CN109731342A - A kind of VR rowing machine with game interaction - Google Patents
A kind of VR rowing machine with game interaction Download PDFInfo
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- CN109731342A CN109731342A CN201910078036.4A CN201910078036A CN109731342A CN 109731342 A CN109731342 A CN 109731342A CN 201910078036 A CN201910078036 A CN 201910078036A CN 109731342 A CN109731342 A CN 109731342A
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Abstract
The object of the present invention is to provide a kind of and game interaction VR rowing machine, the present invention carrys out collection analysis data using microprocessor six axis attitude transducers of collocation and bluetooth module, to eliminate gravitational acceleration component, the angle of paddle number with drawing paddle is drawn in accurate measurement.The data of the drawing paddle number and drawing propeller angle that are measured are interacted with VR game.Rowing machine provided by the present invention can effectively eliminate the gravitational acceleration component of slurry data by the calculation procedure in microprocessor, and detect direction or angle that user draws paddle.It can not only make the drawing paddle number of transmission accurate in this way, but also can determine the angle for drawing paddle, and interacted with game, body builder is made to obtain best experience.
Description
Technical field
The invention belongs to sports apparatus technical fields, and in particular to a kind of VR rowing machine with game interaction.
Technical background
There is the body-building device of miscellaneous rowing machine class on the market at present, by being mounted on hand paddle the embedding of a very little
Enter formula device, acquisition user draws number when paddle, is sent to game end by bluetooth, to operate the role in game, reaches one
Side body-building, the effect of one side Entertainment.But the exercise data acquisition device of rowing machine institute band on the market can not be completely quasi-
The number that user draws paddle really is acquired, when user's swing hand paddle, paddle can be drawn as primary, so as to cause going out in data acquisition
Existing mistake.Nor the direction that user draws paddle can be acquired, such acquisition device has seriously affected use since there are the above problems
The Product Experience at family.
Moreover, in order to avoid sporter generates boredom during the motion, it is necessary to by sports apparatus and virtual reality
Game combines, and so that movement is given the sense of reality and feeling of immersion of body builder's height with merging for game by VR.
Summary of the invention
The object of the present invention is to provide a kind of and game interaction VR rowing machine, the present invention uses microprocessor collocation six
Axis attitude transducer and bluetooth module carry out collection analysis data, to eliminate gravitational acceleration component, paddle is drawn in accurate measurement
Number and the angle for drawing paddle.The data of the drawing paddle number and drawing propeller angle that are measured are interacted with VR game, to make up existing
The deficiency of technology.
Rowing machine provided by the present invention includes bracket 1, the water tank 5 being mounted on bracket 1；Pull rod 4 passes through drawstring 2
It is connected on water tank 5；Pedal 6 is installed in the side close to water tank 5, cushion slide rail 7 is installed in the side far from water tank 5,
Cushion 8 is installed on cushion slide rail 7；It is also equipped with sensor in the middle position of pull rod 4, the sensor 3 is by micro process
Device, six axis attitude transducers, bluetooth module and battery composition；
Rowing machine of the invention also includes the VR display game screen interacted with the exercise data of biosensor analysis.
Above-mentioned microprocessor carries out the analysis of following steps to exercise data:
S1: obtaining the data of three axis angular rates and 3-axis acceleration,
Using 32-bit microprocessor STM32F1, configuration is carried out to six axis attitude transducer of MPU6050 by I2C agreement and is adopted
Collection；
S2: complementary filter processing is carried out to the data of three axis angular rates and 3-axis acceleration and obtains triaxial attitude angle, step
It is as follows:
1) quaternary number is initialized
Attitude Calculation is initial, brings known carrier initial attitude angle into following formula, finds out the quaternary number of initial time
Wherein φ, θ, ψ are respectively triaxial attitude angle, initial value desirable 0；
2) measured value of acceleration information is carried out unitization
Unit vector is converted by component of the acceleration of gravity on three axis using following formula:
vx、vy、vzDivide the gravity vector on three axis；
3) error is calculated:
It obtains initial data ax, ay, az of acceleration of gravity and accelerometer progress multiplication cross to be used to correct gyroscope appearance
Error vector [the e at state anglex ey ez]
Ex=(ay*vz-az*vy)
Ey=(az*vx-ax*vz)
Ez=(ax*vy-ay*vx)
4) gyroscope attitude angle is corrected using error vector, error vector is brought into transmission function, correction factor is obtained:
δ=Kpe+Kt∫e
5) quaternary number is updated using revised gyroscope attitude angle
Q0 (t), q0 (t+T) are respectively the quaternary number of previous moment and later moment in time；
6) updated quaternary number is standardized
7) Eulerian angles are converted by quaternary number, quaternary number can be converted to triaxial attitude angle φ, θ, ψ according to the following formula
S3: after calculating attitude angle, according to the relationship of the component of pitching angle theta and acceleration of gravity in x-axis, weight is calculated
Power component of acceleration gx=g*sin θ
S4: 3-axis acceleration cut gravitational acceleration component can must user draw paddle when acceleration；Pass through acceleration
Data obtain the number and maximum speed that user draws paddle；
S5: user draws the number of paddle, maximum speed and the bearing data of paddle is drawn to be sent to display end；Wherein roll angle conduct
The left and right inclination angle of paddle is drawn, that is, draws the direction of paddle.
S6: after the game termination receives drawing this exercise data of paddle number, rower will do it a paddle in game,
And the distance advanced depends on drawing this parameter of the peak acceleration of paddle, and draw the side of rower's paddle in the direction influence game of paddle
To.
Rowing machine provided by the present invention can effectively eliminate slurry data by the calculation procedure in microprocessor
Gravitational acceleration component, and detect direction or angle that user draws paddle.The drawing paddle number of transmission can not only be made accurate in this way, and
And can also determine the angle for drawing paddle, and interacted with game, so that body builder is obtained best experience.
Detailed description of the invention
Fig. 1: the structure chart of rowing machine of the invention, wherein 1 is bracket, 2 be drawstring, and 3 be sensor, and 4 be pull rod, and 5 are
Water tank, 6 be pedal, and 7 be cushion slide rail, and 8 be cushion；
Fig. 2: the layout of the sensor for the rowing machine that method of the invention is relied on；
Fig. 3: the relational graph of the component of pitching angle theta and acceleration of gravity in x-axis；
Fig. 4: being obtained using filtered acceleration information and draw paddle number, and the program of paddle number and peak acceleration acquisition is drawn
Design flow diagram.
Fig. 5: communications protocol schematic diagram；
Fig. 6: VR scene of game figure.
Specific embodiment
Traditional rowing machine exercise data acquisition device often uses microprocessor collocation three axis accelerometer and bluetooth mould
The hardware of block forms.When user, which does, draws paddle movement, hand paddle can generate acceleration, and three axis accelerometer can collect motion process
In acceleration information save in a register, for microprocessor by specific agreement, circulation reads these data, if acceleration
Degree illustrates that user has carried out the movement of drawing paddle according to certain value is reached, and accumulates the number for drawing paddle, which is passed through bluetooth module
It sends.
But had a problem that during this, that is, the acceleration information of three axis accelerometer acquisition contains gravity and adds
Velocity component, the size of this component depend on the angle of data acquisition device and horizontal plane, and angle is bigger, acceleration of gravity point
It measures bigger.
Therefore when user swings hand paddle, data acquisition device and horizontal plane can be made to generate angle, at this time microprocessor
Also it can read the biggish acceleration information of numerical value, user can be judged by accident and carrying out drawing paddle movement, therefore will cause and transfer out
It draws paddle number and user is practical that paddle number is drawn not to be inconsistent, to influence game experiencing.
On the basis of having found disadvantages mentioned above, the present invention uses microprocessor six axis attitude transducers of collocation and bluetooth mould
Block carrys out collection analysis data, to eliminate gravitational acceleration component, accurate measurement draws paddle number and draws the angle of paddle.
Applicant installs sensor in the center position of rowing machine pull rod, and sensor is sensed by microprocessor, six axis postures
Device, bluetooth module and battery composition.When user carries out drawing paddle movement, sensor can acquire acceleration and the drawing of user's pulling
The angle that bar tilts.By the processing of algorithm, by acceleration information and angle-data be fused to draw the number of paddle, dynamics and
The exercise datas such as direction, and be sent on display screen by bluetooth module.
As shown in Figure 1, rowing machine provided by the present invention, includes bracket 1, the water tank 5 being mounted on bracket 1；Pull rod 4
It is connected on water tank 5 by drawstring 2；Pedal 6 is installed in the side close to water tank 5, seat is installed in the side far from water tank 5
Sliding rail 7 is padded, cushion 8 is installed on cushion slide rail 7；Sensor, the sensor 3 are also equipped in the middle position of pull rod 4
By microprocessor, six axis attitude transducers, bluetooth module and battery composition；
Rowing machine of the invention also includes the VR display game screen interacted with the exercise data of biosensor analysis.
After the water tank of rowing machine injects a certain amount of water, user is seated on cushion, and both feet are pedaled on pedal, both hands
It holds with a firm grip pull rod, and pull rod is made to be in horizontality, be conducive to sensor in this way and carry out data acquisition.Start after carrying out pulling campaign,
User's pull rod of holding with a firm grip is exerted oneself post-tensioning, and the rotation paddle blade at this moment connected firmly in water tank with zipper can be rotated rapidly, but depositing due to water
Certain resistance can be being generated to blade, this resistance can be transmitted on the arm of user with drawstring, and such user will
Experience the resistance from rowing machine.Pull rod is pulled repeatedly, can play the effect taken exercises.
The sensor hardware group for the rowing machine that method of the invention is relied on becomes microprocessor collocation six axis postures sensing
Device and bluetooth module, a kind of preparation layout are as shown in Figure 2.Wherein six axis attitude transducer MPU6050 include three-axis gyroscope
And three axis accelerometer, the angular speed and acceleration in hand paddle motion process can be acquired, triaxial attitude angle is fused into.Before wherein
The attitude angle and gravitational acceleration component swung afterwards is at trigonometric function relationship.By this attitude angle and gravitational acceleration component it
Between mathematical relationship this gravitational acceleration component can be resolved, then subtract this gravity with collected acceleration
Component of acceleration can obtain the acceleration information not comprising gravitational acceleration component, to eliminate the dry of acceleration of gravity
It disturbs, and indicates the attitude angle to swing and namely draw the direction of paddle.
Rowing machine data processing is completed using six axis attitude transducer MPU6050 of microprocessor STM32F1+, micro- place
Device is managed by I2C protocol-driven MPU6050, reads three axis angular rates, the 3-axis acceleration in MPU6050 data register, into
Row quaternary number posture merges complementary filter, calculates the angle of rowing machine hand paddle tilted forward and back, is added by the angle with gravity
Relationship between speed calculates gravitational acceleration component, then subtracts the acceleration of gravity point using collected acceleration
Amount, obtains acceleration of motion, draws the interference of paddle number bring, and the appearance that will be tilted to measuring and calculating to eliminate acceleration of gravity
State angle is as the deflection for drawing paddle, using the primary peak acceleration for drawing paddle to generate as the dynamics for drawing paddle.
The exercise data analysis method of VR rowing machine of the invention completes the specific steps of above data processing operation such as
Under:
S1: obtaining the data of three axis angular rates and 3-axis acceleration,
The step uses 32-bit microprocessor STM32F1, is carried out by I2C agreement to six axis attitude transducer of MPU6050
Configuration acquisition, including angular speed range, acceleration range, sample frequency data.By I2C to MPU6050 after the completion of configuration
It is resetted and is waken up, data acquisition can be entered.Then the acceleration in microcomputer reads MPU6050 particular register
Degree evidence.
S2: complementary filter processing is carried out to the data of three axis angular rates and 3-axis acceleration and obtains triaxial attitude angle；
It is relatively good in view of accelerometer low frequency characteristic, because the angle of acceleration can be calculated directly, do not accumulate mistake
Difference, so also than calibrated after long-time.And adding up due to integral error after gyroscope long-time, it will cause output error and compare
Greatly, it or even is not available.It is every when crossing one section so being learnt from other's strong points to offset one's weaknesses with complementary filter method according to their characteristic carries out attitude algorithm
Between just allow accelerometer to remove to calibrate gyroscope.Complementary filter be exactly the angle that is obtained in a short time using gyroscope as
Optimal value, the acceleration value periodically come to acceleration sampling are averaged to correct the obtained angle of gyroscope.In short-term
It is interior more accurate with gyroscope, based on it；It is more accurate with accelerometer for a long time, its specific gravity is at this time increased, this
It is exactly complementary filter, accelerometer will filter high-frequency signal during this, and gyroscope will filter low frequency signal.Complementary filter
Detailed process is as follows:
1) quaternary number is initialized
Attitude Calculation is initial, brings known carrier initial attitude angle into following formula, finds out the quaternary number of initial time
Wherein φ, θ, ψ are respectively triaxial attitude angle, respectively roll angle, pitch angle, yaw angle, initial value desirable 0；
2) measured value of acceleration information is carried out unitization
Unit vector is converted by component of the acceleration of gravity on three axis using following formula:
vx、vy、vzDivide the gravity vector on three axis；
3) error is calculated:
It obtains initial data ax, ay, az of acceleration of gravity and accelerometer progress multiplication cross to be used to correct gyroscope appearance
Error vector [the e at state anglex ey ez]。
Ex=(ay*vz-az*vy)
Ey=(az*vx-ax*vz)
Ez=(ax*vy-ay*vx)
4) gyroscope attitude angle is corrected using error vector
Error vector is brought into transmission function, correction factor is obtained:
δ=Kpe+Kt∫e
5) quaternary number is updated using revised gyroscope attitude angle
Q0 (t), q0 (t+T) are respectively the quaternary number of previous moment and later moment in time.
6) updated quaternary number is standardized
7) Eulerian angles are converted by quaternary number, quaternary number can be converted to triaxial attitude angle φ, θ, ψ according to the following formula
S3: after calculating attitude angle, according to the relationship of the component of pitching angle theta and acceleration of gravity in x-axis, weight is calculated
Power component of acceleration.
As shown in Figure 3: Θ is inclination angle of the gyroscope in x-axis, i.e. pitch angle.When pitch angle is 0, i.e. gyrohorizon
When, component of the gravity acceleration g in x-axis is 0, and when pitch angle is greater than 0, at this moment component of the g in x-axis accelerates also greater than 0
The acceleration that degree is counted in collected x-axis starts to receive the addition of gravitational acceleration component, and the addition of this component can be done
The number for calculating and drawing paddle is disturbed through acceleration.Pass through following formula gravitational acceleration component gx=g*sin θ
Component of the g in x-axis can be calculated.
S4: the acceleration measured cut gravitational acceleration component can must user draw paddle when acceleration of motion；Pass through
Moving acceleration data obtains the number and maximum speed that user draws paddle；
Fig. 4 is to obtain to draw paddle number using filtered acceleration information, draws the journey of paddle number and peak acceleration acquisition
Sequence Design flowchart, wherein A be positive acceleration be greater than the set value (value by rowing machine Resistance Setting progress it is presetting, wherein
The cumulative frequency when present invention is set as 7), B is accumulation when negativeacceleration is less than the value, when A reaches setting value, explanation
Primary drawing paddle has been carried out, when B reaches setting value, has been pushed back after illustrating Finish Release, at this moment primary complete drawing paddle movement terminates,
It carries out drawing paddle number accumulative.D is maximum acceleration value, if current acceleration is greater than D, the value of current acceleration is just assigned to D.
Acceleration number when C is static is accumulative, when C reaches certain value, illustrates not carry out drawing paddle movement, at this moment by A zero setting.
S5: user draws the number of paddle, maximum speed and the bearing data of paddle is drawn to be sent to display end and obtains attitude algorithm
Roll angle φ as draw paddle left and right inclination angle, that is, draw paddle direction, will every time draw paddle peak acceleration as drawing paddle power
Degree, and draw the number of paddle to be packaged and VR game end is sent to by bluetooth serial ports module, for controlling the role in game.
Communications protocol is illustrated in fig. 5 shown below, and wherein Start1, start2 are data packet start bit, and Data1, Data2 are respectively
Inclination angle when drawing paddle or so, Data3 are the dynamics for drawing paddle, and Data4 is the number for drawing paddle.
Through the above steps, the method for the present invention effectively eliminates gravitational acceleration component, and detects user and draw paddle
Direction or angle.It can not only make the drawing paddle number of transmission accurate in this way, but also can determine the angle for drawing paddle, to make to move
Data Detection is more accurate.
Dominant role in S6:VR game is a rower and the speedboat that he is taken, when user draws paddle, sensing
Device can will draw the peak acceleration that paddle number is cumulative, draws paddle every time, the angle of drawing paddle to be sent to game end.Game termination receives drawing
, can be compared with number before after this exercise data of paddle number, if it is greater than number before, then rower will do it primary draw
Paddle, at this moment speedboat can advance a distance, and the distance advanced depends on drawing this parameter of the peak acceleration of paddle, if user
Draw paddle dynamics larger, then the collected peak acceleration of sensor is with regard to big, and then makes the distance of speedboat advance in game with regard to remote, this
Also comply with actual conditions.
In this VR game, another role is exactly the shark to come and go like a shadow, and rower is during rowing the boat, the VR helmet
It can be appreciated that shark jumps out from the water surface, at this moment if in being snapped, the blood volume of rower will decline, when blood volume falls to zero, trip
Play just will fail.At this moment rower needs to evade shark, and when shark, which flutters, to come, rower needs to surpass other directions and bends to the oars, and hides
The attack (Fig. 6) of shark.
The attack for hiding shark depends primarily on the angle that user or so draws paddle, when user sees there is shark in the VR helmet
When attacking, need to change the angle of hand paddle pulling, to change the direction of rower's paddle, to hide the attack of shark.
Claims (6)
1. a kind of rowing machine, the rowing machine includes bracket (1), the water tank (5) being mounted on bracket (1)；Pull rod (4) is logical
Drawstring (2) is crossed to be connected on water tank (5)；Pedal (6) are installed in the side close to water tank (5), in the side far from water tank (5)
It is equipped with cushion slide rail (7), cushion (8) is installed on cushion slide rail (7)；It is characterized in that, the interposition of the pull rod (4)
It sets and is also equipped with sensor (3), the sensor (3) is by microprocessor, six axis attitude transducers, bluetooth module and battery
Composition.
2. rowing machine as described in claim 1, which is characterized in that the rowing machine also include for sensor (3)
The VR game system that the exercise data of analysis is interacted.
3. rowing machine as claimed in claim 2, which is characterized in that the exercise data and VR game that the sensor 3 is analyzed
Interaction step it is as follows:
S1: obtaining the data of three axis angular rates and 3-axis acceleration,
S2: complementary filter processing is carried out to the data of three axis angular rates and 3-axis acceleration and obtains triaxial attitude angle, steps are as follows:
1) quaternary number is initialized
Attitude Calculation is initial, brings known carrier initial attitude angle into following formula, finds out the quaternary number of initial time
Wherein φ, θ, ψ are respectively triaxial attitude angle；
2) measured value of acceleration information is carried out unitization
Unit vector is converted by component of the acceleration of gravity on three axis using following formula:
vx、vy、vzDivide the gravity vector on three axis；
3) error is calculated:
It obtains initial data ax, ay, azx of acceleration of gravity and accelerometer progress multiplication cross to be used to correct gyroscope attitude angle
Error vector [ex ey ez]；
Ex=(ay*vz-az*vy)
Ey=(az*vx-ax*vz)
Ez=(ax*vy-ay*vx)
4) gyroscope attitude angle is corrected using error vector, error vector is brought into transmission function, correction factor δ=K is obtainedpe
+Kt∫e；
5) quaternary number is updated using revised gyroscope attitude angle
Q0 (t), q0 (t+T) are respectively the quaternary number of previous moment and later moment in time；
6) updated quaternary number is standardized
7) Eulerian angles are converted by quaternary number, converts triaxial attitude angle φ, θ, ψ for quaternary number according to the following formula
S3: it after calculating attitude angle, according to the relationship of the component of pitching angle theta and acceleration of gravity in x-axis, calculates gravity and adds
Velocity component gx=g*sin θ
S4: 3-axis acceleration cut gravitational acceleration component can must user draw paddle when acceleration；Pass through acceleration information
Obtain number and maximum speed that user draws paddle；
S5: user draws the number of paddle, maximum speed and the bearing data of paddle is drawn to be sent to display end；
S6: after the game termination receives drawing this exercise data of paddle number, will do it a paddle in game, and advance
Distance depends on drawing the peak acceleration parameter of paddle, and draws the direction of rower's paddle in the direction influence game of paddle.
4. rowing machine as claimed in claim 3, which is characterized in that three axis angular rate of acquisition and 3-axis acceleration of the S1
Data, be by 32-bit microprocessor STM32F1, by I2C agreement to six axis attitude transducer of MPU6050 carry out configuration adopt
Collection.
5. rowing machine as claimed in claim 3, which is characterized in that described φ, θ, the ψ is respectively the initial value of triaxial attitude angle
It is 0.
6. rowing machine as described in claim 1, which is characterized in that roll angle is as the direction for drawing paddle in the S5.
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| CN201910078036.4A CN109731342A (en) | 2019-01-28 | 2019-01-28 | A kind of VR rowing machine with game interaction |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN110920831A (en) * | 2019-11-29 | 2020-03-27 | 桐乡创智体育科技有限公司 | Gyroscope paddle space attitude capturing method |
| CN115006824A (en) * | 2022-06-30 | 2022-09-06 | 歌尔科技有限公司 | Rowing machine action counting method, device, medium and intelligent wearable device |
| KR102550837B1 (en) * | 2022-05-12 | 2023-07-04 | (주)이브이알스튜디오 | System for gaming boat using virtual reality content |
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Application publication date: 20190510 |