CN111195425B - Sled motion simulation system and method - Google Patents
Sled motion simulation system and method Download PDFInfo
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- CN111195425B CN111195425B CN201911306814.7A CN201911306814A CN111195425B CN 111195425 B CN111195425 B CN 111195425B CN 201911306814 A CN201911306814 A CN 201911306814A CN 111195425 B CN111195425 B CN 111195425B
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- 230000033001 locomotion Effects 0.000 title claims abstract description 71
- 238000004088 simulation Methods 0.000 title claims abstract description 63
- 238000000034 method Methods 0.000 title claims abstract description 32
- 238000005096 rolling process Methods 0.000 claims abstract description 31
- 238000006073 displacement reaction Methods 0.000 claims description 18
- 230000007246 mechanism Effects 0.000 claims description 13
- 230000001360 synchronised effect Effects 0.000 claims description 8
- 230000000007 visual effect Effects 0.000 abstract description 10
- 230000008569 process Effects 0.000 abstract description 6
- 230000036544 posture Effects 0.000 description 34
- 230000008859 change Effects 0.000 description 12
- 230000005484 gravity Effects 0.000 description 6
- 210000000697 sensory organ Anatomy 0.000 description 5
- 229910000831 Steel Inorganic materials 0.000 description 3
- 238000005259 measurement Methods 0.000 description 3
- 230000035807 sensation Effects 0.000 description 3
- 239000010959 steel Substances 0.000 description 3
- 230000001133 acceleration Effects 0.000 description 2
- 238000005452 bending Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000002452 interceptive effect Effects 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000001953 sensory effect Effects 0.000 description 2
- 230000005540 biological transmission Effects 0.000 description 1
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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
- A63B69/00—Training appliances or apparatus for special sports
- A63B69/18—Training appliances or apparatus for special sports for skiing
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Abstract
The invention relates to a sled motion simulation system comprising: the control device is used for controlling the display device to display dynamic pictures of the environment around the simulated track and controlling the pitching attitude angle and the rolling attitude angle of the ski board based on preset simulated track information. A corresponding simulation method is also provided. The experience person can invade the visual virtual world and feel the whole process of the sled movement at the first visual angle.
Description
Technical Field
The invention relates to the field of intrusive virtual reality, in particular to a sled motion simulation system and a sled motion simulation method.
Background
Sled motion has certain requirement to place and equipment, and under the less strong condition in basic place development basis, still have certain threshold to ordinary masses, ordinary masses often need experience sled motion technical key and sense organ through the mode of experience and feel. The existing mode of simulating the sled movement still stays on a 2D display picture, and through a game mode, the sense organ change is difficult to compare with the real sense organ through 2D vision sense organ, and the sense organ is single.
Disclosure of Invention
The invention provides a sled movement simulation system for solving the problems of single sense and poor experience of simulated sled movement in the prior art, which comprises: the control device is used for controlling the display device to display dynamic pictures of the environment around the simulated track and controlling the pitching attitude angle and the rolling attitude angle of the ski board based on preset simulated track information.
Further, the sled board comprises a sleeping board, a simulation sliding blade positioned at the bottom of the sleeping board, and a force sensor positioned at the lower part of the simulation sliding blade, the simulation system further comprises an image acquisition device used for shooting the posture of a user when the user lies in the sleeping cabin of the sled board, and the control device is further used for adjusting the display device to display the dynamic picture of the environment around the simulated race track and adjusting the pitching posture angle and the rolling posture angle of the sled board according to the stress distribution of the simulation sliding blade measured by the force sensor and the user image acquired by the image acquisition device.
Further, the roll control device comprises an arc-shaped guide rail and a sliding plate which can be driven to slide along the arc-shaped guide rail; one end of the sled plate is hinged with the sliding plate; the pitching control device comprises a linear motion mechanism, the moving end of the linear motion mechanism is hinged with the other end of the ski board, the fixed end of the linear motion mechanism is hinged with the sliding board, and the ski board is positioned on the inner side of the arc-shaped guide rail.
Further, the roll control device also comprises a plurality of guide wheels hinged with the sliding plate, and the guide wheels can be driven to roll relative to the arc-shaped guide rail.
The control device is also used for adjusting and adjusting the display device to display a dynamic picture of the environment around the simulated track, the pitching attitude angle and the rolling attitude angle of the ski according to the initial speed.
Further, the initial speed simulator comprises a first wheel, a second wheel and an annular flexible handrail surrounding the first wheel and the second wheel, the annular flexible handrail comprises a synchronous rotating part and a holding part, the synchronous rotating part rotates synchronously with the first wheel and the second wheel, and the holding part is positioned between the first wheel and the second wheel; the initial speed simulator further comprises an angular displacement sensor connected with the first wheel or the second wheel, the angular displacement sensor is used for measuring the angular displacement of the annular flexible handrail, and the control device is further used for generating the initial speed according to the angular displacement of the annular flexible handrail.
Further, display device includes wear-type VR display device, be provided with on the wear-type VR display device and watch the gesture measurement sensor, watch the gesture that the gesture measurement sensor is used for measuring user's head, controlling means according to watch the gesture adjustment the dynamic picture of simulation track surrounding environment that wear-type VR display device shows.
In another aspect, the present invention provides a sled movement simulation method, which uses an apparatus including a sled board for a user to ride, a pitch control device for controlling a pitch attitude angle of the sled board, a roll control device for controlling a roll attitude angle of the sled board, and a display device for displaying a simulated race track environment by the user, the method including the steps of:
loading a display scene time sequence, an initial pitching attitude angle time sequence and an initial rolling attitude angle time sequence of the environment around the simulated track;
controlling a display device to display a dynamic picture of the environment around the simulated track corresponding to the current running time according to the current running time;
controlling a pitching control device to adjust the pitching attitude angle of the ski board according to the current running time and the time sequence of the initial pitching attitude angle;
and controlling a rolling control device to adjust the rolling attitude angle of the ski board according to the current running time and the time sequence of the initial rolling attitude angle.
Furthermore, the ski board also comprises a simulated sliding knife, a force sensor is arranged at the lower part of the simulated sliding knife, and an image acquisition device for shooting the posture of a user lying in a sleeping cabin of the ski board is arranged near the ski board; the method further comprises the following steps:
and adjusting the display device to display a dynamic picture of the environment around the simulated track and adjusting the pitching attitude angle and the rolling attitude angle of the ski board according to the stress distribution of the simulated sliding blade measured by the force sensor and the user image acquired by the image acquisition device.
Furthermore, initial speed simulation devices are arranged on two sides of the sled plate and used for simulating the initial speed of the track; the method further comprises the following steps:
and adjusting the display device to display a dynamic picture of the environment around the simulated track, the pitching attitude angle and the rolling attitude angle of the ski board according to the initial speed adjustment.
The sled motion simulation system and the sled motion simulation method in the embodiment of the invention enable an experiencer to invade a visual virtual world and feel the whole process of sled motion at a first visual angle; a set of motion system is established to the main part with the robot and is cooperated with VR vision system, makes experience person can drive wherein, experiences the three-dimensional motion experience of simulation rudderless sled motion.
Drawings
The features and advantages of the present invention will be more clearly understood by reference to the accompanying drawings, which are illustrative and not to be construed as limiting the invention in any way, and in which:
FIG. 1 is a schematic diagram of the hardware configuration of a ski movement simulation system in accordance with some embodiments of the present invention;
FIG. 2 is a schematic diagram of the signal connections between the modules in the ski movement simulation system in accordance with some embodiments of the present invention;
FIG. 3 is a schematic illustration of a cooperating display of a roll control device and a display device in a ski movement simulation system in accordance with some embodiments of the present invention;
FIG. 4 is a schematic illustration of a cooperating display of a roll control device and a display device in a ski movement simulation system in accordance with some embodiments of the present invention;
FIG. 5 is a schematic illustration of a cooperating display of a roll control device and a display device in a ski movement simulation system in accordance with some embodiments of the present invention;
FIG. 6 is a schematic illustration of a specific configuration of a ski movement simulation system in accordance with some embodiments of the present invention;
FIG. 7 is a schematic illustration of a specific configuration of a ski movement simulation system in accordance with some embodiments of the present invention;
FIG. 8 is a schematic illustration of a specific configuration of a ski movement simulation system in accordance with some embodiments of the present invention;
FIG. 9 is a schematic illustration of a specific configuration of a ski movement simulation system in accordance with some embodiments of the present invention;
FIG. 10 is a flow chart illustrating a method of simulating sled movement in accordance with some embodiments of the invention;
FIG. 11 is another flow chart illustrating a method of simulating sled movement in accordance with some embodiments of the invention;
FIG. 12 is another flow chart illustrating a method for simulating ski movements in accordance with some embodiments of the present invention.
Detailed Description
In order that the above objects, features and advantages of the present invention can be more clearly understood, a more particular description of the invention will be rendered by reference to the appended drawings. It should be noted that the embodiments and features of the embodiments of the present application may be combined with each other without conflict.
In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention, however, the present invention may be practiced in other ways than those specifically described herein, and therefore the scope of the present invention is not limited by the specific embodiments disclosed below.
The embodiment of the invention provides a sled motion simulation system and method, which are used for acquiring a motion route of a sled in a track in reality or forming the motion route through simulation, wherein the motion route comprises sled postures (pitching postures and rolling postures) at various time points, and visual sensory changes provided by a user are adjusted according to the motion route, such as display changes of track scenes at two sides of the motion route and sensory changes of acceleration in the pitching direction and the rolling direction of the user. Therefore, an intrusive experience is provided for a user, and the experience is more intuitive.
The sled movement can be adjusted by controlling the stress of a steel knife at the bottom of the sled or controlling the gravity center position of an athlete. Particularly, in the process of a rudderless ski sport, a sporter sits on the ski, and pushes the ski backwards with the help of the starting point aid fence with both hands, so that the ski is started forwards, lies on the ski during sliding, pulls the ski belt with one hand to get up and down by using the body, and changes the shoulder and leg postures to operate the ski, so that the ski can rapidly slide down along an ice channel. The movement direction of the sled is controlled by changing the posture of the body. The embodiment of the invention can adopt an experiential simulation mode, namely, the user does not need to operate and control and operates according to a preset simulation motion route, and the user feels the change of a display scene and the change of the posture of the user. The control posture of the user, such as the stress distribution condition or the posture of the local organs of the body of the user, can also be acquired through the external sensor, and the change of the display scene and the posture of the user's experience on the simulated motion path are adjusted.
In a first aspect of the embodiments of the present invention, as shown in fig. 1 to 9, there is provided a sled movement simulation system 100 including: the control device 150 is used for controlling the display device 140 to display a dynamic picture of the environment around the simulated race track and controlling the pitching attitude angle and the rolling attitude angle of the ski board 110 on the basis of preset simulated race track information, wherein the display device 140 is controlled by the control device 150 to display the dynamic picture of the environment around the simulated race track.
The simulation system 100 in embodiments of the present invention provides the user with a sensation of skiing, particularly rudderless skiing, through the sensation of changes in body posture and the visual sensation. When the user lies on the ski board 110, the edge of the ski board can be provided with a handle 111, so that the user can be conveniently held and fixed; during operation, the display device 140 displays the scene information of the simulated track according to the preset scene information, for example, the display device 140 may be a display screen with a display direction facing the ski board 110, a curved screen, and the display device 140 may also be a head-mounted display in order to save the occupied space of the device and facilitate the user to clearly view.
As shown in fig. 3 to 5, the scene change displayed by the display device 140 when the scroll control device 130 controls the scroll attitude angle is illustrated. The user may view the simulated racetrack 200 and his/her simulated leg image 210 through the display device 140
The ski 110 of the present embodiment may be implemented as a rudderless ski to simulate the high speed changing displayed scene of a rudderless ski movement and the high speed changing pitch attitude angle and roll attitude angle.
The simulation system 100 in the embodiment of the present invention can obtain the display scene information and the attitude angle information viewed by the athlete during the exercise process according to the movement route recorded in the real exercise scene, display the display scene information through the display device 140, and enable the user to feel the change of the attitude angle information through the pitch control device 120 and the roll control device 130.
In the embodiment of the invention, the attitude angle control mode can adopt a displacement corresponding mode, a speed corresponding mode, an acceleration corresponding mode or a plurality of parameters which are all corresponding together.
In the embodiment of the present invention, the simulation system 100 may further implement interactive intrusive experience, measure the posture change and the gravity center change of the user through an external sensor, and correspondingly adjust and display scene information and a posture angle. Specifically, the ski board 110 further includes a sleeping board 112, a simulated sliding blade 113 located at the bottom of the sleeping board 112, and a force sensor 114 located at the lower portion of the simulated sliding blade 113, the simulation system 100 further includes an image acquisition device 160 for shooting the posture of the user when the user lies in the sleeping board 112 of the ski board 110, and the control device 150 is further configured to adjust the display device 140 to display a dynamic picture of the environment around the simulated race track and adjust the pitch posture angle and the roll posture angle of the ski board 110 according to the stress distribution of the simulated sliding blade 113 measured by the force sensor 114 and the user image acquired by the image acquisition device 160.
The simulated sliding blades 113 can be provided with two or more than two, the lower part of each simulated sliding blade 113 is provided with a force sensor 114, the force sensors 114 can adopt pressure strain gauges, for example, the lower part of each simulated sliding blade 113 can be provided with a plurality of pressure strain gauges, signals returned by the force sensors 114 are processed to obtain the distribution of force, so that the gravity center distribution position of a user relative to the ski board 110 is obtained, the relation between the gravity center position and the ski running route is acquired for multiple times, the ski running route information in the simulated track is adjusted, and the display scene information and the posture angle information are changed. Similarly, by collecting the postures of the parts of the body of the user, such as the posture information of leg bending, side body bending and the like, the relationship between the postures of the athletes and the running route and the postures of the ski boards 110 is known according to the historically collected information, so that the running route of the ski boards 110 in the simulated track is adjusted according to the current posture of the user, and the real scene information and the posture angle information are changed. For example, when the left deviation of the gravity center of the user to the running direction is measured, the sled running video in the simulated track correspondingly deviates to the left, the attitude angle information of the sled board is adjusted by combining the surrounding track scenes, the pitch angle and the roll angle are adjusted, and the position of the sled board can be properly adjusted; as another example, when the user is measured to lean to the right, the skis in the simulated track are correspondingly deflected to the right, which in turn adjusts the scene information displayed on the display device 140 and the angles generated by the pitch control device 120 and the roll control device 130.
In order to more truly approximate to the actual track situation and simultaneously simulate the rolling angle and the movement on the track arc, the rolling control device 130 adopts an arc track to simulate, so that the ski board 110 slides along the arc track and simultaneously simulates the rolling angle and the sliding on the arc, specifically, the rolling control device 130 comprises an arc guide rail 131 and a sliding plate 132 which can be driven to slide along the arc guide rail 131; one end of the ski board 110 is hinged to the sliding board 132; the pitch control device 120 includes a linear motion mechanism 121, a moving end of the linear motion mechanism 121 is hinged to the other end of the ski board 110, a fixed end of the linear motion mechanism 121 is hinged to the sliding board 132, and the ski board 110 is located inside the arc-shaped guide rail 131. By controlling the sliding of the sliding plate 132 relative to the arc-shaped guide rail 131, the sliding of the ski board 110 relative to the arc-shaped guide rail 131 can be controlled, and the roll angle control and the arc displacement control can be realized, and the arc-shaped guide rail 131 can be in the shape of an arc or in other arcs; the pitch angle of the ski 110 is then adjusted by controlling the extension or contraction of the linear motion mechanism 121. As shown in fig. 8, the dummy slide 113 is received on a receiving plate 115, the slide plate 132 is hinged to the receiving plate 115, and the linear motion mechanism 121 is hinged to the receiving plate 115.
The linear motion mechanism 121 may be driven by an electric cylinder or a hydraulic cylinder, and the linear motion mechanism 121 includes a hydraulic cylinder 1211 and a hydraulic rod 1212 capable of sliding relative to the hydraulic cylinder 1211, wherein the end of the hydraulic rod 1212 is hinged to the ski board 110, and the end of the hydraulic cylinder 1211 is hinged to the sliding board 132.
The sliding plate 132 can slide relative to the arc-shaped guide rail 131 by adopting a sliding rail and a sliding block, and can also adopt a guide wheel and a rail. Specifically, the roll control device 130 further includes a plurality of guide wheels 133 hinged to the sliding plate 132, and the guide wheels 133 can be driven to roll relative to the arc-shaped guide rails 131, so that the sliding of the sliding plate 132 is realized by driving the guide wheels to roll. The rolling of the guide wheel 133 can be realized by matching a gear and an arc rack outside, or by matching a steel wire wheel and a steel wire rope, and can be selected according to actual needs. The guide wheel 133 includes a receiving arc surface 1331 and a limiting side surface 1332, the receiving arc surface 1331 contacts with the arc surface of the arc guide rail 131, the limiting side surface 1332 corresponds to the side surface of the arc guide rail 131, and the limiting side surface 1332 limits the sliding of the sliding plate 132 in the lateral direction.
In the non-rudder sled movement, the athlete needs to push backwards through the aid fence to obtain the initial speed entering the track at the beginning, and in the embodiment of the present invention, the initial speed under the simulated scene is obtained through the initial speed simulation device running in a loop shape, specifically, the simulation system 100 further includes the initial speed simulation devices 170 located at both sides of the ski board 110, the initial speed simulation devices 170 are used for simulating the initial speed of the track, and the control device 150 is further used for adjusting and adjusting the display device 140 to display the dynamic picture of the environment around the simulated track, the pitch attitude angle and the roll attitude angle of the ski board 110 according to the initial speed. According to the relationship between the initial speed and the running route of the actual measurement or simulation athlete, the running route of the sled under the simulation scene is changed through the initial speed obtained by the initial speed simulation device 170.
The initial velocity simulator 170 includes a first wheel 171, a second wheel 172, and an endless flexible handrail 173 surrounding the first wheel 171 and the second wheel 172, the endless flexible handrail 173 including a synchronized rotation portion 1731 and a grip portion 1732, the synchronized rotation portion 1731 rotating in synchronization with the first wheel 171 and the second wheel 172, the grip portion 1732 being located between the first wheel 171 and the second wheel 172; the initial velocity simulator 170 further includes an angular displacement sensor 173 connected to the first wheel 171 or the second wheel 172, the angular displacement sensor 173 being configured to measure an angular displacement of the endless flexible handrail 173, and the control device 150 being further configured to generate the initial velocity according to the angular displacement of the endless flexible handrail 173. In order to give a more realistic experience to the user, damping may be further provided on the first wheel 171 and the second wheel 172, so that the user feels the stress condition when the device is started.
In an embodiment of the present invention, the display device 140 includes a head-mounted VR display device, the head-mounted VR display device is provided with a viewing posture measuring sensor, the viewing posture measuring sensor is configured to measure a viewing posture of a head of a user, and the control device adjusts a dynamic picture of a simulated racetrack surrounding environment displayed by the head-mounted VR display device according to the viewing posture. For example, when the user heads up, the display information of the user's leg in the scene may be viewed in the display device, and by adjusting the viewing posture, the viewing angle viewed in the displayed scene may also be adjusted. The image information of the display scene about the user can be loaded in real time or near real time by acquiring and using the image information of the user in advance, so that the user experience is more real.
It should be noted that the pitch control device and the roll control device can be replaced by a 6-axis robot, and the sled is arranged at the tail end of the 6-axis robot, and the pose of the tail end is controlled to simulate.
The simulation system in the embodiment of the invention can enable an experiencer to invade a visual virtual world and feel the whole process of sled movement at a first visual angle; a set of motion system is established to the main part with the robot and is cooperated with VR vision system, makes experience person can drive wherein, experiences the three-dimensional motion experience of simulation rudderless sled motion.
Each device module in the embodiment of the present invention is provided with a corresponding interface or module for information transmission.
In another aspect of the present invention, as shown in fig. 10, there is also provided a sled movement simulation method, wherein an apparatus including a sled board for a user to ride on, a pitch control device for controlling a pitch attitude angle of the sled board, a roll control device for controlling a roll attitude angle of the sled board, and a display device for the user to display an environment surrounding a simulated race track is used, the method comprising the steps of:
s110, loading a time sequence show (t) of a scene in the environment surrounding the simulated track, an initial pitch attitude angle time sequence pitch0(t) and an initial roll attitude angle time sequence roll0 (t);
s120, controlling a display device to display a dynamic picture of the environment around the simulated track corresponding to the current running time according to the current running time t;
s130, controlling a pitching control device to adjust the pitching attitude angle of the ski board according to the current running time t and the time sequence of the initial pitching attitude angle;
and S140, controlling a rolling control device to adjust the rolling attitude angle of the ski board according to the current running time and the time sequence of the initial rolling attitude angle.
By the method, the user can directly experience the change of the display scene and the change of the attitude angle on the track running route.
The above step numbers do not limit the order of executing steps, and can be executed synchronously.
In the embodiment of the invention, interactive experience can be performed, specifically, the ski board further comprises a simulated sliding knife, a force sensor is arranged at the lower part of the simulated sliding knife, and an image acquisition device for shooting the posture of a user lying in a sleeping cabin of the ski board is arranged near the ski board; as shown in fig. 11, the method further includes:
s150, according to the stress distribution of the simulated sliding blade measured by the force sensor and the user image collected by the image collecting device, adjusting the display device to display a dynamic picture of the environment around the simulated track, and adjusting the pitching attitude angle and the rolling attitude angle of the ski board.
The gravity center change and the posture change of the user are collected in real time, and the posture angle on the display scene and the operation route is adjusted in time, so that the display scene and the operation route can be closer to reality and can provide real experience for the user.
The initial speed simulation devices are arranged on two sides of the sled plate and used for simulating the initial speed of the track; as shown in fig. 12, the method further includes:
and S160, adjusting the display device to display the dynamic picture of the environment around the simulated track, the pitching attitude angle and the rolling attitude angle of the ski board according to the initial speed.
The detailed principle description of the above method steps can be referred to the description of the above simulation system.
The simulation method in the embodiment of the invention can enable an experiencer to invade a visual virtual world and feel the whole process of the sled movement at the first visual angle.
In the present invention, the terms "first", "second", and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance. The term "plurality" means two or more unless expressly limited otherwise.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (7)
1. A sled motion simulation system, comprising: the control device is used for controlling the display device to display a dynamic picture of the environment around the simulated track and controlling the pitching attitude angle and the rolling attitude angle of the ski board based on preset simulated track information; the control device is also used for adjusting the display device to display a dynamic picture of the environment around the simulated track, a pitching attitude angle and a rolling attitude angle of the ski according to the initial speed; the initial speed simulation device comprises a first wheel, a second wheel and an annular flexible handrail surrounding the first wheel and the second wheel, the annular flexible handrail comprises a synchronous rotating part and a holding part, the synchronous rotating part rotates synchronously with the first wheel and the second wheel, and the holding part is positioned between the first wheel and the second wheel; the initial speed simulator further comprises an angular displacement sensor connected with the first wheel or the second wheel, the angular displacement sensor is used for measuring the angular displacement of the annular flexible handrail, and the control device is further used for generating the initial speed according to the angular displacement of the annular flexible handrail.
2. The sled movement simulation system according to claim 1, wherein the sled board comprises a deck board, a simulation runner at the bottom of the deck board, and a force sensor at the lower part of the simulation runner, the simulation system further comprises an image acquisition device for capturing the posture of the user lying in the deck board of the sled board, and the control device is further configured to adjust the display device to display a dynamic picture of the environment around the simulated race track and adjust the pitch posture angle and the roll posture angle of the sled board according to the force distribution of the simulation runner measured by the force sensor and the user image acquired by the image acquisition device.
3. A sled motion simulation system according to claim 1 or 2, wherein the roll control means comprises a curved rail, a slide plate drivable to slide along the curved rail; one end of the sled plate is hinged with the sliding plate; the pitching control device comprises a linear motion mechanism, the moving end of the linear motion mechanism is hinged with the other end of the ski board, the fixed end of the linear motion mechanism is hinged with the sliding board, and the ski board is positioned on the inner side of the arc-shaped guide rail.
4. A ski movement simulation system according to claim 3, wherein the roll control means further comprises a plurality of guide wheels hinged to the runner plate, the guide wheels being drivable to roll relative to the curved guide rail.
5. A sled motion simulation system according to claim 1 or 2, wherein the display device comprises a head-mounted VR display device, the head-mounted VR display device is provided with a viewing posture measuring sensor for measuring a viewing posture of the head of the user, and the control device adjusts the dynamic picture of the simulated race track surroundings displayed by the head-mounted VR display device according to the viewing posture.
6. A sled movement simulation method using an apparatus including a sled board for a user to ride, a pitch control device for controlling a pitch attitude angle of the sled board, a roll control device for controlling a roll attitude angle of the sled board, and a display device for displaying an environment around a simulated track, the method comprising the steps of:
loading a display scene time sequence, an initial pitching attitude angle time sequence and an initial rolling attitude angle time sequence of the environment around the simulated track;
controlling a display device to display a dynamic picture of the environment around the simulated track corresponding to the current running time according to the current running time;
controlling a pitching control device to adjust the pitching attitude angle of the ski board according to the current running time and the time sequence of the initial pitching attitude angle;
controlling a rolling control device to adjust the rolling attitude angle of the ski board according to the current running time and the time sequence of the initial rolling attitude angle;
the adopted equipment also comprises initial speed simulation devices positioned at two sides of the sled plate, wherein the initial speed simulation devices are used for simulating the initial speed of the track;
the method further comprises the following steps: adjusting the display device to display a dynamic picture of the environment around the simulated track, the pitching attitude angle and the rolling attitude angle of the ski board according to the initial speed;
the initial speed simulation device comprises a first wheel, a second wheel and an annular flexible handrail surrounding the first wheel and the second wheel, the annular flexible handrail comprises a synchronous rotating part and a holding part, the synchronous rotating part rotates synchronously with the first wheel and the second wheel, and the holding part is positioned between the first wheel and the second wheel; the initial speed simulator further comprises an angular displacement sensor connected to the first wheel or the second wheel, the angular displacement sensor for measuring an angular displacement of the endless flexible handrail;
the method further comprises the following steps: generating the initial speed as a function of an angular displacement of the endless flexible handrail.
7. The sled motion simulation method according to claim 6, wherein the sled further comprises a simulated sled, a force sensor is arranged at the lower part of the simulated sled, and an image acquisition device for shooting the posture of the user lying in a sleeping compartment of the sled is arranged near the sled; the method further comprises the following steps:
and adjusting the display device to display a dynamic picture of the environment around the simulated track and adjusting the pitching attitude angle and the rolling attitude angle of the ski board according to the stress distribution of the simulated sliding blade measured by the force sensor and the user image acquired by the image acquisition device.
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| CN202110018792.5A CN112774158A (en) | 2019-12-19 | 2019-12-19 | Sled motion simulation system and method |
| CN201911306814.7A CN111195425B (en) | 2019-12-19 | 2019-12-19 | Sled motion simulation system and method |
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| CN112569559B (en) * | 2020-12-08 | 2022-03-08 | 黄淮学院 | Skiing exerciser |
| CN113457101A (en) * | 2021-06-30 | 2021-10-01 | 成都体育学院 | Augmented reality sled simulation training system |
| CN114452635B (en) * | 2022-02-13 | 2022-10-11 | 哈尔滨体育学院 | Snowboarding land trainer |
| CN116050087B (en) * | 2022-12-19 | 2024-03-26 | 华中科技大学 | Interactive multi-sense coupling sledge simulation method and system |
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| CN104971485A (en) * | 2014-04-11 | 2015-10-14 | 四度空间株式会社 | Sled simulating device of three-shaft electric type simulator through sliding mode |
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| CN112774158A (en) | 2021-05-11 |
| CN111195425A (en) | 2020-05-26 |
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