CN110585657A - System for determining movement speed and direction and universal movement device applying system - Google Patents
System for determining movement speed and direction and universal movement device applying system Download PDFInfo
- Publication number
- CN110585657A CN110585657A CN201910887611.5A CN201910887611A CN110585657A CN 110585657 A CN110585657 A CN 110585657A CN 201910887611 A CN201910887611 A CN 201910887611A CN 110585657 A CN110585657 A CN 110585657A
- Authority
- CN
- China
- Prior art keywords
- contact
- ball
- movement
- speed
- friction
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Classifications
-
- 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
- A63B22/02—Exercising apparatus specially adapted for conditioning the cardio-vascular system, for training agility or co-ordination of movements with movable endless bands, e.g. treadmills
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01P—MEASURING LINEAR OR ANGULAR SPEED, ACCELERATION, DECELERATION, OR SHOCK; INDICATING PRESENCE, ABSENCE, OR DIRECTION, OF MOVEMENT
- G01P13/00—Indicating or recording presence, absence, or direction, of movement
- G01P13/02—Indicating direction only, e.g. by weather vane
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01P—MEASURING LINEAR OR ANGULAR SPEED, ACCELERATION, DECELERATION, OR SHOCK; INDICATING PRESENCE, ABSENCE, OR DIRECTION, OF MOVEMENT
- G01P3/00—Measuring linear or angular speed; Measuring differences of linear or angular speeds
-
- 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
- A63B22/02—Exercising apparatus specially adapted for conditioning the cardio-vascular system, for training agility or co-ordination of movements with movable endless bands, e.g. treadmills
- A63B2022/0271—Exercising apparatus specially adapted for conditioning the cardio-vascular system, for training agility or co-ordination of movements with movable endless bands, e.g. treadmills omnidirectional
Landscapes
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Health & Medical Sciences (AREA)
- Cardiology (AREA)
- Vascular Medicine (AREA)
- General Health & Medical Sciences (AREA)
- Physical Education & Sports Medicine (AREA)
- Measurement Of The Respiration, Hearing Ability, Form, And Blood Characteristics Of Living Organisms (AREA)
Abstract
The invention relates to the technical field of sports equipment, in particular to a system for determining the movement speed and direction, which comprises: the ball body rotates along with the movement of the user, and the part of the ball body rotating to the upper part is a movement platform which is always contacted with the sole of the user; n direction-finding mechanisms which are equidistantly distributed on the same circumference of the sphere, wherein N is more than or equal to 3 and is a natural number, and a data processing device which receives the electric signals and analyzes and processes the electric signals. The invention also provides a universal motion device applying the system. In a short time, the system and the universal motion device using the system have small indoor floor area, wide application range, capability of measuring speed and direction and high accuracy and precision of various measured motion parameters.
Description
Technical Field
The invention relates to the technical field of sports equipment, in particular to a system for determining movement speed and direction and a universal movement device applying the system.
Background
At present, ordinary treadmill all can only accomplish the transmission of unilateral, hardly applies to in the recreation activity, has consequently reduced treadmill's application scope, accomplishes universal mode of removing among the prior art and divide into two kinds: one is to adopt two mutually perpendicular transmission shafts, wherein the vertical transmission shaft is used for controlling the speed direction, and the horizontal transmission shaft is used for controlling the speed, so that various faults are easy to occur in the use process, and the maintenance is troublesome; the other type adopts a divergent structure, the disc is divergent from the center to the periphery, the structure needs a user to change the position of a standing point by himself to realize the movement in different directions, and the use is very inconvenient.
Meanwhile, the existing running machine is generally arranged indoors, the occupied area is large, the space utilization rate is not high, and the research on a device for detecting the running speed of the running machine is not seen in the existing running machine for human-computer interaction.
Therefore, in order to meet the increasing demands of users, it is necessary to develop a universal treadmill which occupies a small space and has a wide application range and can measure speed.
Disclosure of Invention
The present invention is directed to a system for determining a moving speed and a moving direction of a user and a universal sports apparatus using the same, which solves one or more of the above-mentioned problems of the prior art.
According to an aspect of the present invention, there is provided a system for determining a speed and a direction of movement of a user, comprising:
a ball body rotating along with the movement of the user, a moving platform which is always contacted with the sole of the user is arranged at the position above the rotating part of the ball body,
n equidistance distributes the direction finding mechanism on the same circumference of spheroid, and N is more than or equal to 3 and is the natural number, and the direction finding mechanism is including the main part framework that is fixed in ground, the spring of being connected with the main part framework, the friction lever of being connected with the spring and locate the first contact on the friction lever and locate the second contact of main part framework inner wall, wherein:
one end of the friction rod fixedly connected with the spring is suspended, the other end of the friction rod is contacted with the ball body and generates friction force with the surface of the ball body when the ball body moves, and the friction rod generates movement under the action of the friction force;
the second contact always keeps a static state, can be contacted with the first contact and can be used for completing a circuit when in contact.
Therefore, under the restriction of a spring with proper rigidity, the sliding friction force between the friction rod and the ball body pulls the friction rod, and the first contact and the second contact on the friction rod are contacted in the pulling process, so that the circuit is switched on and electrified; the direction-finding mechanism generated by the electric signal is an effective direction-finding mechanism, and the movement direction of the user can be determined according to the position of the effective direction-finding mechanism.
In some embodiments, the body structure includes a fixing mechanism fixed to the ground, and a sleeve fixed to the fixing mechanism, the spring being disposed within the sleeve, and the second contact being disposed on an inner wall of the sleeve. From this, the main part framework is in quiescent condition for ground as the main part device of direction finding mechanism, and sleeve one end is fixed in the main part framework and is made the sleeve can unsettled place in the space between ground and the spheroid surface, and wherein the fixed mode of sleeve and main part framework can adopt the commonly used fixed mode of prior art, such as mode such as bolted connection, concrete placement, cement nail fixed.
In some embodiments, the first contact and the second contact are designed to be mutually matched in a wedge shape, and the wedge angle is 10 degrees; in order to facilitate the calculation of the spring elongation, the second contact is provided with 3 contacts along the sleeve from inside to outside respectively: the three contacts are arranged at intervals, and the intervals between every two adjacent contacts are equal; the distance between the right side surface of the first contact and the left side surface of the third contact is (lambda-1) mm, wherein lambda is the deformation amount of the spring. In the actual use process, the fit amount (distance) between the two contacts of 1mm or less is regarded as the correct data result allowed in the error range due to the occurrence of the problems of uneven friction surface and the like.
In some embodiments, the included angle between the friction rod and the ball body is 7-90 degrees, and the included angle is an angle formed when the friction rod rotates anticlockwise around the ball center to the vertical direction by taking a line formed by a contact point of the friction rod and the ball body and the ball center as a starting edge. Therefore, the sliding friction force generated between the ball body and the friction rod can generate a pulling force effect on the friction rod, because when the included angle is smaller than 7 degrees or larger than 90 degrees, the friction rod cannot be pulled no matter how the ball body rotates.
In some embodiments, the device further comprises a data processing device, wherein the data processing device is respectively communicated with the first contact and the second contact and is used for analyzing and processing the received electric signals. In particular, the data processing device may be a computer or a processor carrying an algorithm.
In some embodiments, the direction of movement of the user is determined according to the following method:
and judging the movement direction of the ball body through direction synthesis according to the direction of the direction-finding mechanism forming the electric signal and the magnitude of the spring deformation, wherein the reverse direction of the movement direction of the ball body is the movement direction of the user.
The principle of determining the direction of movement using the above system is that the kinetic friction force acting on the end of the friction bar does not change after the ball is moved by the user under the constraint of a spring of appropriate stiffness, so the friction force is fixed at the surface of the ball as long as the friction factor of the ball surface does not change, assuming that the friction force is FFriction leverThen the calculation formula for the spring rate is shown in equation 1.1:
in the above formula:
c: the stiffness of the spring;
f: the load on the spring;
λ: the deformation of the spring when the spring is loaded with a load F;
g: shear modulus of the spring material;
d: the diameter of the spring wire;
d: the diameter of the spring;
n: the effective number of turns of the spring;
c: the spring's convolution ratio (also known as the spring index C ═ D/D).
Since FFriction leverIs fixed, then F is also fixed, and the amount of spring deflection λ can also be set according to the best results of multiple tests, then the stiffness of the spring is also determined, from which the appropriate spring turn ratio, effective turns, and the material used for the spring can be determined from the shear modulus of the spring material.
In this case, the spring deformation amount λ is set by the best results of the experiment, and the following conditions are satisfied:
(1) the first contact is positioned on the right side of the spring, and the position of the first contact is larger than the length of the spring when the spring is not deformed;
(2) the first contact and the second contact (the first contact, the second contact and the third contact) are sequentially placed from left to right (namely, the first contact, the second contact and the third contact are sequentially placed from inside to outside of the sleeve);
(3) the left side of the second contact is spaced from the left side of the third contact by a distance of
Wherein c is the spring rate, FFriction leverThe angle theta is half of the angle between the two direction-finding devices, which is the friction force to which the friction bar is subjected.
Wherein, the gap between the first contact and the second contact is equal to the gap between the second contact and the third contact; the third contact is positioned in the sleeve and has a certain distance from the sleeve opening, and the distance between the right side surface of the first contact and the left side surface of the third contact is (lambda-1) mm.
In some embodiments, the device further comprises M speed measuring mechanisms which are equidistantly distributed on the same circumference of the sphere, wherein M is more than or equal to 3 and is a natural number; wherein, speed measurement mechanism includes: the bottom end of the driven wheel is in contact with the ball body and rolls along with the movement of the ball body, and the top end of the driven wheel is fixed on the main body framework; and the sensor is fixed on the driven wheel and used for recording the number of turns of the driven wheel, and the counting information is recorded and processed by the data processing device. Therefore, the movement displacement of the driven wheel can be calculated by recording the rotation number of the driven wheel, so that the movement displacement of a user is quantized.
In some embodiments, the speed measurement mechanism calculates the speed of movement of the user according to the following formula:
where r is the driven wheel radius, t is the movement time, nmThe number of the M-th driven wheel rotating along with the sphere is equal to or more than 3, M and M are natural numbers, and thetamIs the angle from the positive x-axis in the counterclockwise direction to the direction of the mth driven wheel.
According to another aspect of the present invention, there is provided a universal sports apparatus comprising the above system for determining the speed and direction of movement of a user, a support mechanism for disengaging the ball from the ground, and a safety device disposed around the ball movement platform.
In some embodiments, the support mechanism is a support base located below the ball or a suspension system located below the ball such that the ball is suspended.
Specifically, when supporting mechanism is for supporting the base, it is equipped with the appearance chamber of placing the spheroid to support the base, holds the chamber and matches and the spheroid can be in holding the intracavity rotation with the spheroid size, holds the chamber and is equipped with at least three standing groove, places a roller ball that is used for supporting the spheroid and rotates along with the spheroid in each standing groove.
When the supporting mechanism is a suspension system, the existing magnetic suspension system, optical suspension system, acoustic suspension system, air flow suspension system, electric suspension system or particle beam suspension system can be adopted to bear the ball body and make the ball body separate from the ground.
Therefore, the universal rotation of the ball body can be easily realized when the user runs on the motion platform, and the separation refers to that the distance from the ground is small, so that the user can not obviously feel the existence of the gap without contacting the ground.
In some embodiments, the safety device includes a handrail and a pillar for fixing the handrail, and an entrance for a user to enter and exit is disposed at one side of the safety device, and a baffle and a control switch for controlling the baffle to open and close are disposed at the entrance. Therefore, whether the user is allowed to enter the motion platform area can be selected by controlling the opening and closing of the baffle, and when the user moves on the motion platform, the user can find the motion state by means of the handrails when starting to move in order to ensure the motion stability and safety.
In some embodiments, the universal motion device is located underground and the motion platform protrudes from the ground. Therefore, the user contacts with the motion mechanism through the motion platform and acts on the motion mechanism to roll the motion mechanism, the effect of saving indoor floor space is achieved, and the universal motion device is arranged underground, so that the influence and the loss of environmental factors such as chemical media, light, temperature, humidity and the like are reduced, and the service life is prolonged.
In a short time, the system and the universal motion device using the system have small indoor floor area, wide application range, capability of measuring speed and direction and high accuracy and precision of various measured motion parameters.
Drawings
FIG. 1 is a schematic diagram of a system for determining a moving speed and a moving direction of a user according to an embodiment of the present invention;
FIG. 2 is a schematic view of the first and second contacts shown in FIG. 1;
FIGS. 3-6 are schematic diagrams illustrating the system of FIG. 1 determining a direction of user movement;
FIG. 7 is a schematic diagram of a driven wheel configuration of the system for determining the speed and direction of movement of a user shown in FIG. 1;
FIG. 8 is a schematic structural view of a universal treadmill according to an embodiment of the present invention;
FIG. 9 is a top view of the articulated treadmill of FIG. 8;
FIG. 10 is a top view of the support mechanism of the universal treadmill of FIG. 8 in accordance with the present invention;
fig. 11 is a cross-sectional view of the support mechanism of fig. 10.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings.
Fig. 1 schematically shows a system for determining a speed and a direction of movement of a user according to an embodiment of the present invention.
As shown in fig. 1, the system for determining the moving speed and moving direction of the user comprises a sphere 1 rotating with the movement of the user, four direction-finding mechanisms, and four speed-measuring mechanisms and a data processing device (not shown), wherein:
the part of the ball body 1 which rotates to the upper part is a motion platform 11 which is always contacted with the sole of the user, the motion platform 11 always protrudes out of the ground 8, the user moves on the motion platform 11, and the ball body 1 is driven to move by acting on the motion platform 11;
the four direction-finding mechanisms 2 are equidistantly distributed on the same circumference of the sphere 1, and include a fixing mechanism 211 fixed on the ground 8, a sleeve 212 fixedly connected with the fixing mechanism 211, a spring 22 arranged in the sleeve 212, a friction rod 23 connected with the spring 22, a first contact 24 fixed on the friction rod 23, and a second contact 25 fixed on the inner wall of the sleeve 212, wherein the fixing mechanism 211 and the sleeve 212 form a main framework 21 of the direction-finding mechanism 2.
Specifically, as shown in fig. 1, the fixing mechanism 211 may be a cement casting block, and when the cement casting block is not hardened, one end of the sleeve 212 is fixed in the cement casting block, so that the fixing mechanism 211 and the sleeve 212 are statically fixed on the ground 8, and the sleeve 212 is a hollow structure, and may be a polymer material pipe (such as a PP pipe, a PVC pipe, and other pipes commonly used in the art) or a metal pipe; one end of the spring 22 is fixedly connected to the top end of the inner wall of the sleeve 212, and the other end of the spring 22 is fixedly connected to the friction rod 23, specifically, ring screws may be respectively riveted to the top end of the inner wall of the sleeve 212 and the top end of the friction rod 23, and then the two ends of the spring 22 are respectively connected to the ring screws, so that the top end of the inner wall of the sleeve 212, the spring 22 and the friction rod 23 are sequentially and fixedly connected; the included angle between the friction rod 23 and the sphere 1 is 30 degrees, one end of the friction rod fixedly connected with the spring 22 is suspended, the other end of the friction rod is contacted with the sphere 1, the contact part 231 of the friction rod 23 and the surface of the sphere 1 is a rough plane and generates sliding friction force with the surface of the sphere 1 when the sphere 1 moves, the friction rod 23 generates movement under the action of the sliding friction force, and the action of the sliding friction force exists in the direction of the direction-finding mechanism 2 at the moment.
As shown in fig. 2, the first contact 24 is located on the right side of the spring 22 at a position greater than the undeformed length of the spring 22; the first contact 24 and the second contact 25 are designed into a mutually matched wedge shape, the wedge angle is 10 degrees, and when the first contact 24 is contacted with the second contact 25, an electric path can be formed to generate an electric signal (namely, the first contact 24 and the second contact 25 are both electric contacts); in order to facilitate the contact between the first contact 24 and the second contact 25, a compression spring is fixed between the first contact 24 and the friction rod 23, so that when the first contact 24 is pulled outwards along with the friction rod 23, the second contact 25 presses the first contact 24 to facilitate the outward stretching of the friction rod 23, and the first contact 24 and the second contact 25 can be stably contacted due to the resistance of the compression spring.
The second contact 25 is respectively provided with a first contact 251, a second contact 252 and a third contact 253 along the direction from inside to outside of the sleeve, and the gap between the first contact 24 and the third contact 253 is (lambda-1) mm, wherein lambda is the deformation amount of the spring; the gap between the first contact 251 and the second contact 252 is equal to the gap between the second contact 252 and the third contact 253, and the distance between the left side of the second contact 252 and the left side of the third contact 253 isc is the spring rate, FFriction leverTheta is the friction force applied to the friction rod 23 and is half of the included angle between the two direction-finding devices 2; the length of the first contact 24 is greater than the distance from the right side of the first contact 251 to the left side of the third contact 253 and is less than or equal to the distance between the left side of the first contact 251 and the right side of the third contact 253The distance is long enough to allow the first contact 24 to contact the first contact 251, the second contact 252, and the third contact 253 simultaneously, maintaining the effectiveness of the contact.
The rigidity of the spring 23 is adjusted, and according to the friction property, when the friction rod-spring is in a stretching relation, it can be judged that the friction rod 23 moves downwards together with the first contact 24 under the driving of the sliding friction force, the first contact 24 is at least contacted with the first contact 251 to form an electric path (or contacted with the first contact 251, the second contact 252, or contacted with all three contacts), an electric signal is generated, and the direction-finding mechanism 2 is an effective measuring mechanism; when the friction rod-spring is in a compression relationship, the friction rod 23 drives the first contact 24 to move towards a direction away from the second contact 25 under the action of friction force, an electric path cannot be formed, no electric signal is generated, and the direction-finding mechanism 2 is an invalid direction-finding mechanism; according to the difference of the movement direction of the ball body 1, the effectiveness or the ineffectiveness of the direction-finding mechanism 2 changes in real time, the specific situation is related to the movement direction of the ball body 1, the movement direction of the ball body can be determined according to the position of the effective direction-finding mechanism, and the opposite direction of the movement of the ball body is the movement direction of the user.
The method for measuring the movement in the embodiment specifically comprises the following steps:
as shown in fig. 3-6, four direction-finding mechanisms 2A, 2B, 2C, 2D are equally distributed around the sphere and located on the same circumference,
firstly, only the direction-finding mechanism 2A sends out an electric signal, and the other three direction-finding mechanisms do not detect any signal:
at this time, the first contact of the direction-finding mechanism 2A is contacted with the second contact to form a passage, and the first contacts of the other three direction-finding mechanisms are not contacted with any second contact, because, for the direction-finding mechanisms 2B and 2D, the direction of the friction force generated by the ball to the friction rod is perpendicular to the direction of the friction rod, so that the friction rod does not work in the direction of the friction rod, the spring is not stretched enough to contact the first contact with the second contact, and as a result, the direction-finding mechanisms 2B and 2D are not contacted with the passage; for the direction-finding mechanism 2C, the friction rod carries the first contact to move away from the second contact under the action of friction force, and a passage cannot be formed.
Therefore, the movement direction of the ball, namely the direction of the friction rod of the direction-finding device 2A separating from the sleeve, can be judged, and the opposite direction of the movement direction of the ball is the movement direction of the user.
Direction-finding mechanisms 2A and 2B both have electric signals, and direction-finding mechanisms 2C and 2D both generate electric signals:
at this time, the first contacts of the direction-finding mechanisms 2A and 2B contact with the second contacts to form a path to generate an electric signal, and the first contacts of the direction-finding mechanisms 2C and 2D do not contact with the second contacts, because the force analysis is as shown in fig. 3, and the friction rods of the direction-finding mechanisms 2A, 2B, 2C and 2D all receive the effect of sliding friction force, however, for the direction-finding mechanisms 2A and 2B, the component force extension springs of the sliding friction force in the direction of the friction rods drive the friction rods to move outwards, so that the first contacts of the direction-finding mechanisms 2A and 2B contact with the second contacts; for the direction-finding mechanism 2C and the direction-finding mechanism 2D, the component force compression spring of the sliding friction force in the direction of the friction rod drives the friction rod to move inwards, so that the first contact is far away from the second contact, and a passage cannot be formed.
Thus, as shown in fig. 3 and 4, the direction of the movement of the ball, i.e., the direction-finding device 2A (the direction in which the friction lever is separated from the sleeve) and the direction-finding device 2B (the direction in which the friction lever is separated from the sleeve) can be determined as the bisector direction, and the opposite direction to the direction of the movement of the ball is the direction of the movement of the user.
The system for determining the movement speed and the movement direction of the user in this embodiment further includes 4 velocity measurement mechanisms, which are equidistantly distributed on the same circumference of the sphere 1, and the position of the velocity measurement mechanism in this embodiment is close to that of the velocity measurement mechanism, which includes the driven wheel 3 and a sensor (not shown in the figure) fixed on the driven wheel 3, wherein:
the bottom end of the driven wheel 3 contacts with the ball 1 and rolls along with the movement of the ball 1, and the top end is fixed on the main framework 21, specifically, as shown in fig. 7, the driven wheel 3 is a movable universal wheel, and is composed of a shaft bracket 31, a caster 32, and a bearing 33 (which is a movable universal wheel commonly used in the prior art), the shaft bracket 31 is fixed on a fixing mechanism of the main framework, and the bearing 33 is fixed on the shaft bracket 31 after passing through the center of the caster 32;
the sensor is used for recording the number of turns of the driven wheel 3, and the sensor counts once when the driven wheel rotates for 1 turn.
The user's movement speed is calculated according to the following formula:
where r is the driven wheel radius, t is the movement time, nmThe number of the M-th driven wheel rotating along with the sphere is equal to or more than 3, M and M are natural numbers, and thetamIs the angle from the positive x-axis in the counterclockwise direction to the direction of the mth driven wheel.
In addition, the system for determining the movement speed and the movement direction of the user further comprises a data processing device, the data processing device in the embodiment is a computer loaded with data software specially designed according to the speed and direction measuring method of the present application and used for processing the system, through an automatic electric design system in the prior art, electric signals generated by the first contact and the second contact and counting change of the sensor on the driven wheel are transmitted to the data processing device, the data processing device analyzes and processes the electric signals after receiving the electric signals, and the received counting change is calculated according to a designed formula, so that the movement speed and the movement direction of the user can be directly obtained from the data processing device.
In other embodiments, the fixing mechanism 211 may also be two steel wires, one end of one of the two steel wires is fixed to the ground or the floor, the other end of the one steel wire is fixed to the top of the outer wall of the sleeve 212, one end of the other steel wire is fixedly connected to a certain position of the circumferential surface of the outer wall of the sleeve 212, and the other end of the other steel wire is fixedly connected to the ground or the floor.
In other embodiments, the first contact 24 generates an electrical signal when contacting the first contact 251, the second contact 252, and the third contact 253, respectively, so as to determine the moving direction by knowing the length of the spring 22; specifically, when the first contact 24 is in contact with the first contact 251, a first electrical signal is generated on the data processing device, when the first contact 24 is in contact with the second contact 252, the first electrical signal and the second electrical signal are generated on the data processing device, when the first contact 24 is in contact with the third contact 253, the first electrical signal, the second electrical signal and the third electrical signal are generated on the data processing device, and the moving direction is determined by the number of generated electrical signals.
As shown in fig. 5, the direction-finding mechanism 2A sends out two electrical signals, the direction-finding mechanism 2B sends out one electrical signal, and neither of the direction-finding mechanisms 2C nor the 2D indicator light has a signal:
at this time, for the direction-finding structure 2A, the first contact contacts the first and second contact points to form a passage, and the first contact of the direction-finding device 2B is only connected to the first contact point, because the pulling force acting on the direction-finding device 2A in the direction of the friction rod is greater than the pulling force acting on the direction-finding device 2B in the direction of the friction rod; the first contact of the direction-finding mechanisms 2C and 2D is not in contact with any contact, because the first contact moves away from the second contact under the driving of the thrust in the direction of the friction rods of the direction-finding mechanisms 2C and 2D, and a path cannot be formed.
The force analysis is as shown in fig. 5 and fig. 6, and it can be determined from this that the movement direction of the sphere is the direction in which the angular bisector of the direction-finding devices 2A and 2B deviates from the direction-finding device 2A, and the specific deviation angle can be calculated according to the extension distance of the springs of the direction-finding devices 2A and 2B, and the opposite direction of the direction is the movement direction of the user.
Fig. 8-11 schematically illustrate an articulated treadmill according to one embodiment of the present invention. As shown in fig. 7 and 8, the device comprises the above-mentioned system for determining the moving speed and moving direction of the user, a supporting mechanism for separating the ball 1 from the ground 8, and a safety device 7 arranged around the ball moving platform 11, wherein:
as shown in fig. 8 and 9, the system for determining the moving speed and moving direction of the user comprises a sphere 1 rotating along with the movement of the user, four direction-finding mechanisms 2, and four speed-measuring mechanisms and a data processing device (not shown); the part of the ball body 1 which rotates to the upper part is a motion platform 11 which is always contacted with the sole of the user, the motion platform 11 always protrudes out of the ground 8, the user moves on the motion platform 11, and the ball body 1 is driven to move by acting on the motion platform 11;
the safety device 7 comprises a handrail 71 and a column 72 for fixing the handrail 71, an entrance for a user to go in and out is further arranged at one side of the safety device 7, and a baffle 73 and a control switch 74 for controlling the opening and closing of the baffle 73 are arranged at the entrance; the ball 1 is arranged underground except the motion platform 11 which protrudes out of the ground;
as shown in fig. 10 and 11, the supporting mechanism is a circular supporting base distributed around the sphere 1 (i.e., the moving mechanism), a cavity for placing the sphere is provided in the supporting base, the curvature of the curved surface in the cavity matches with the curvature of the bottom of the sphere 1, and the sphere 1 can rotate in the cavity, specifically, the supporting base is divided into an upper base 4 (i.e., the upper surface in the cavity) and a lower base 5 (i.e., the bottom surface in the cavity), the upper base 4 is an annular groove surface 41, the annular groove surface 41 supports the bottom of the sphere 1, and the annular groove surface 41 is provided with driven grooves 411 in the same number as the number of the roller balls 6; the lower base 5 is a circular cylinder, the top surface of the circular cylinder is provided with a placing groove 51 with the same number and size as the roller balls 6, and the roller balls 6 are contacted with the running mechanism 1 through the convex part of the driven groove 411 and rotate along with the rotation of the running mechanism.
In other embodiments, the support mechanism may be a suspension system, such as a magnetic suspension system, an optical suspension system, an acoustic suspension system, an air suspension system, an electric suspension system, a particle beam suspension system, or a liquid capable of floating the sphere 1.
It should be noted that "pulling force" in the present application refers to a force when a component of the friction force in the direction of the friction lever causes the friction lever to move from the inside of the sleeve to the outside of the sleeve; the thrust force is the force which is the component of the friction force in the direction of the friction rod to make the friction rod move from the outside of the sleeve to the inside of the sleeve; "ground" refers to a planar surface such as a ground surface or floor surface.
For the universal treadmill of the present invention, the greater the number of systems that determine speed and direction of motion that are uniformly arranged on the same circumference of the ball, the more accurate the results are measured.
What has been described above are merely some embodiments of the present invention. It will be apparent to those skilled in the art that various changes and modifications can be made without departing from the inventive concept thereof, and these changes and modifications can be made without departing from the spirit and scope of the invention.
Claims (10)
1. A system for determining a speed and direction of movement of a user, comprising:
the ball body (1) rotates along with the movement of the user, and the part of the ball body (1) which rotates to the upper part is a movement platform (11) which is always contacted with the sole of the user;
n direction-finding mechanism (2) of equidistance distribution on the same circumference of spheroid (1), N is greater than or equal to 3 and is the natural number, direction-finding mechanism (2) including be fixed in main part framework (21) on ground (8), with spring (22) that main part framework (21) are connected, with friction lever (23) that spring (22) are connected and locate first contact (24) on friction lever (23) and locate main part framework (21) inner wall second contact (25), wherein:
one end of the friction rod (23) fixedly connected with the spring (22) is suspended, the other end of the friction rod is contacted with the sphere (1) and generates friction force with the surface of the sphere (1) when the sphere (1) moves, and the friction rod (23) generates movement under the action of the friction force; the first contact (24) can be contacted with the second contact (25) when moving along with the friction rod (22), and an electric signal is generated when the first contact is contacted with the second contact; and
and the data processing device receives the electric signal and analyzes and processes the electric signal.
2. System for determining the speed and direction of movement of a user according to claim 1, characterized in that said main structure (21) comprises a fixing means (211) fixed to the ground (8), and a sleeve (212) fixed to the fixing means (211), said spring (22) being placed inside said sleeve (212) and said second contact (25) being placed inside the inner wall of said sleeve (212).
3. System for determining the speed and direction of movement of a user according to claim 2, characterized in that said first contact (24) and second contact (25) are designed in the shape of a wedge mutually engaged, the wedge angle being 10 °; the second contact (25) is provided with a first contact (251), a second contact (252) and a third contact (253) from inside to outside along the sleeve (212), the gap between the first contact (24) and the third contact (253) is (lambda-1) mm, and lambda is the deformation amount of the spring.
4. A system for determining a moving speed and a moving direction of a user according to claim 3, wherein the included angle between the friction lever (23) and the ball (1) is 7-90 °, and the included angle is an angle formed when the contact portion (231) of the friction lever (23) and the ball (21) and the center of the ball rotate counterclockwise around the center of the ball to a vertical direction.
5. The system for determining the motion speed and the motion direction of the user according to any one of claims 1 to 4, further comprising M speed measuring mechanisms equidistantly distributed on the same circumference of the sphere (1), wherein M is greater than or equal to 3 and is a natural number; the speed measuring mechanism comprises:
the bottom end of the driven wheel (3) is in contact with the ball body (1) and rolls along with the movement of the ball body (1), and the top end of the driven wheel is fixed on the main body framework (21);
and the sensor is fixed on the driven wheel (3) and used for recording the number of turns of the driven wheel (3), and the counting information is recorded and processed by the data processing device.
6. The system for determining the moving speed and moving direction of a user according to claim 5, wherein the speed measuring mechanism calculates the moving speed of the user according to the following formula:
where r is the driven wheel radius, t is the movement time, nmThe number of the M-th driven wheel rotating along with the sphere is equal to or more than 3, M and M are natural numbers, and thetamIs the angle from the positive x-axis in the counterclockwise direction to the direction of the mth driven wheel.
7. Universal movement device, characterized in that it comprises a system for determining the speed and direction of movement of the user according to claim 5, a support mechanism for disengaging the ball (1) from the ground, and safety means (7) arranged around the ball movement platform (11).
8. The device of claim 7, wherein the support mechanism is a support base located below the ball or a suspension system located below the ball such that the ball is suspended.
9. The universal sports apparatus according to claim 8, wherein the supporting base is provided with a cavity for placing the ball, the cavity is matched with the ball (1) in size, the ball (1) can rotate in the cavity, the cavity is provided with at least three placing grooves (51), and a roller ball (6) for supporting the ball (1) and rotating along with the ball (1) is placed in each placing groove (51).
10. The gimbal mechanism of claim 8, wherein the suspension system comprises a magnetic suspension system, an optical suspension system, an acoustic suspension system, an air-flow suspension system, an electrical suspension system, or a particle beam suspension system.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811091920 | 2018-09-19 | ||
| CN2018110919203 | 2018-09-19 |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN110585657A true CN110585657A (en) | 2019-12-20 |
| CN110585657B CN110585657B (en) | 2020-12-08 |
Family
ID=68861209
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910887611.5A Active CN110585657B (en) | 2018-09-19 | 2019-09-19 | System for determining movement speed and direction and universal movement device applying system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110585657B (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111640339A (en) * | 2020-05-29 | 2020-09-08 | 中国科学院自动化研究所 | Immersive virtual reality device, system and control method |
| CN111921161A (en) * | 2020-07-16 | 2020-11-13 | 四川大学华西医院 | Cervical vertebra rehabilitation training monitoring method and device |
Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6135928A (en) * | 1999-08-20 | 2000-10-24 | Butterfield; Anthony | Virtual reality equipment |
| CN108578979A (en) * | 2018-03-30 | 2018-09-28 | 广东工业大学 | System for determining user movement speed and the direction of motion and the universal movement device using the system |
-
2019
- 2019-09-19 CN CN201910887611.5A patent/CN110585657B/en active Active
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6135928A (en) * | 1999-08-20 | 2000-10-24 | Butterfield; Anthony | Virtual reality equipment |
| CN108578979A (en) * | 2018-03-30 | 2018-09-28 | 广东工业大学 | System for determining user movement speed and the direction of motion and the universal movement device using the system |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111640339A (en) * | 2020-05-29 | 2020-09-08 | 中国科学院自动化研究所 | Immersive virtual reality device, system and control method |
| CN111921161A (en) * | 2020-07-16 | 2020-11-13 | 四川大学华西医院 | Cervical vertebra rehabilitation training monitoring method and device |
Also Published As
| Publication number | Publication date |
|---|---|
| CN110585657B (en) | 2020-12-08 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN110585657B (en) | System for determining movement speed and direction and universal movement device applying system | |
| US10493317B2 (en) | Omnidirectional motion method, apparatus and system | |
| Gao et al. | Multi-modal vortex-and rain–wind-induced vibrations of an inclined flexible cable | |
| US9958250B2 (en) | Method and arrangement for determining location and/or speed of a moving object and use of the arrangement | |
| JP2004167676A5 (en) | ||
| JP2007503573A (en) | Test stand and method for aerodynamic measurements in vehicles | |
| US9581614B2 (en) | High-output MEMS accelerometer | |
| CN210894394U (en) | System for determining movement speed and direction and universal movement device applying system | |
| CN109813466A (en) | Touch sensor with sliding perceptional function | |
| CN211347794U (en) | Tram walking surface coating performance test equipment | |
| US20140197829A1 (en) | Mobile carrier system for at least one sensor element designed for non-destructive testing | |
| EP3608271B1 (en) | Elevator calls from a wearable based on health profile | |
| Teixeira et al. | Comparing two types of navigational interfaces for virtual reality | |
| US20100275686A1 (en) | Inertial sensing system with a curved base and a diamagnetic mass | |
| JP5842034B2 (en) | Displacement measuring device using a sphere | |
| CN109115215A (en) | The all-round train system of inertial navigation positioning measurement | |
| CN204718615U (en) | A kind of restructural indoor mobile robot navigation performance assessment instrument | |
| CN117629111A (en) | High-precision angle measurement error detection device of photoelectric auto-collimator | |
| JP5566875B2 (en) | Displacement measuring device using a sphere | |
| CN219911584U (en) | Elevator band-type brake displacement detector | |
| US20200122963A1 (en) | Elevator car leveling sensor | |
| CN106950359A (en) | A kind of thrombelastogram instrument | |
| CN108827510A (en) | The method for measuring revolute pair moment of friction | |
| CN206818713U (en) | Thrombelastogram instrument | |
| CN114197892A (en) | High-rise steel structure cylinder aligning device |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |