CN110038258A - A kind of omnidirectional's treadmill and its virtual reality implementation method - Google Patents
A kind of omnidirectional's treadmill and its virtual reality implementation method Download PDFInfo
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- CN110038258A CN110038258A CN201910230140.0A CN201910230140A CN110038258A CN 110038258 A CN110038258 A CN 110038258A CN 201910230140 A CN201910230140 A CN 201910230140A CN 110038258 A CN110038258 A CN 110038258A
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B22/00—Exercising apparatus specially adapted for conditioning the cardio-vascular system, for training agility or co-ordination of movements
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63F—CARD, BOARD, OR ROULETTE GAMES; INDOOR GAMES USING SMALL MOVING PLAYING BODIES; VIDEO GAMES; GAMES NOT OTHERWISE PROVIDED FOR
- A63F13/00—Video games, i.e. games using an electronically generated display having two or more dimensions
- A63F13/25—Output arrangements for video game devices
- A63F13/26—Output arrangements for video game devices having at least one additional display device, e.g. on the game controller or outside a game booth
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63F—CARD, BOARD, OR ROULETTE GAMES; INDOOR GAMES USING SMALL MOVING PLAYING BODIES; VIDEO GAMES; GAMES NOT OTHERWISE PROVIDED FOR
- A63F13/00—Video games, i.e. games using an electronically generated display having two or more dimensions
- A63F13/80—Special adaptations for executing a specific game genre or game mode
- A63F13/837—Shooting of targets
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63F—CARD, BOARD, OR ROULETTE GAMES; INDOOR GAMES USING SMALL MOVING PLAYING BODIES; VIDEO GAMES; GAMES NOT OTHERWISE PROVIDED FOR
- A63F9/00—Games not otherwise provided for
- A63F9/02—Shooting or hurling games
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- Multimedia (AREA)
- Health & Medical Sciences (AREA)
- Cardiology (AREA)
- Vascular Medicine (AREA)
- General Health & Medical Sciences (AREA)
- Physical Education & Sports Medicine (AREA)
- Processing Or Creating Images (AREA)
Abstract
The invention discloses a kind of omnidirectional's treadmill and its virtual reality implementation methods, omnidirectional's treadmill includes treadmill main body, hand-held electronic simulation rifle, virtual implementing helmet, computer, high-definition camera, high-definition camera is fixed on virtual implementing helmet, high-definition camera and virtual implementing helmet wired connection, high-definition camera, hand-held electronic simulation rifle, treadmill main body is all connect with computer radio, virtual implementing helmet and computer wired connection, hand-held electronic simulation rifle, virtual implementing helmet is all matched with treadmill main body, the present invention substantially increases game body-sensing degree of the user under virtual reality scenario, the exercise that user can be allowed to obtain body is not only reached, the purpose that can also be taken exercise in gaming.
Description
Technical field
The present invention relates to a kind of omnidirectional's treadmill and its virtual reality implementation methods.
Background technique
Virtual reality (Virtual Reality:VR) is the new and high technology occurred in recent years, generates one using computer simulation
The virtual world of a three-dimensional space provides simulation of the user about sense organs such as vision, the sense of hearing, tactiles, allows user such as body
It goes through that its border is general, the things in three-dimensional space can be observed in time, without limitation.Virtual reality is the synthesis of multiple technologies,
Including real-time three-dimensional computer graphics techniques, wide-angle or wide visual field stereo display technique, to the tracking skill of observer's head, eye and hand
Art and tactile, power feel feedback, stereo, network transmission, voice input and output technology etc..In recent years, virtual reality is in army
Thing, amusement, medical treatment, even development of real estate etc. have bigger application.Especially in terms of amusement, feeling energy abundant
Power and 3D display environment make VR become ideal video-game tool.Due to requiring the sense of reality of VR not to be in terms of amusement
It is too high, therefore VR was the swiftest and the most violent in this aspect development in recent years.As the Chicago Chicago has opened in the world, First large size can
For the VR entertainment systems that more people use, theme is a future war about 3025；Britain's exploitation is known as
The VR game system of " Virtuality " is furnished with HMD, greatly strengthens the sense of reality；A table scale in 1992 is " Legeal
The system of Qust " makes computer have self-learning function due to increasing artificial intelligence function, greatly strengthen interest and
Difficulty makes the system obtain the prize of year VR product.In addition VR also shows good prospect in terms of home entertaining.Comprehensive mesh
The preceding reality-virtualizing game equipment applied in the market, is concentrated mainly on visual perception this respect, reacts on product, with the helmet and
Based on VR glasses.Than the Oculus Rift of more typical such as Oculus company, this is a 3D virtual game glasses, built-in
Sharpness screen may provide the user with the high definition picture of 1280x800 resolution ratio, and horizontal viewable angle is 90 °, vertically may be used
Angle is 110 °, and the posture and motion sensor of 9 freedom degrees can be led to the frequency tracking head movement track of 1000Hz
DVI, HDMI, microUSB interface connection PC computer or household host are crossed with comprehensive video and audio as user virtual one
A game experiencing on the spot in person.Although the current VR helmet or 3D glasses are very popular, reflection to following game station
In, it is sitting on chair according to some key, to push the leading role in game to move, is not able to satisfy the user of consumer more and more
It experiences, natural athleticism allows user to feel on the spot in person, by naturally moving, player is allowed to carry out in game suitably
Movement, i.e., amusement again body-building.Although the virtual glasses of the 3D of Oculus Rift allow player to have good user experience, but it is not
Player can be allowed to move, being naturally also unable to satisfy consumer, " proper motion+Virtual reality+body faces to next-generation game station
The requirement in its border ".Therefore 3D glasses and treadmill are combined, researching and developing omnidirectional of new generation treadmill is that the urgent of market is essential
It asks.2013, Virtuix company, the U.S. was proposed a omnidirectional's treadmill Virtuix Omni for the first time, it for the first time by 3D glasses,
Games Software, virtual reality and treadmill combine, and player is allowed really to put into virtual reality, realize perfect use true to nature
Family experience: it has not only mentally put into virtual reality, body has also been put into virtual reality.
Omnidirectional's treadmill of Omni is passive omnidirectional's treadmill, and fuselage itself is without moving component, and pedestal is as a light
Sliding fluted jorum, player is to do gliding motility on omnidirectional's treadmill, this just needs each player to buy a pair of to them
It is suitble to the shoes of the low-frictional force of oneself size.Omni omnidirectional treadmill currently can only be by the movement of sensor sensing foot, such as
Fruit will play game, need to combine with the Kinect somatosensory peripheral hardware of Microsoft again, or such as above-mentioned virtual with the 3D of Oculus Rift
Game glasses combine, to incude the movement of player's upper body.The Kinect somatosensory peripheral hardware of Microsoft passes through video camera for the limbs of people
Capturing movement simultaneously identifies, then controls the movement of game leading role, but it cannot capture movement and the Omni omnidirectional treadmill of human body
In conjunction with rear, player is allowed more easily to control the movement of game leading role in gaming.Omni omnidirectional treadmill is in the world first
The treadmill that money is designed based on virtual reality scenario, but there are some defects, mainly: 1, Omni omnidirectional treadmill is a
Passively omnidirectional's treadmill, since fuselage does not have driven nature equipment, so that player can only do flatness movement in structure, and nothing
Method does the very strong game action of some three-dimensional senses, greatly limits the current application in face of VR scene exploitation Games Software, simultaneously
Also reduce the body-sensing degree of player.2, Omni omnidirectional treadmill perceives the movement velocity of human body at present and frequency is fixed by a pair of
Sensor on the running shoes of the low-frictional force of system perceives plane motion, can only obtain movement velocity, the frequency of both feet, and can not
It is accurately positioned the coordinate of both feet on a treadmill, causes the reflection resultant error in Games Software very big, some essences can only be done
Exactness motion control of less demanding also reduces the body-sensing degree of player；
Omni omnidirectional treadmill is really a integrated game station, and the spatial movement posture of player is needed by extending out
Microsoft's Kinect device acquire and extract, the 3D scene helmet is Oculus Rift 3D by integrating Oculus company
Mirror completes the acquisition and broadcasting of virtual reality scenario, therefore relatively low from integration degree, reaction in data processing speed, set
In terms of standby uniformity and protocol conformance, it is all unable to satisfy requirement of the consumer to next-generation motion virtual reality game equipment.
Summary of the invention
The purpose of the present invention is overcoming deficiency in the prior art, a kind of omnidirectional's treadmill is provided and its virtual reality is realized
Method.
In order to achieve the above object, the present invention is achieved by the following technical solutions:
A kind of omnidirectional's treadmill, including treadmill main body, hand-held electronic simulation rifle, virtual implementing helmet, computer, high definition
Camera, high-definition camera are fixed on virtual implementing helmet, and high-definition camera and virtual implementing helmet wired connection, high definition are taken the photograph
Picture head, hand-held electronic simulation rifle, treadmill main body are all connect with computer radio, virtual implementing helmet and the wired company of computer
It connects, hand-held electronic simulation rifle, virtual implementing helmet are all matched with treadmill main body, and treadmill main body includes that chassis, chassis are solid
Reservation, the fixed device of loins, fixed strut, chassis are mounted on base plate fixing holder, and it is solid that the fixed device of loins passes through fixed strut
It is scheduled on base plate fixing holder, computer is used to play the video game software of 3D.
Preferably, chassis is rounded.
Preferably, chassis includes runner, sliding screw, servo motor, treadmill driver, several resistance value sensors
Module, turntable, turntable are equipped with through-hole, and servo motor and treadmill driver are electrically connected, and servo motor connects sliding screw
One end, the other end of sliding screw are inserted through through-hole, and runner is mounted on turntable, several resistance value sensor modules, which are mounted on, to be turned
Pan bottom.
Preferably, treadmill driver include processor, acceleration of motion sensor, three-axis gyroscope sensor group C,
Wireless WIFI module, motor servo driver, electronic compass sensor D, motor servo driver and servo motor are electrically connected,
Acceleration of motion sensor, three-axis gyroscope sensor group C, motor servo driver, wireless WIFI module, electronic compass sensing
Device D is electrically connected with processor, and wireless WIFI module is connect with computer radio.
Preferably, hand-held electronic simulation rifle includes gun-simulation shell, three-axis gyroscope sensor group A, trigger button, nothing
Line communication module, lithium battery, electronic compass sensor E, gravity accelerometer, three-axis gyroscope sensor group A, electronics sieve
All module is connect with computer radio by wireless communication for disk sensor E, gravity accelerometer, three-axis gyroscope sensor
Group A, wireless communication module are all electrically connected with lithium battery, and trigger button is mounted on gun-simulation shell.
Preferably, virtual implementing helmet includes display screen, power amplifier earphone, video transmission line, three-axis gyroscope sensor
Group B, head sleeve fixture mechanism, display screen and high-definition camera wired connection, display screen are wired by video transmission line and computer
Connection, three-axis gyroscope sensor group B connect with computer radio, and power amplifier earphone is mounted on the both ends of a sleeve fixture mechanism, and three
Axis gyro sensor group B is mounted on a sleeve fixture mechanism.
The fixed device of the loins includes upper loins fixed disc, lower loins fixed disc, fixing belt, and the upper loins is solid
Fixed disk is fixedly connected by fixing belt with lower loins fixed disc.
The virtual reality implementation method of omnidirectional's treadmill, includes the following steps:
Step 1, computer play the video game software of 3D, and then computer passes through video transmission line projection to display screen
On；
Step 2, user observe the video image on display screen, and according to plot needs, running fortune is done on omnidirectional's treadmill
Dynamic, amplitude, acceleration and the shift position that treadmill driver run according to user drive chassis to start turning, while true
Determine displacement coordinate of the user on chassis；
Step 3, treadmill driver obtain the angular acceleration on chassis, while treadmill by acceleration of motion sensor
Driver determines the movement velocity and the direction of motion on chassis by three-axis gyroscope sensor group C, electronic compass sensor D,
To form the coupling control system of a closure, the velocity of rotation and rotation direction on chassis will constantly be run on chassis by user
Step control, and user's running is the Games Software plot on display screen according to the observation, therefore material is thus formed one by game
Plot controls running by user's observation, to finally control treadmill driver；
Step 4, user step on every time on omnidirectional's treadmill, can all trigger several resistance value sensor modules on chassis,
To which several resistance value sensor modules obtain resistance value sensor analog signals, the resistance value sensor analog signals of different location make
Entire chassis a unique X/Y plane polar coordinates are constituted centered on origin, then these X/Y plane polar datas,
The rotational angular velocity on chassis, rotation direction constitute user's road-work vector and are sent to calculating by wireless WIFI module
Machine；
Step 5, computer receive user's road-work vector data, then pass through user's road-work vector data
Motion vector transposition parameter transformation matrixing is the acceptable API keyboard data of video game software of 3D, the video of 3D
Games Software receives API keyboard data and will reflect in the video game software of corresponding 3D；
The video game software for the 3D that step 6, computer are run wants the acceleration of Z plane, displacement according to plot needs
It asks, action control vector of the time requirement formation one about Z plane, the action control vector of Z plane is then sent to race
Step machine driver, then treadmill driver receives this action control vector, and servo motor will be driven according to a timing
Interior acceleration requires driving sliding screw to corresponding Z plane position；
Step 7 needs to run or when divertical motion, computer passes through as user on omnidirectional's treadmill according to plot
The athletic posture of high-definition camera captured in real-time user, computer are real-time by spatial attitude by spatial attitude extraction algorithm program
Human space movement tendency vector matrix is converted to, human space movement tendency vector matrix includes human body key feature points square
Battle array, the relevant movement tendency of characteristic point matrix and the relevant displacement coordinate of speed, characteristic point matrix, then computer is empty by human body
Between movement tendency vector matrix be fitted in the video game software of 3D, then the video game software of 3D makes corresponding feedback
The result of the action；
Step 8, user observe the video image played on display screen, and the video of 3D is participated in by holding electronic simulation rifle
In Games Software, according to game episode hold electronic simulation rifle make turn to or raise or push or aim at or shoot move
Make, these movements all can acquire information by three-axis gyroscope sensor group A, electronic compass sensor E, gravity accelerometer
After data, then module is sent to computer by wireless communication, and computer can make accordingly in the video game software of 3D
Result feedback.
Beneficial effects of the present invention are as follows:
1, the present invention establishes a kind of omnidirectional's treadmill of the active stereo-motion of Virtual reality game scene, leads to
Treadmill main body, hand-held electronic simulation rifle, computer cooperation are crossed, user holds electronic simulation rifle according to game episode and makes steering
Or the movement such as raise or push or aim at or shoot, current newest reality-virtualizing game is fully met to multi-dimensional movement scene
Two dimensional motion space is promoted and has arrived three-dimensional motion space by device requirement, cooperates virtual implementing helmet and high-definition camera, even
It can extend to 6D space, substantially increase game body-sensing degree of the user under virtual reality scenario；
2, the present invention constructs a complete virtual reality scenario implementation method, by this method user is being used
When omnidirectional's treadmill, in conjunction with game video software, seemingly place oneself in the midst of in true scene of game, like on the spot in person one
As, the exercise that user can be allowed to obtain body is not only reached, the purpose that can also be taken exercise in gaming；
3, the present invention proposes a kind of instantaneous pole coordinate extraction method by innovation.Its basic principle is: user is complete
It is stepped on every time on treadmill, can all trigger several resistance value sensor modules on chassis, thus several resistance value sensor dies
Block obtains resistance value sensor analog signals, and the resistance value sensor analog signals of different location make entire chassis centered on origin
A unique X/Y plane polar coordinates are constituted, then these X/Y plane polar datas, the rotational angular velocity on chassis, rotation side
Computer is sent to by wireless WIFI module to user's road-work vector is constituted, treadmill driver passes through three axis tops
Spiral shell instrument sensor group C, electronic compass sensor D determine the movement velocity and the direction of motion on chassis, to form a closure
Coupling control system, controlled by X/Y plane polar coordinates on extract real-time chassis and relevant coupling, can be great
The athletic posture extraction accuracy for improving player, to further improve the body-sensing degree of game.
Detailed description of the invention
Fig. 1 is the structural diagram of the present invention；
Fig. 2 is the structural schematic diagram on chassis；
Fig. 3 is the structural schematic diagram of user's use state；
Fig. 4 is the structural schematic diagram of hand-held electronic simulation rifle；
Fig. 5 is the structural schematic diagram of virtual implementing helmet；
Fig. 6 is the system block diagram of circuit of the invention.
Fig. 7 is the logical flow chart of the virtual reality implementation method of omnidirectional's treadmill.
Specific embodiment
Technical solution of the present invention is described further with reference to the accompanying drawings of the specification:
As shown in Fig. 1 to Fig. 6, a kind of omnidirectional's treadmill, including it is treadmill main body 1, hand-held electronic simulation rifle 7, virtual existing
The real helmet 8, computer 13, high-definition camera 31, the high-definition camera 31 are fixed on virtual implementing helmet 8, the high definition
Camera 31 and 8 wired connection of virtual implementing helmet, the high-definition camera 31, hand-held electronic simulation rifle 7, treadmill main body 1
It is all wirelessly connected with computer 13, the virtual implementing helmet 8 and 13 wired connection of computer, the hand-held electronic simulation rifle 7,
Virtual implementing helmet 8 is all matched with treadmill main body 1, and the treadmill main body 1 includes chassis 2, base plate fixing holder 3, loins
Fixed device 4, fixed strut 5, the chassis 2 are mounted on base plate fixing holder 3, and the fixed device 4 of the loins passes through fixed branch
Bar 5 is fixed on base plate fixing holder 3, and the computer 13 is used to play the video game software of 3D.
As shown in Fig. 2, chassis 2 is rounded.Chassis 2 includes runner 20, sliding screw 12, servo motor 15, treadmill drive
Dynamic device 18, several resistance value sensor modules 19, turntable 14, the turntable 14 are equipped with through-hole 121, the servo motor 15 and race
Step machine driver 18 is electrically connected, and the servo motor 15 connects one end of sliding screw 12, the sliding screw 12 it is another
End is inserted through through-hole 121, and the runner 20 is mounted on turntable 14, several described resistance value sensor modules 19 are mounted on turntable
14 bottom.
As shown in fig. 6, treadmill driver 18 includes processor 181, acceleration of motion sensor 182, three-axis gyroscope
Sensor group C183, wireless WIFI module 184, motor servo driver 185, electronic compass sensor D186, the servo electricity
Machine driver 185 and servo motor 15 are electrically connected, the acceleration of motion sensor 182, three-axis gyroscope sensor group
C183, motor servo driver 185, wireless WIFI module 184, electronic compass sensor D186 are electrically connected with processor,
The wireless WIFI module 184 is wirelessly connected with computer 13.
As shown in figure 4, hand-held electronic simulation rifle 7 includes gun-simulation shell 16, three-axis gyroscope sensor group A21, trigger
Button 22, wireless communication module 23, lithium battery 24, electronic compass sensor E71, gravity accelerometer 72, three axis
Gyro sensor group A21, electronic compass sensor E71, gravity accelerometer 72 all by wireless communication module 23 with
Computer 13 is wirelessly connected, and the three-axis gyroscope sensor group A21, wireless communication module 23 all electrically connect with lithium battery 24
It connects, the trigger button 22 is mounted on gun-simulation shell 16.
As shown in figure 5, virtual implementing helmet 8 includes display screen 25, power amplifier earphone 27, video transmission line 28, three axis accelerometer
Instrument sensor group B30, head sleeve fixture mechanism 33, the display screen 25 and 31 wired connection of high-definition camera, the display screen 25
By video transmission line 28 and 13 wired connection of computer, the three-axis gyroscope sensor group B30 wirelessly connects with computer 13
It connects, the power amplifier earphone 27 is mounted on the both ends of a sleeve fixture mechanism 33, and the three-axis gyroscope sensor group B30 is mounted on head
On sleeve fixture mechanism 33.Display screen is the 3D display screen for having camber reflection function, can be transmitted with real-time display computer
The 3D vision signal to come over, 360 degree of real simulation of 3D video scene.
As shown in Figure 1, the fixed device 4 of the loins includes upper loins fixed disc 41, lower loins fixed disc 42, fixes
Band 43, the upper loins fixed disc 41 are fixedly connected by fixing belt 43 with lower loins fixed disc 42.
As shown in fig. 7, the virtual reality implementation method of omnidirectional's treadmill, includes the following steps:
Step 1, computer 13 play the video game software of 3D, and then computer 13 is arrived by 28 projection of video transmission line
On display screen 25；
The video image that step 2, user observe on display screen 25 is done on omnidirectional's treadmill according to plot needs
Road-work, treadmill driver 18 drive chassis 2 to start to turn according to amplitude, acceleration and the shift position that user runs
It is dynamic, while determining displacement coordinate of the user on chassis 2；
Step 3, treadmill driver 18 obtain the angular acceleration on chassis 2 by acceleration of motion sensor 182, simultaneously
Treadmill driver 18 determines the movement on chassis 2 by three-axis gyroscope sensor group C183, electronic compass sensor D186
Speed and the direction of motion, to form the coupling control system of a closure, the velocity of rotation and rotation direction on chassis 2 will by with
Family constantly running control on chassis 2, and user's running is the Games Software plot on display screen 25 according to the observation, therefore in this way
It is formed one and controls running by user's observation by game episode, to finally control treadmill driver 18；
Step 4, user step on every time on omnidirectional's treadmill, can all trigger several resistance value sensor modules on chassis 2
19, so that several resistance value sensor modules 19 obtain resistance value sensor analog signals, the resistance value Sensor Analog Relay System of different location
Signal makes entire chassis 2 constitute a unique X/Y plane polar coordinates centered on origin, and then these X/Y plane poles are sat
Mark data, the rotational angular velocity on chassis, rotation direction constitute user's road-work vector and are sent out by wireless WIFI module 184
Give computer 13；
Step 5, computer 13 receive user's road-work vector data, then lead to user's road-work vector data
Cross the acceptable API keyboard data of video game software that motion vector transposition parameter transformation matrixing is 3D, the view of 3D
Frequency Games Software receives API keyboard data and will reflect in the video game software of corresponding 3D；
The video game software for the 3D that step 6, computer 13 are run is according to plot needs, by the acceleration of Z plane, displacement
It is required that, time requirement form an action control vector about Z plane, then the action control vector of Z plane is sent to
Treadmill driver 18, then treadmill driver 18 receives this action control vector, and servo motor 15 will be driven to press
Driving sliding screw 12 is required to arrive corresponding Z plane position according to the acceleration in certain time；
Step 7 needs to run or when divertical motion, computer 13 is logical as user on omnidirectional's treadmill according to plot
The athletic posture of 31 captured in real-time user of high-definition camera is crossed, computer 13 passes through spatial attitude extraction algorithm program for space appearance
State is converted to human space movement tendency vector matrix in real time, and the human space movement tendency vector matrix includes human body key
The relevant movement tendency of characteristic point matrix, characteristic point matrix and the relevant displacement coordinate of speed, characteristic point matrix, then computer
13 are fitted to human space movement tendency vector matrix in the video game software of 3D, and then the video game software of 3D is made
Corresponding feedback action result；Step 8, user observe the video image played on display screen 25, by holding electronic simulation rifle 7
Participate in the video game software of 3D, according to game episode hold electronic simulation rifle 7 make steering or raise or push or
It aims at or the movement of shooting, these movements can all be added by three-axis gyroscope sensor group A21, electronic compass sensor E71, gravity
After velocity sensor 72 acquires information data, then module 23 is sent to computer 13 by wireless communication, and the meeting of computer 13 exists
Corresponding result feedback is made in the video game software of 3D.
Combining step 1 to 8, the present invention construct a complete virtual reality scenario implementation method, are made by this method
User is obtained when using omnidirectional's treadmill, in conjunction with game video software, is seemingly placed oneself in the midst of in true scene of game, like
It is on the spot in person general, the exercise that user can be allowed to obtain body is not only reached, the purpose that can also be taken exercise in gaming.
The present invention establishes a kind of omnidirectional's treadmill of the active stereo-motion of Virtual reality game scene, passes through
Treadmill main body, hand-held electronic simulation rifle, computer cooperation, user according to game episode hold electronic simulation rifle make steering or
It the movement such as raises or pushes or aim at or shoot, fully meet current newest reality-virtualizing game and multi-dimensional movement scene is set
Standby demand, two dimensional motion space is promoted and has arrived three-dimensional motion space, cooperates virtual implementing helmet and high-definition camera, or even can
To expand to 6D space, game body-sensing degree of the user under virtual reality scenario is substantially increased；
The present invention proposes a kind of instantaneous pole coordinate extraction method by innovation.Its basic principle is: user is in omnidirectional
It is stepped on every time on treadmill, can all trigger several resistance value sensor modules on chassis, thus several resistance value sensor modules
Resistance value sensor analog signals are obtained, the resistance value sensor analog signals of different location make entire chassis using origin as center structure
At a unique X/Y plane polar coordinates, then these X/Y plane polar datas, the rotational angular velocity on chassis, rotation direction
It constitutes user's road-work vector and computer is sent to by wireless WIFI module, treadmill driver passes through three axis accelerometer
Instrument sensor group C, electronic compass sensor D determine the movement velocity and the direction of motion on chassis, to form a closure
Coupling control system is controlled by X/Y plane polar coordinates on extract real-time chassis and relevant coupling, can greatly be mentioned
The athletic posture extraction accuracy of high player, to improve the body-sensing degree of game.
It should be noted that listed above is only a kind of specific embodiment of the invention.It is clear that the invention is not restricted to
Upper embodiment, can also be there are many deforming, in short, those skilled in the art can directly lead from present disclosure
Out or all deformations for associating, it is considered as protection scope of the present invention.
Claims (8)
1. a kind of omnidirectional's treadmill, which is characterized in that including treadmill main body (1), hand-held electronic simulation rifle (7), virtual reality
The helmet (8), computer (13), high-definition camera (31), the high-definition camera (31) are fixed on virtual implementing helmet (8),
The high-definition camera (31) and virtual implementing helmet (8) wired connection, the high-definition camera (31), hand-held electronic simulation rifle
(7), treadmill main body (1) is all wirelessly connected with computer (13), the virtual implementing helmet (8) and computer (13) wired company
It connects, the hand-held electronic simulation rifle (7), virtual implementing helmet (8) are all matched with treadmill main body (1), the running owner
Body (1) includes chassis (2), base plate fixing holder (3), loins fixed device (4), fixed strut (5), and the chassis (2) is mounted on
On base plate fixing holder (3), the loins fixed device (4) passes through fixed strut (5) and is fixed on base plate fixing holder (3), described
Computer (13) is used to play the video game software of 3D.
2. omnidirectional's treadmill according to claim 1, which is characterized in that the chassis (2) is rounded.
3. omnidirectional's treadmill according to claim 1, which is characterized in that the chassis (2) includes runner (20), sliding screw
(12), servo motor (15), treadmill driver (18), several resistance value sensor modules (19), turntable (14), the turntable
(14) through-hole (121) are equipped with, the servo motor (15) and treadmill driver (18) are electrically connected, the servo motor (15)
The one end of sliding screw (12) is connected, the other end of the sliding screw (12) is inserted through through-hole (121), runner (20) peace
On turntable (14), several described resistance value sensor modules (19) are mounted on the bottom of turntable (14).
4. omnidirectional's treadmill according to claim 3, which is characterized in that the treadmill driver (18) includes processor
(181), acceleration of motion sensor (182), three-axis gyroscope sensor group C (183), wireless WIFI module (184), servo electricity
Machine driver (185), electronic compass sensor D (186), the motor servo driver (185) and servo motor (15) are electrically
Connection, the acceleration of motion sensor (182), three-axis gyroscope sensor group C (183), motor servo driver (185),
Wireless WIFI module (184), electronic compass sensor D (186) are electrically connected with processor, the wireless WIFI module
(184) it is wirelessly connected with computer (13).
5. omnidirectional's treadmill according to claim 1, which is characterized in that the hand-held electronic simulation rifle (7) includes gun-simulation
Shell (16), three-axis gyroscope sensor group A (21), trigger button (22), wireless communication module (23), lithium battery (24), electricity
Sub- compass detector E (71), gravity accelerometer (72), the three-axis gyroscope sensor group A (21), electronic compass pass
All module (23) and computer (13) are wirelessly connected by wireless communication for sensor E (71), gravity accelerometer (72), described
Three-axis gyroscope sensor group A (21), wireless communication module (23) are all electrically connected with lithium battery (24), the trigger button
(22) it is mounted on gun-simulation shell (16).
6. omnidirectional's treadmill according to claim 1, which is characterized in that the virtual implementing helmet (8) includes display screen
(25), power amplifier earphone (27), video transmission line (28), three-axis gyroscope sensor group B (30), head sleeve fixture mechanism (33), institute
Display screen (25) and high-definition camera (31) wired connection are stated, the display screen (25) passes through video transmission line (28) and computer
(13) wired connection, the three-axis gyroscope sensor group B (30) and computer (13) are wirelessly connected, the power amplifier earphone (27)
The both ends of a sleeve fixture mechanism (33) are mounted on, the three-axis gyroscope sensor group B (30) is mounted on a sleeve fixture mechanism
(33) on.
7. omnidirectional's treadmill according to claim 1, which is characterized in that the loins fixed device (4) includes that upper loins is solid
Fixed disk (41), lower loins fixed disc (42), fixing belt (43), the upper loins fixed disc (41) pass through fixing belt (43)
It is fixedly connected with lower loins fixed disc (42).
8. the virtual reality implementation method of omnidirectional's treadmill, which comprises the steps of:
Step (1), computer (13) play the video game software of 3D, and then computer (13) is thrown by video transmission line (28)
It reflects on display screen (25)；
The video image that step (2), user observe on display screen (25) is done on omnidirectional's treadmill according to plot needs
Road-work, treadmill driver (18) drive chassis (2) to open according to amplitude, acceleration and the shift position that user runs
Begin rotation, while displacement coordinate of the determining user on chassis (2)；
Step (3), treadmill driver (18) obtain the angular acceleration of chassis (2) by acceleration of motion sensor (182),
Treadmill driver (18) determines bottom by three-axis gyroscope sensor group C (183), electronic compass sensor D (186) simultaneously
The movement velocity and the direction of motion of disk (2), thus formed one closure coupling control system, the velocity of rotation of chassis (2) and
Rotation direction will constantly running controls on chassis (2) by user, and user's running is the trip on display screen (25) according to the observation
Play software plot, therefore running is controlled by user's observation by game episode material is thus formed one, to finally control
Treadmill driver (18)；
Step (4), user step on every time on omnidirectional's treadmill, can all trigger several resistance value sensor modules on chassis (2)
(19), so that several resistance value sensor modules (19) obtain resistance value sensor analog signals, the resistance value sensor of different location
Analog signal makes entire chassis (2) constitute a unique X/Y plane polar coordinates centered on origin, and then these XY are flat
Face polar data, the rotational angular velocity on chassis, rotation direction constitute user's road-work vector and pass through wireless WIFI mould
Block (184) is sent to computer (13)；
Step (5), computer (13) receive user's road-work vector data, then lead to user's road-work vector data
Cross the acceptable API keyboard data of video game software that motion vector transposition parameter transformation matrixing is 3D, the view of 3D
Frequency Games Software receives API keyboard data and will reflect in the video game software of corresponding 3D；
The video game software for the 3D that step (6), computer (13) are run is according to plot needs, by the acceleration of Z plane, displacement
It is required that, time requirement form an action control vector about Z plane, then the action control vector of Z plane is sent to
Treadmill driver (18), then treadmill driver (18) receives this action control vector, will drive servo motor
(15) driving sliding screw (12) is required to arrive corresponding Z plane position according to the acceleration in certain time；
Step (7) needs to run or when divertical motion, computer (13) is logical as user on omnidirectional's treadmill according to plot
The athletic posture of high-definition camera (31) captured in real-time user is crossed, computer (13) will be empty by spatial attitude extraction algorithm program
Between posture be converted to human space movement tendency vector matrix in real time, the human space movement tendency vector matrix includes human body
The relevant movement tendency of key feature dot matrix, characteristic point matrix and the relevant displacement coordinate of speed, characteristic point matrix, are then counted
Human space movement tendency vector matrix is fitted in the video game software of 3D by calculation machine (13), and then the video-game of 3D is soft
Part makes corresponding feedback action result；
Step (8), user observe the video image played on display screen (25), participate in 3D by hand-held electronic simulation rifle (7)
Video game software in, according to game episode hold electronic simulation rifle (7) make steering or raise or push or aim at or
The movement of shooting, these movements can all be accelerated by three-axis gyroscope sensor group A (21), electronic compass sensor E (71), gravity
After spending sensor (72) acquisition information data, then module (23) is sent to computer (13), computer by wireless communication
(13) corresponding result feedback can be made in the video game software of 3D.
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| CN113058207A (en) * | 2021-04-08 | 2021-07-02 | 上海厘成智能科技有限公司 | Virtual steering omnidirectional virtual reality treadmill control method |
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