realizes that external component can generate different damping characteristics on four direction, can have different damped coefficient and resistance
Buddhist nun dead zone.
Above-described embodiment is only the preferred embodiment of the present invention, it should be pointed out that: for the ordinary skill of the art
For personnel, without departing from the principle of the present invention, several improvement and equivalent replacement can also be made, these are to the present invention
Claim improve with the technical solution after equivalent replacement, each fall within protection scope of the present invention.
Claims (10)
1. a kind of human body omnidirectional moving positioning belt, it is characterised in that: including can around a vertical fixed shafts line planar freely
The rotary disc assembly (100) of rotation is connected and can be with damp type ten thousand by damp type universal joint (200) with rotary disc assembly (100)
The vertical telescopic mechanism (300) that freely swings to section (200), with vertical telescopic mechanism (300) movable connection and can be around level
The horizontal rotating shaft part (400) of central axis rotation and with horizontal rotating shaft part (400) it is movable connection and can on junction the bottom
Dynamic waistband (500), the waistband (500) are strapped on human body and can move synchronously with human body；The vertical telescopic mechanism
(300) it is equipped with for measuring thirdly axis posture information and the attitude measurement module (600) transmitted.
2. human body omnidirectional moving positioning belt according to claim 1, it is characterised in that: rotary disc assembly (100) packet
It includes fixed disk (101), the cursor (102) that can be rotated around fixed disk (101) and is located at cursor (102) distal end and is used to connect
Fixed part (103) on the universal joint of damp type universal joint (200) is also connected with for protecting on the universal joint fixed part (103)
The upper half outer cover (104) of damp type universal joint (200).
3. human body omnidirectional moving positioning belt according to claim 1, it is characterised in that: the damp type universal joint
It (200) is elastic damping universal joint, which includes the first fixation fork of about two right-angled intersections setting
(201), for connecting the first cross axle (202) and linear damper (203) of upper and lower first fixation fork (201), described first
Fixation fork (201) includes the first yoke portion (204) and the first fork handle portion (205) for external component, first cross axle
(202) four shafts pass through linear damper (203) respectively and are connected with the first yoke portion (204).
4. human body omnidirectional moving positioning belt according to claim 3, it is characterised in that: the linear damper (203)
On be arranged with spring (206).
5. human body omnidirectional moving positioning belt according to claim 3, it is characterised in that: first yoke portion (204)
For arcuate structure, two sides of the first yoke portion (204) at the first fork handle portion (205) are equipped with damper articulated section (207), directly
Wire damper (203) passes through damper articulated section (207) and the first fixation fork (201) movable connection.
6. human body omnidirectional moving positioning belt according to claim 1, it is characterised in that: the damp type universal joint
It (200) is adjustable damping universal joint, which includes the second fixation fork of about two right-angled intersections setting
(208), for connecting the second cross axle (209) and rotary damper (210) of upper and lower second fixation fork (208), described second
Fixation fork (208) includes the second yoke portion (211) and the second fork handle portion (212) for external component, second cross axle
(209) four shaft ends pass through rotary damper (210) respectively and are connected with the second yoke portion (211).
7. human body omnidirectional moving positioning belt according to claim 6, which is characterized in that second cross axle (209)
Shaft end all have damping interconnecting piece (223), the rotary damper (210) have with damping interconnecting piece (223) it is compatible
It damps link slot (213), the damping interconnecting piece (223) insertion, which damps, makes the second cross axle (209) can be in link slot (213)
Rotation in rotary damper (210).
8. human body omnidirectional moving positioning belt according to claim 1, it is characterised in that: the vertical telescopic mechanism
(300) include sliding-rail groove (301) and can in the sliding rail (302) of sliding-rail groove (301) interior vertical sliding motion, the sliding-rail groove (301)
Upper end is successively arranged under the universal joint for connecting damp type universal joint fixed part (303) and for protecting damp type universal joint
The bottom level bending of lower half outer cover (304), the sliding rail (302) is extended to form for being connected with horizontal rotating shaft part (400)
Switching part (305).
9. human body omnidirectional moving positioning belt according to claim 1, it is characterised in that: it further include bracket (700), it is described
The top of bracket (700) has the turntable fixed part (701) being fixedly connected with rotary disc assembly (100), and the bottom of bracket (700) is set
There is the mounting portion (702) for installing motion platform.
10. the localization method based on the human body omnidirectional moving positioning belt any in claim 1 to 9, it is characterised in that:
Using turntable fixed part (701) center as origin, being directed toward turntable fixed part (701) direction by bracket (700) is that Y-axis is positive, vertically
It is positive for Z axis from bottom to top, right hand rectangular coordinate system is constructed, wherein the initial value at the center of waistband (500) is x=0, y=0, z
=-L, L are vertical distance of waistband (500) center from origin；Attitude measurement module (600) monitoring obtains current in use process
Sliding-rail groove (301) attitude quaternion q=(w, x, y, z), w, x, y and z respectively indicate four vectors of attitude quaternion；Pass through four
First number operation obtains attitude quaternion q corresponding to current human position1=(w1, x1, y1, z1)=q-1(0,0,0 ,-L)
Q obtains current human in the position i.e. x=x on human body omnibearing moving platform surface1, y=y1, wherein (w1, x1, y1, z1) it is quaternary
Number w1+x1i+y1j+z1The succinct notation of k, i, j, k are three imaginary parts of quaternary number, q-1For the inverse operation of quaternary number, " " is four
The multiplying of first number.
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| CN201810810600.2A CN109090748B (en) | 2018-07-23 | 2018-07-23 | Human body omnidirectional movement positioning device and positioning method thereof |
| PCT/CN2019/094967 WO2020019970A1 (en) | 2018-07-23 | 2019-07-08 | Human body omnidirectional motion positioning belt and positioning method therefor |
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| CN201810810600.2A CN109090748B (en) | 2018-07-23 | 2018-07-23 | Human body omnidirectional movement positioning device and positioning method thereof |
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| WO2020019970A1 (en) * | 2018-07-23 | 2020-01-30 | 东南大学 | Human body omnidirectional motion positioning belt and positioning method therefor |
| CN114392541A (en) * | 2022-01-26 | 2022-04-26 | 北京国承万通信息科技有限公司 | Human body protection device of motion platform |
| CN114522395A (en) * | 2022-02-18 | 2022-05-24 | 东南大学 | Modular omnidirectional motion platform |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN112560200B (en) * | 2020-12-24 | 2021-09-21 | 上海中氐实业股份有限公司 | Human body joint connection model design method |
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| WO2020019970A1 (en) | 2020-01-30 |
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