CN109090748B - Human body omnidirectional movement positioning device and positioning method thereof - Google Patents
Human body omnidirectional movement positioning device and positioning method thereof Download PDFInfo
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- CN109090748B CN109090748B CN201810810600.2A CN201810810600A CN109090748B CN 109090748 B CN109090748 B CN 109090748B CN 201810810600 A CN201810810600 A CN 201810810600A CN 109090748 B CN109090748 B CN 109090748B
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- 238000013016 damping Methods 0.000 claims abstract description 91
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- 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
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- 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 human body omnidirectional movement positioning device, which comprises a turntable assembly, a vertical telescopic mechanism, a horizontal rotating shaft piece and a waistband, wherein the turntable assembly can freely rotate in a plane around a vertical fixed axis, the vertical telescopic mechanism is connected with the turntable assembly through a damping type universal joint and can freely swing along with the damping type universal joint, the horizontal rotating shaft piece is movably connected with the vertical telescopic mechanism and can rotate around a horizontal central shaft, the waistband is movably connected with the horizontal rotating shaft piece and can swing up and down around a connection part, and the waistband is bound on a human body and can synchronously move with the human body; and the vertical telescopic mechanism is provided with an attitude measurement module for measuring and transmitting three-axis attitude information of the vertical telescopic mechanism. The waistband supports and protects the human body on the motion platform by the combination of the turntable, the elastic damping universal joint, the vertical telescopic mechanism, the horizontal rotating shaft piece and the waistband, and the freedom of the movement and posture of the human body in the waistband is ensured by decomposing the rotation of the three-way rotating shaft.
Description
Technical Field
The invention relates to a movement safety protection device, in particular to a positioning device for human body omnidirectional movement and a positioning method thereof.
Background
In the modern society of the rapid development of computer network technology, the development of scientific and technological economy has not only been brought to network technology, the innovation of amusement and recreation function has also been brought to the development, virtual reality environment's terminal simulation ware type is various from this, but in most terminal simulation ware, all need the place of large tracts of land to move, sensitivity is not enough, to jumping squat to turn to the motion such as can't realize freely, it is low to feel the fidelity, and because when the human body removes, do not have safeguard measure and cause the injury easily, these have all greatly restricted the development of current human universal moving platform.
The active human body omnidirectional motion platform is used, more natural human body movement experience can be obtained, but the active mode means that effective human body position measurement needs to be carried out, the human body movement experience cannot be influenced during measurement, and a certain protection function needs to be provided when a human body falls down in an accident.
Disclosure of Invention
The purpose of the invention is as follows: in view of the above problems in the prior art, a first object of the present invention is to provide a human body omnidirectional movement positioning apparatus which can effectively ensure freedom of movement and posture of a human body and can monitor the position and posture of the human body at any time.
The second purpose of the invention is to provide a positioning method of the human body omnidirectional movement positioning device.
The technical scheme is as follows: in order to achieve the above purposes, the invention discloses a human body omnidirectional movement positioning device, which comprises a turntable assembly capable of freely rotating in a plane around a vertical fixed axis, a vertical telescopic mechanism which is connected with the turntable assembly through a damping type universal joint and can freely swing along with the damping type universal joint, a horizontal rotating shaft piece which is movably connected with the vertical telescopic mechanism and can rotate around a horizontal central shaft, and a waistband which is movably connected with the horizontal rotating shaft piece and can swing up and down around a connection part, wherein the waistband is bound on a human body and can synchronously move with the human body; and the vertical telescopic mechanism is provided with an attitude measurement module for measuring and transmitting three-axis attitude information of the vertical telescopic mechanism.
The rotary table assembly comprises a fixed disc, a rotating arm capable of rotating around the fixed disc and a universal joint upper fixing part located at the far end of the rotating arm and used for being connected with the damping universal joint, and the universal joint upper fixing part is further connected with an upper outer cover used for protecting the damping universal joint.
Preferably, the damping type universal joint is an elastic damping universal joint, the elastic damping universal joint comprises two first fixed forks which are arranged in a cross manner from top to bottom, a first cross shaft used for connecting the upper first fixed fork and the lower first fixed fork, and a linear damper, the first fixed forks comprise first fork arm parts and first fork handle parts used for externally connecting parts, and four shaft rods of the first cross shaft are respectively connected with the first fork arm parts through the linear damper.
Further, a spring is sleeved on the linear damper.
Furthermore, the first fork arm part is of an arc-shaped structure, the two sides of the first fork arm part close to the first fork handle part are provided with damper hinged parts, and the linear damper is movably connected with the first fixed fork through the damper hinged parts.
Preferably, the damping universal joint is an adjustable damping universal joint, the adjustable damping universal joint includes two second fixed forks arranged in a crisscross manner from top to bottom, a second cross shaft for connecting the upper and lower second fixed forks, and a rotary damper, the second fixed fork includes a second fork arm portion and a second fork handle portion for an external connection member, and four shaft ends of the second cross shaft are connected with the second fork arm portion through the rotary damper respectively.
Further, the shaft ends of the second cross-shaped shaft are provided with damping connecting parts, the rotary damper is provided with damping connecting grooves matched with the damping connecting parts, and the damping connecting parts are inserted into the damping connecting grooves to enable the second cross-shaped shaft to rotate in the rotary damper.
Preferably, perpendicular telescopic machanism includes the slide rail groove and can be at the slide rail of slide rail inslot vertical slip, the upper end in slide rail groove is equipped with fixed part under the universal joint that is used for connecting the damping formula universal joint in proper order and is used for protecting the lower half dustcoat of damping formula universal joint, the bottom level of slide rail is buckled and is extended the switching portion that forms and be used for being connected with horizontal pivot spare.
Moreover, still include the support, the upper portion of support has the carousel fixed part with carousel subassembly fixed connection, and the bottom of support is equipped with the installation department that is used for installing motion platform.
The invention relates to a positioning method based on a human body omnidirectional movement positioning device, which takes the center of a turntable fixing part as an original point, the direction of the turntable fixing part pointed by a bracket is the Y-axis forward direction, and the direction of the turntable fixing part is the Z-axis forward direction from bottom to top vertically, and a right-hand rectangular coordinate system is constructed, wherein the initial value of the center of a waistband is x-0, Y-0, Z-L, and L is the vertical distance from the center of the waistband to the original point; in the using process, an attitude measurement module monitors and obtains four vectors of a current slide rail groove attitude quaternion q which is (w, x, y, z), wherein the w, x, y and z respectively represent the attitude quaternion; obtaining the posture quaternion q corresponding to the current human body position through quaternion operation1＝(w1，x1，y1，z1)＝q-10,0,0, -L) q, and obtaining the current position of the human body on the surface of the platform with the omnidirectional motion of the human body, namely x ═ x1，y＝y1Wherein (w)1，x1，y1，z1) Is a quaternion w1+x1i+y1j+z1A simple notation of k, i, j, k being the three imaginary parts of the quaternion, q-1Is the inverse operation of the quaternion, ". is the multiplication operation of the quaternion.
Has the advantages that: compared with the prior art, the invention has the following remarkable advantages: firstly, the support protection of the waistband on the human body on the motion platform is realized by the combination of the turntable, the elastic damping universal joint, the vertical telescopic mechanism, the horizontal rotating shaft part and the waistband, and the freedom of the movement and posture of the human body in the waistband is ensured by decomposing the rotation of the three-way rotating shaft; the invention provides a positioning method of a human body omnidirectional movement positioning device, which can effectively measure and position the position of a human body by utilizing a posture measuring module arranged on a vertical telescopic mechanism and can provide effective safety protection for the human body, namely, the position and the posture of the human body can be obtained by measuring and calculating the three-axis posture of the vertical telescopic mechanism; moreover, the elastic damping universal joint is used, so that the safety protection can be effectively provided for the human body on the premise of not reducing the freedom of movement of the human body; the elastic damping universal joint can provide universal swing for shafts connected to two ends of the elastic damping universal joint, namely a vertical telescopic mechanism, does not generate axial rotation, can provide certain elastic damping for the swing, can inhibit overlarge speed, and has the capability of recovering to an initial position; finally, the invention realizes that the external part can generate different damping characteristics in four directions by controlling the linear damper and the spring in each direction; the spring is arranged to provide resilience damping force, so that the human body can be pulled back to the center in time when being far away from the center, and different resilience damping forces required by the human body in advancing, retreating and left-right moving are met.
Drawings
FIG. 1 is a side view of the present invention;
FIG. 2 is a schematic structural view of the present invention;
FIG. 3 is a schematic structural view of a stent according to the present invention;
FIG. 4 is a schematic structural view of a turntable assembly according to the present invention;
FIG. 5 is a schematic structural view of an elastic damping gimbal according to the present invention;
FIG. 6 is a schematic view of a first stationary fork of the present invention;
FIG. 7 is a schematic view of a first cross in accordance with the present invention;
FIG. 8 is a schematic structural view of a linear damper according to the present invention;
FIG. 9 is a partially assembled view of the elastic damping gimbal of the present invention;
FIG. 10 is a schematic view of the use of the elastically damped joint of the present invention;
FIG. 11 is a schematic structural view of an adjustable damping gimbal according to the present invention;
FIG. 12 is a schematic view of a second stationary fork of the present invention;
FIG. 13 is a schematic structural view of a second cross-bar according to the present invention;
FIG. 14 is a schematic view of the rotary damper of the present invention;
FIG. 15 is a partially assembled schematic view of an adjustable damping gimbal according to the present invention;
FIG. 16 is a schematic view of the adjustable damping joint of the present invention in use;
FIG. 17 is a schematic view of the structure of the slide rail groove of the present invention;
FIG. 18 is an enlarged partial schematic view taken at A in FIG. 17;
FIG. 19 is a schematic view of the structure of the slide rail of the present invention;
FIG. 20 is an enlarged partial schematic view at B of FIG. 19;
FIG. 21 is a schematic view of the structure of the horizontal pivot member of the present invention;
FIG. 22 is a schematic view of the structure of the waistband of the invention;
FIG. 23 is a partial schematic view of the assembly of the turntable assembly and the support bracket of the present invention;
FIG. 24 is a partial assembled view of the elastic damping gimbal of the present invention;
FIG. 25 is a partial assembled view of the adjustable damping joint of the present invention;
FIG. 26 is a schematic view of a first state of use of the present invention;
FIG. 27 is a diagram illustrating a second use state of the present invention.
Detailed Description
The technical scheme of the invention is further explained by combining the attached drawings.
Example 1
As shown in fig. 1 and 2, the positioning device for omnidirectional movement of a human body according to the present invention comprises a turntable assembly 100, a damping type universal joint 200, a vertical telescopic mechanism 300, a horizontal rotating shaft 400, a waist belt 500, a posture measuring module 600 and a support 700. The turntable assembly 100 can freely rotate in a plane around a vertical fixed axis, the upper end of the vertical telescopic mechanism 300 is connected with the turntable assembly 100 through the damping type universal joint 200 and can freely swing along with the damping type universal joint 200, the horizontal rotating shaft member 400 is movably connected with the lower end of the vertical telescopic mechanism 300 and can rotate around a horizontal central shaft, the waistband 500 is movably connected with the horizontal rotating shaft member 400 and can swing up and down around the connection part, and the waistband 500 is bound on a human body and can synchronously move with the human body in the using process. The vertical telescopic mechanism 300 is provided with an attitude measurement module 600 for measuring and transmitting three-axis attitude information thereof.
As shown in fig. 3, the upper portion of the support 700 has a turntable fixing portion 701 fixedly connected with the turntable assembly 100, and the bottom portion of the support 700 is provided with a mounting portion 702 for mounting the moving platform. The motion platform may provide an opposite speed of motion for movement of the human body on the surface so that the human body may be returned to the center of the motion platform. It should be noted that the mounting portion 702 can be any shape, such as square, polygon, circle, etc., and is modified according to the shape of the human omnidirectional exercise base actually used, and the preferred embodiment herein is a circle. The human body stands on the motion platform and can realize universal movement, and when the human body moves on the platform, the waistband can realize the protection of the human body along with the motion of the human body.
As shown in fig. 4, the turntable assembly 100 includes a fixed disk 101, a rotating arm 102, a gimbal upper fixing portion 103, and an upper half housing 104. The fixed disk 101 is further provided with a plurality of uniformly distributed fixed columns 105 fixedly connected with the turntable fixing part 701. The rotating arm 102 is connected with the fixed disc 101, and the rotating arm 102 can rotate around the fixed disc 101; wherein one end of the rotating arm 102 and the fixed disk 101 is defined as a proximal end, and the other end of the rotating arm 102 is defined as a distal end. The universal joint upper fixing part 103 is positioned at the far end of the rotating arm 102 and is fixedly connected with the damping universal joint 200; the upper fixing portion 103 of the universal joint is a hollow cylindrical structure, and threaded holes for penetrating bolts are formed in the periphery of the upper fixing portion. The upper half cover 104 is provided below the joint upper fixing portion 103, and functions to protect the damping joint 200.
As shown in fig. 5, damped joint 200 is an elastically damped joint including a first stationary fork 201, a first cross 202, a linear damper 203, and a spring 206. As shown in fig. 6, the first fixing fork 201 includes a first fork arm portion 204 having an arc-shaped structure and a first fork handle portion 205 for connecting an external component, two front ends of the first fork arm portion are respectively provided with a cross shaft fixing hole 214 for connecting the first cross shaft 202, and four shaft ends of the first cross shaft 202 corresponding to the first fork arm portion respectively have fixing fork fixing portions 215 adapted to the cross shaft fixing holes 214; a damper hinge portion 207 is provided on both sides of the middle portion of the first fork arm portion 204 near the first fork handle portion 205; first fork stalk portion 205 is hollow circular cylinder structure, sets up the screw hole that is used for wearing to establish the bolt all around, with fixed part 103 on the universal joint and universal joint down fixed part 303 looks adaptation to it is fixed through bolted connection. As shown in fig. 7, the four shaft members of the first cross 202 have damper fixing portions 216 fitted to cylinder fixing holes 219 of the linear dampers 203, respectively. As shown in fig. 8, the linear damper 203 includes a damper cylinder 217 and a damper piston rod 218 that is extendable and retractable in the damper cylinder 217, the end of the damper cylinder 217 has a cylinder fixing hole 219 connected to the damper fixing portion 216 of the first cross 202, and the end of the damper piston rod 218 has a piston rod fixing hole 220 connected to the damper hinge portion 207 of the first fork arm portion. As shown in fig. 9, in the present invention, two first fixing forks 201 are arranged in a crisscross manner, four shaft ends of a first cross 202 are respectively connected with cross fixing holes 214 of the two first fixing forks 201 in a one-to-one correspondence manner, four linear dampers 203 are connected between the four shaft ends of the first cross 202 and a damper hinge portion 207 in a one-to-one correspondence manner, and each linear damper 203 is sleeved with a spring 206. Fig. 5 is a schematic view of the elastic damping gimbal of the present invention in a balanced state, in which four springs 206 are in a free state. As shown in fig. 10, when the upper first fixed fork 201 swings, it enters an unbalanced state, the two springs are in a compressed state, the two springs are in a stretched state, and the overall tendency is that the upper first fixed fork 201 returns to the initial balanced position, i.e., the initial position shown in fig. 5. The invention uses the elastic damping universal joint to realize the safety protection of the human body on the premise of not reducing the freedom of the movement of the human body; and the elastic damping universal joint can provide universal swing for shafts connected to two ends of the universal joint, namely a vertical telescopic mechanism, does not generate axial rotation, can provide certain elastic damping for the swing, can inhibit overlarge speed, and has the capability of recovering to an initial position. The invention realizes that the external part can generate different damping characteristics in four directions by controlling the linear damper and the spring in each direction; and the arrangement of the spring provides resilience damping force, so that the suspension shaft can be pulled back to the center in time when being far away from the center.
As shown in fig. 18 and 20, the vertical telescopic mechanism 300 of the present invention includes a slide rail groove 301 and a slide rail 302 capable of vertically sliding in the slide rail groove 301, wherein the slide rail groove 301 and the slide rail 302 can slide up and down by a roller, a roller fixing point 306 is disposed at a position corresponding to a lower end of the slide rail groove, and a roller fixing shaft 307 for fixing the roller is disposed at a top of the slide rail 302. As shown in fig. 17, the upper end of the slide rail groove 301 of the present invention has a lower universal joint fixing portion 303 fixedly connected to the damping universal joint 200, the lower universal joint fixing portion 303 has a hollow cylindrical structure, and threaded holes for inserting bolts are formed in the periphery thereof. The lower half cover 304 is provided above the joint lower fixing portion 303, and functions to protect the damping joint 200. As shown in fig. 19, the bottom of the slide rail 302 of the present invention is bent horizontally to form an adapter 305 for connecting with the horizontal rotation shaft 400. As shown in fig. 21, the horizontal rotating shaft 400 includes a rotating shaft column 401 adapted to the adapting portion and a rotating shaft hinge shaft 402 for connecting to a belt, the adapting portion 305 is inserted into the rotating shaft column 401 to ensure that the horizontal rotating shaft 400 can rotate around the shaft center line of the adapting portion 305; the belt 500 is connected to the hinge shaft 402 of the horizontal hinge member 400 by a hinge so that the belt can rotate around the axial center line of the hinge shaft 402. As shown in fig. 22, the waistband 500 includes an elastic waistband body 501 and a waistband hinge shaft 502 for fixing the hinge.
As shown in fig. 1, 2, 23 and 24, the support 700 functions to support other parts, the turntable 100 is provided to rotate freely in a plane around a vertical fixed axis, the elastic damping universal joint functions to provide any direction swing of the vertical telescopic mechanism 300 without axial rotation, and the slide rail groove 301 is used to provide a sliding space for the slide rail 302. The sliding rail 302 can provide support for the horizontal rotation shaft 400, and the horizontal rotation shaft 400 can rotate freely along the axial direction of the end thereof. The belt 500 provides an axial rotation in a horizontal plane perpendicular to the direction of the horizontal rotation shaft member 400 through the hinge structure. Finally, the human body is supported and protected on the platform by using the belt 500, and can move and change the posture of the human body in any direction on the platform.
As shown in fig. 26 and 27, two different positions are shown, and in any position, the central axis of the turntable 100 (shown by the dotted line) is always parallel to the central axis of the belt 500 (shown by the dotted line). Therefore, the human body is oriented to be consistent with the central axis of the turntable 100 at any position on the surface of the motion platform. The position of the human body on the surface of the human body omnidirectional movement platform is the position of the center of the waistband 500. By decomposing the rotation of the three-way rotating shaft, the waistband 500 can be kept horizontal no matter at any position of the human body, thereby ensuring the freedom of the movement and posture of the human body in the waistband 500. Since the vertical telescopic mechanism 300 does not rotate in the axial direction thereof and only swings on a horizontal plane, the position and posture of the human body can be measured and obtained by measuring the three-axis posture of the vertical telescopic mechanism 300.
The attitude measurement module 600 of the invention comprises an inertial sensor MPU9250, a microprocessor STMF301 and a single chip wireless transceiver chip. The inertial sensor MPU9250 is an inertial sensor integrating a three-axis gyroscope, a three-axis accelerometer and a three-axis magnetometer. The inertial sensor MPU9250 can provide high-speed acceleration and angular speed information and low-speed but acceptable magnetometer information for subsequent attitude calculation; the inertial sensor belongs to a digital inertial sensor, provides an SPI (Serial Peripheral Interface) communication Interface, and can meet the requirement of high-speed data acquisition. The microprocessor STMF301 has a built-in FPU (Float Point Unit) therein, and when performing the same floating Point operation, the operation speed can be increased by tens of times, thereby greatly increasing the refresh rate of the attitude calculation. The single-chip wireless transceiver chip adopts an NRF24L01 chip, and a single-chip wireless transceiver chip working in ISM frequency band of 2.4G-2.525 GHZ can be provided with 5-bit receiving address, 5-bit transmitting address and 125 optional working channels.
Based on the hardware, the current acceleration, angular velocity and magnetic force data can be obtained in data acquisition. By integrating the angular velocity in time, the current triaxial angle can be obtained, but since the angle is an integral, there is a gradual cumulative error. Only by using the angular velocity data, the three-axis angle data obtained in a long-term situation will accumulate large errors, so that the data cannot be used. But the acceleration and magnetic force data are used for calculating each axis component, so that the current three-axis angle can be obtained, and the three-axis angle is accurate and has no integral error when the external motion and the magnetic field interference do not exist. However, since the attitude measurement is accompanied by random motion, the data is noisy but accurate in long-term sampling. And for the two obtained attitude data, the better attitude data can be obtained by fusion by using simpler self-adaptive spherical interpolation.
The invention relates to a positioning method based on a human body omnidirectional movement positioning device, which takes the center of a turntable fixing part 701 as an original point, the direction of the bracket 700 pointing to the turntable fixing part 701 is the Y-axis forward direction, and the vertical direction from bottom to top is the Z-axis forward direction, and a right-hand rectangular coordinate system is constructed, wherein the initial value of the center of a waistband 500 is x-0, Y-0, Z-L, and L is the vertical distance from the center of the waistband 500 to the original point; in the using process, the attitude measurement module 600 monitors and obtains four vectors of the current slide rail groove 301, wherein the attitude quaternion q is (w, x, y, z), and w, x, y and z respectively represent the attitude quaternion; obtaining the posture quaternion q corresponding to the current human body position through quaternion operation1＝(w1，x1，y1，z1)＝q-10,0,0, -L) q, and obtaining the current position of the human body on the surface of the platform with the omnidirectional motion of the human body, namely x ═ x1，y＝y1Wherein (w)1，x1，y1，z1) Is a quaternion w1+x1i+y1j+z1A simple notation of k, i, j, k being the three imaginary parts of the quaternion, q-1Is a four-elementThe inverse of a number, "·" is the multiplication of a quaternion.
Example 2
The structure of example 2 is the same as that of example 1, except that: damping gimbal 200 is an adjustable damping gimbal that includes a second stationary fork 208, a second cross-shaft 209, and a rotational damper 210. As shown in fig. 11, the second fixing fork 208 includes a second fork arm portion 211 having a U-shaped structure and a second fork portion 212 for connecting an external component, damper fixing holes 221 for fixing the rotary damper 210 are respectively opened at both front ends of the second fork arm portion 211, and damper connecting holes 222 adapted to the damper fixing holes 221 are opened on the rotary damper 210 corresponding thereto; the second fork portion 212 is a hollow cylindrical structure, has threaded holes for bolts to pass through around, is fitted with the upper gimbal fixing portion 103 and the lower gimbal fixing portion 303, and is fixed by bolts, as shown in fig. 25. As shown in fig. 12 and 13, the four shaft ends of the second cross shaft 209 are provided with damping connection portions 223 connected to the rotary damper 210, the middle of the rotary damper 210 corresponding to the damping connection portions 223 is provided with a damping connection groove 213 adapted to the damping connection portions 223, and the damping connection portions 223 are inserted into the damping connection grooves 213 to enable the second cross shaft 209 to rotate in the rotary damper 210. As shown in fig. 14, in the present invention, two second fixed forks 208 are arranged to intersect each other in an up-down manner, four rotary dampers 210 are fixed to four fork arms of the two second fixed forks 208 by bolts, respectively, and damper coupling portions 223 at four shaft ends of a second cross shaft 209 are inserted into damper coupling grooves 213 of the four rotary dampers 210 in a one-to-one correspondence. The schematic diagrams of the adjustable damping gimbal in different states are shown in fig. 15 and 16.
The damping characteristics of the damping type universal joint 200 in embodiment 2 are determined by the characteristics of the rotary damper 210. The rotary damper 210 may use different rotary dampers such as gear type, fluid type, magnetic damping type, etc., and may generate different damping effects, such as different damping coefficients and different damping dead zones. By using two different rotary dampers simultaneously, it is also possible to produce different damping effects in two perpendicular directions. For example, using a rotary damper of the magnetic damping type, a rotary damper having a damping dead zone characteristic may be constructed that is substantially undamped when the vertical telescopic mechanism oscillates at a small speed, and generates damping to limit oscillation of the vertical telescopic mechanism when a threshold value is exceeded. For example, if two rotary dampers 210 on one second stationary fork 208 are set as magnetic damping rotary dampers having dead zone characteristics and two rotary dampers 210 on the other second stationary fork 208 are set as ordinary rotary dampers having no dead zone, the vertical telescopic mechanism can obtain different damping characteristics in different directions. The adjustable damping universal joint can provide universal swing for the vertical telescopic mechanisms connected to the two ends of the universal joint, and does not generate axial rotation; secondly, the rotary damper is arranged to provide certain damping for the swing, so that the over-speed can be restrained, and the rotary damper has the capability of recovering to the initial position; finally, the invention realizes that the external part can generate different damping characteristics in four directions by selecting the type of the rotary damper in each direction, namely, the external part can have different damping coefficients and damping dead zones.
The above examples are only preferred embodiments of the present invention, it should be noted that: it will be apparent to those skilled in the art that various modifications and equivalents can be made without departing from the spirit of the invention, and it is intended that all such modifications and equivalents fall within the scope of the invention as defined in the claims.
Claims (10)
1. A human body omnidirectional movement positioning device is characterized in that: the waist belt comprises a turntable assembly (100) capable of freely rotating in a plane around a vertical fixed axis, a vertical telescopic mechanism (300) which is connected with the turntable assembly (100) through a damping type universal joint (200) and can freely swing along with the damping type universal joint (200), a horizontal rotating shaft piece (400) which is movably connected with the vertical telescopic mechanism (300) and can rotate around a horizontal central shaft, and a waist belt (500) which is movably connected with the horizontal rotating shaft piece (400) and can swing up and down around a connection part, wherein the waist belt (500) is bound on a human body and can synchronously move with the human body; and the vertical telescopic mechanism (300) is provided with an attitude measurement module (600) for measuring and transmitting three-axis attitude information of the vertical telescopic mechanism.
2. The human body omnidirectional exercise positioning device of claim 1, wherein: carousel subassembly (100) include fixed disk (101), can wind fixed disk (101) pivoted rotor arm (102) and be located rotor arm (102) distal end and be used for connecting fixed part (103) on the universal joint of damping formula universal joint (200), still be connected with on fixed part (103) on this universal joint and be used for protecting upper half dustcoat (104) of damping formula universal joint (200).
3. The human body omnidirectional exercise positioning device of claim 1, wherein: the damping type universal joint (200) is an elastic damping universal joint which comprises two first fixed forks (201) arranged in a crossed mode from top to bottom, a first cross shaft (202) used for connecting the upper first fixed fork (201) with the lower first fixed fork and a linear damper (203), the first fixed fork (201) comprises a first fork arm part (204) and a first fork handle part (205) used for an external connecting part, and four shaft rods of the first cross shaft (202) are connected with the first fork arm part (204) through the linear damper (203) respectively.
4. The human body omnidirectional exercise positioning device of claim 3, wherein: the linear damper (203) is sleeved with a spring (206).
5. The human body omnidirectional exercise positioning device of claim 3, wherein: the first fork arm part (204) is of an arc-shaped structure, damper hinge parts (207) are arranged on two sides of the first fork arm part (204) close to the first fork handle part (205), and the linear damper (203) is movably connected with the first fixed fork (201) through the damper hinge parts (207).
6. The human body omnidirectional exercise positioning device of claim 1, wherein: the damping universal joint (200) is an adjustable damping universal joint, the adjustable damping universal joint comprises two second fixed forks (208) which are arranged in a crossed mode from top to bottom, a second cross shaft (209) used for connecting the upper second fixed fork (208) with the lower second fixed fork (208) and a rotary damper (210), the second fixed fork (208) comprises a second fork arm portion (211) and a second fork handle portion (212) used for an external connecting portion, and four shaft ends of the second cross shaft (209) are connected with the second fork arm portion (211) through the rotary damper (210) respectively.
7. The human body omnidirectional exercise positioning device of claim 6, wherein the shaft ends of the second cross shaft (209) are provided with damping connecting portions (223), the rotary damper (210) is provided with damping connecting grooves (213) matched with the damping connecting portions (223), and the damping connecting portions (223) are inserted into the damping connecting grooves (213) to enable the second cross shaft (209) to rotate in the rotary damper (210).
8. The human body omnidirectional exercise positioning device of claim 1, wherein: perpendicular telescopic machanism (300) include slide rail groove (301) and can be in slide rail groove (301) vertical slip's slide rail (302), the upper end in slide rail groove (301) is equipped with fixed part (303) under the universal joint that is used for connecting the damping formula universal joint and is used for protecting half outer cover (304) down of damping formula universal joint in proper order, the horizontal bending and extending in bottom of slide rail (302) forms switching portion (305) that are used for being connected with horizontal pivot spare (400).
9. The human body omnidirectional exercise positioning device of claim 1, wherein: the rotary table further comprises a support (700), the upper portion of the support (700) is provided with a rotary table fixing portion (701) fixedly connected with the rotary table assembly (100), and the bottom of the support (700) is provided with an installation portion (702) used for installing the moving platform.
10. The positioning method of the human body omnidirectional movement positioning device based on any one of claims 1 to 9, characterized in that: the upper part of the bracket (700) is provided with a turntable fixing part (701) fixedly connected with the turntable assembly (100), and the vertical telescopic mechanism (300) comprises a slide rail groove (301) and a slide rail (302) which can vertically slide in the slide rail groove (301); the center of the turntable fixing part (701) is taken as the origin, the direction from the bracket (700) to the turntable fixing part (701) is the positive Y-axis direction, and the vertical direction from bottom to top is the Z-axisForward, constructing a right-handed rectangular coordinate system, wherein the initial value of the center of the belt (500) is x-0, y-0, z-L, and L is the vertical distance from the center of the belt (500) to the origin; in the using process, an attitude measuring module (600) monitors and obtains four vectors of an attitude quaternion q ═ w, x, y and z of a current slide rail groove (301), wherein the w, x, y and z respectively represent the attitude quaternion; obtaining the posture quaternion q corresponding to the current human body position through quaternion operation1＝(w1,x1,y1,z1)＝q-10,0,0, -L) q, and obtaining the current position of the human body on the surface of the platform with the omnidirectional motion of the human body, namely x ═ x1，y＝y1Wherein (w)1,x1,y1,z1) Is a quaternion w1+x1i+y1j+z1A simple notation of k, i, j, k being the three imaginary parts of the quaternion, q-1Is the inverse operation of the quaternion, ". is the multiplication operation of the quaternion.
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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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| CN109090748B (en) * | 2018-07-23 | 2020-09-18 | 东南大学 | Human body omnidirectional movement positioning device and positioning method thereof |
| 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 |
| 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 |
| CN114522395B (en) * | 2022-02-18 | 2023-02-28 | 东南大学 | Modular omnidirectional motion platform |
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| CN109090748B (en) * | 2018-07-23 | 2020-09-18 | 东南大学 | Human body omnidirectional movement positioning device and positioning method thereof |
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| CN204840821U (en) * | 2015-06-16 | 2015-12-09 | 秦路 | Human omnidirectional movement input platform of multi -functional virtual reality |
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