CN111330213A - Anti-falling pre-judging method and system for VR (virtual reality) treadmill and readable storage medium - Google Patents

Anti-falling pre-judging method and system for VR (virtual reality) treadmill and readable storage medium Download PDF

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Publication number
CN111330213A
CN111330213A CN202010211004.XA CN202010211004A CN111330213A CN 111330213 A CN111330213 A CN 111330213A CN 202010211004 A CN202010211004 A CN 202010211004A CN 111330213 A CN111330213 A CN 111330213A
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information
user
sensor
treadmill
leg
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杜守杰
田中达也
王静
王芳
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Xiaogan Fengchuang Intelligent Technology Co ltd
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Xiaogan Fengchuang Intelligent Technology Co ltd
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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
    • 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
    • A63B22/0235—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 driven by a motor
    • A63B22/0242—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 driven by a motor with speed variation
    • A63B22/025—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 driven by a motor with speed variation electrically, e.g. D.C. motors with variable speed control
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B24/00—Electric or electronic controls for exercising apparatus of preceding groups; Controlling or monitoring of exercises, sportive games, training or athletic performances
    • A63B24/0062—Monitoring athletic performances, e.g. for determining the work of a user on an exercise apparatus, the completed jogging or cycling distance
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B24/00—Electric or electronic controls for exercising apparatus of preceding groups; Controlling or monitoring of exercises, sportive games, training or athletic performances
    • A63B24/0087—Electric or electronic controls for exercising apparatus of groups A63B21/00 - A63B23/00, e.g. controlling load
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B71/00—Games or sports accessories not covered in groups A63B1/00 - A63B69/00
    • A63B71/0054—Features for injury prevention on an apparatus, e.g. shock absorbers
    • 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
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B24/00—Electric or electronic controls for exercising apparatus of preceding groups; Controlling or monitoring of exercises, sportive games, training or athletic performances
    • A63B24/0087—Electric or electronic controls for exercising apparatus of groups A63B21/00 - A63B23/00, e.g. controlling load
    • A63B2024/0093—Electric or electronic controls for exercising apparatus of groups A63B21/00 - A63B23/00, e.g. controlling load the load of the exercise apparatus being controlled by performance parameters, e.g. distance or speed
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B2230/00—Measuring physiological parameters of the user
    • A63B2230/62—Measuring physiological parameters of the user posture
    • A63B2230/625—Measuring physiological parameters of the user posture used as a control parameter for the apparatus

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  • Health & Medical Sciences (AREA)
  • General Health & Medical Sciences (AREA)
  • Physical Education & Sports Medicine (AREA)
  • Cardiology (AREA)
  • Vascular Medicine (AREA)
  • Measurement Of The Respiration, Hearing Ability, Form, And Blood Characteristics Of Living Organisms (AREA)

Abstract

The invention relates to a method and a system for preventing falling and prejudging a VR treadmill and a readable storage medium, wherein the method comprises the following steps: establishing a motion space according to a VR scene, and acquiring left leg action signals detected by a first sensor and a second sensor through a first signal receiver; acquiring right leg action signals detected by a third sensor and a fourth sensor through a second signal receiver; calculating user inclination information and body posture analysis of a user in a running process according to leg action signal gravity centers of the left leg and the right leg and platform included angle information and dynamic distance change information between the legs and a treadmill support frame through a user waist twisting signal, so as to obtain body posture information of the user; and acquiring user safety information through the body posture information, and dynamically adjusting the platform operation parameters.

Description

Anti-falling pre-judging method and system for VR (virtual reality) treadmill and readable storage medium
Technical Field
The invention relates to an anti-falling pre-judging method, in particular to an anti-falling pre-judging method and system for a VR running machine and a readable storage medium.
Background
The virtual reality technology is a computer simulation technology capable of creating and experiencing a virtual world, an interactive three-dimensional dynamic view is generated by a computer, a user is immersed in a virtual environment to achieve double experiences of hearing and touch, with the rise of the virtual reality technology, new equipment and solutions are diversified, the detection of gait parameters mainly aims at evaluating the movement capacity of a human body, the gravity center track of the human body is one of the most basic and effective forms for evaluating the stability and balance of the gait, the body movement characteristics are quantitatively described through a sensor and the computer, a movement space is established, and a moving object and the movement space are kept relatively static, so that the omnidirectional movement is achieved in the limited space.
The traditional equipment has the advantages that the human body can only walk in different speeds in one direction, the requirement that the human body which can not meet the virtual reality requirement can walk in any direction at different speeds can be met, the existing methods can only realize one-way movement and cannot realize all-directional movement, moving objects are poor in experience, and the users cannot be subjected to prejudgment and correction of gait space information in the running process, so that the error is large.
In order to realize accurate control to VR treadmill, and the security of user's use, need develop a section and control rather than assorted system, detect the gait spatial information of moving object through this system, then correct the processing, make the moving object be located the central point in motion space all the time, when the user is at the running in-process, when the appearance is about to fall down, predetermine in advance through this system, interfere in advance with treadmill stop operation, prevent that the user from falling down, but in carrying out the control process, when how to realize accurate control, the realization is all urgent to need the problem of solving to the prejudgement and the correction of gait spatial information.
Disclosure of Invention
The invention overcomes the defects of the prior art and provides an anti-falling pre-judging method and system of a VR running machine and a readable storage medium.
In order to achieve the purpose, the invention adopts the technical scheme that: an anti-falling pre-judging method of a VR treadmill is characterized by comprising the following steps:
establishing a motion space according to a VR scene, wherein a first sensor and a second sensor are used for detecting a left leg action signal of a user, and a third sensor and a fourth sensor are used for detecting a right leg action signal of the user;
the fifth sensor is used for detecting a waist wriggling signal; the sixth sensor is used for detecting the dynamic change information of the distance between the leg and the treadmill support frame;
acquiring left leg action signals detected by a first sensor and a second sensor through a first signal receiver;
acquiring right leg action signals detected by a third sensor and a fourth sensor through a second signal receiver;
calculating user inclination information and body posture analysis of a user in a running process according to leg action signal gravity centers of the left leg and the right leg and platform included angle information and dynamic distance change information between the legs and a treadmill support frame through a user waist twisting signal, so as to obtain body posture information of the user;
acquiring user safety information through the body posture information, and dynamically adjusting platform operation parameters;
a first sensor is arranged on the inner side of the left leg kneecap corresponding to the position of the lower leg of the left leg of the user, and a second sensor is arranged on the left leg kneecap corresponding to the position of the upper leg;
a third sensor is arranged on the inner side of the right leg kneecap corresponding to the right lower leg of the user, and a fourth sensor is arranged on the right leg kneecap corresponding to the thigh;
the inner side of the treadmill support frame is provided with a fifth sensor, and the inner side of the air bag at the top of the support frame is provided with a plurality of sixth sensors corresponding to the waist of a user.
Preferably, user safety information is obtained through the body posture information of the user, and meanwhile, platform operation parameter information is dynamically adjusted; the method specifically comprises the following steps:
acquiring the action information of the left leg of the user through a first sensor and a second sensor;
acquiring the action information of the right leg of the user through a third sensor and a fourth sensor;
acquiring dynamic change information of the distance between the leg and the treadmill support frame through a fifth sensor;
acquiring waist twisting information of a user through a sixth sensor;
analyzing the gravity center information through the left leg action information and the right leg action information, and calculating the gravity center shift information to obtain the gravity center shift rate;
user safety information is dynamically acquired through limb posture information and waist wriggling information;
pre-judging the body posture change information of the user according to the safety information of the user;
the running parameter information of the treadmill is pre-judged and corrected according to the body posture change information of the user, and meanwhile, the inflation quantity of the air bag is adjusted for air bag safety protection.
Preferably, the acquiring the gait space information includes:
establishing discrete distribution nodes;
preprocessing, gait space information extraction and algorithm identification node information are carried out frame by frame, and gait cycle and gait space parameters are extracted;
extracting a real-time displacement track by using a numerical integration and trend removal algorithm through gait space parameters;
and combining the track fluctuation information to generate displacement track information, and recording the displacement track information into a database.
Preferably, the gait space information includes one or two or three combinations of motion route simulated according to the VR scene, or limb gait change information realized according to the VR scene, or pre-processed motion information according to the VR scene.
Preferably, the step of correcting the gait space information specifically includes:
acquiring displacement direction information, a gravity signal and displacement acceleration information according to the gait space information;
carrying out reverse correction on the displacement direction information and the displacement acceleration information;
the displacement acceleration information is corrected by
Figure BDA0002422813350000031
Wherein, ax、ay、azRespectively represent the corrected acceleration information, Ax、Ay、AzRespectively representing measured acceleration information, X4*3Then represents the correction matrix, the value k in the matrix1、k2、k3Then represents the three-axis scale factor, ERx、ERy、ERzThen represents zero drift, kyx、kzx、kxy、kzy、kxz、kyzAnd representing the coupling factor, acquiring n groups of acceleration data each time, and correcting, wherein the value range of n is a positive integer with n being more than or equal to 1.
Preferably, the user inclination information and the body posture analysis of the user in the running process are calculated through the waist twisting signal of the user and the dynamic change information of the distance between the legs and the treadmill support frame, so that the body posture information of the user is obtained; through limbs posture information, acquire user's safety information, dynamic adjustment platform operating parameter simultaneously still includes:
according to the leg action signals, obtaining displacement tracks, analyzing gravity center information and establishing a track data model;
analyzing the dynamic change information of the user limb and the user inclination information through the limb posture information and the waist wriggling information;
adopting track segmentation to carry out displacement track information segmentation and extraction, and establishing a single-step gait database;
performing single-step gait analysis through data indexing, and performing aggregation simulation on gait analysis results to obtain complete gait space information;
analyzing the change of the limb posture of the user according to the analysis of the limb posture of the user to obtain user safety information;
and pre-judging and correcting running parameter information of the treadmill according to the safety information of the user and the body posture change information of the user, and synchronously and dynamically correcting the running speed or the acceleration of the treadmill.
The invention also provides a system for judging whether the VR running machine falls or not, which comprises: the anti-falling pre-judging method of the VR treadmill comprises a memory and a processor, wherein the memory comprises an anti-falling pre-judging method program of the VR treadmill, and the processor executes the anti-falling pre-judging method program of the VR treadmill to realize the following steps:
establishing a motion space according to a VR scene, wherein a first sensor and a second sensor are used for detecting a left leg action signal of a user, and a third sensor and a fourth sensor are used for detecting a right leg action signal of the user;
the fifth sensor is used for detecting a waist wriggling signal; the sixth sensor is used for detecting the dynamic change information of the distance between the leg and the treadmill support frame;
acquiring left leg action signals detected by a first sensor and a second sensor through a first signal receiver;
acquiring right leg action signals detected by a third sensor and a fourth sensor through a second signal receiver;
calculating user inclination information and body posture analysis of a user in a running process according to leg action signal gravity centers of the left leg and the right leg and platform included angle information and dynamic distance change information between the legs and a treadmill support frame through a user waist twisting signal, so as to obtain body posture information of the user;
acquiring user safety information through the body posture information, and dynamically adjusting platform operation parameters;
a first sensor is arranged on the inner side of the left leg kneecap corresponding to the position of the lower leg of the left leg of the user, and a second sensor is arranged on the left leg kneecap corresponding to the position of the upper leg;
a third sensor is arranged on the inner side of the right leg kneecap corresponding to the right lower leg of the user, and a fourth sensor is arranged on the right leg kneecap corresponding to the thigh;
the treadmill support frame inboard is provided with the fifth sensor, and support frame top gasbag inboard is located and is provided with three sixth sensor along gasbag circumference interval corresponding to user's waist.
Preferably, user safety information is obtained through the body posture information of the user, and meanwhile, platform operation parameter information is dynamically adjusted; the method specifically comprises the following steps:
acquiring the action information of the left leg of the user through a first sensor and a second sensor;
acquiring the action information of the right leg of the user through a third sensor and a fourth sensor;
acquiring dynamic change information of the distance between the leg and the treadmill support frame through a fifth sensor;
acquiring waist twisting information of a user through a sixth sensor;
analyzing the gravity center information through the left leg action information and the right leg action information, and calculating the gravity center shift information to obtain the gravity center shift rate;
user safety information is dynamically acquired through limb posture information and waist wriggling information;
pre-judging the body posture change information of the user according to the safety information of the user;
the running parameter information of the treadmill is pre-judged and corrected according to the body posture change information of the user, and meanwhile, the inflation quantity of the air bag is adjusted for air bag safety protection.
Preferably, the user inclination information and the body posture analysis of the user in the running process are calculated through the waist twisting signal of the user and the dynamic change information of the distance between the legs and the treadmill support frame, so that the body posture information of the user is obtained; through limbs posture information, acquire user's safety information, dynamic adjustment platform operating parameter simultaneously still includes:
according to the leg action signals, obtaining displacement tracks, analyzing gravity center information and establishing a track data model;
analyzing the dynamic change information of the user limb and the user inclination information through the limb posture information and the waist wriggling information;
adopting track segmentation to carry out displacement track information segmentation and extraction, and establishing a single-step gait database;
performing single-step gait analysis through data indexing, and performing aggregation simulation on gait analysis results to obtain complete gait space information;
analyzing the change of the limb posture of the user according to the analysis of the limb posture of the user to obtain user safety information;
and pre-judging and correcting running parameter information of the treadmill according to the safety information of the user and the body posture change information of the user, and synchronously and dynamically correcting the running speed or the acceleration of the treadmill.
A third aspect of the present invention provides a computer-readable storage medium, where the computer-readable storage medium includes a program for a method for judging whether a VR treadmill falls or not, and when the program is executed by a processor, the method for judging whether the VR treadmill falls or not implements the steps of the method for judging whether the VR treadmill falls or not.
The invention solves the defects in the background technology, and has the following beneficial effects:
(1) different motion spaces are established through different VR scenes, the displacement track and gait space information are monitored in real time according to leg action signals, the accuracy of prejudgment and correction is improved, in the motion process, the motion space is reversely corrected through the gait space information, so that the relative displacement of a motion object in the motion space is zero, the omnidirectional motion of the motion object is realized, in the correction process, the running state of the treadmill is adjusted according to the gravity information and the included angle between the gravity center and the platform, and a user can stably move on the treadmill.
(2) When the signals of the left leg or the right leg are detected to be abnormal, the situation that the body inclination rate of a user exceeds a preset threshold value is indicated, at the moment, whether running of the running machine is stopped or running parameters of the running machine are required to be adjusted is judged, when the body of the user is inclined greatly and the running of the running machine is forced to be stopped, judgment is carried out through large deviation of leg signals, dynamic change information of the distance between the leg and the support frame is detected through a fifth sensor on the support frame in the running process of the user, the third support frame is provided with the fifth sensor which can monitor from three directions respectively, the monitoring reference is high, when any one or more than two fifth sensors on the three support frames are detected to detect that the distance between the leg and the support frame is abnormal, the situation that at least one leg has a large distance is indicated, and auxiliary judgment is carried out by matching with the inclination information of the user, the dynamic change information of, if two or more than two of the three are abnormal, the treadmill suddenly stops, in the process of sudden stop, the protective air bag on the treadmill inflates to prevent the user from falling and prejudge, when the running parameters of the treadmill are only required to be adjusted, the running speed or the acceleration of the treadmill is gradually adjusted to slowly enable the body of the user to tend to be stable, after the body of the user is stable, the running speed of the treadmill is adjusted to be in a preset uniform speed state, and at the moment, the treadmill returns to a normal state.
(3) According to the displacement track and the gait space information monitored in real time, the system can be prejudged in advance through prejudgment correction information, the hysteresis of the system is reduced, in the process of determining the prejudgment correction information, single step information is extracted by carrying out gait segmentation on the gait space information, the single step information is analyzed, the analyzed result is aggregated again, the finished gait information can be obtained, the aggregation overall correction is carried out through the single step correction, and in the correction process, the motion state of the treadmill is matched with the motion state of the user according to the left leg action signal and the right leg action signal of the user, so that the user can be prevented from falling down.
Drawings
The invention is further illustrated with reference to the following figures and examples.
FIG. 1 illustrates a flow chart of a method for fall prevention anticipation for a VR treadmill of the present invention;
FIG. 2 is a flow chart illustrating a method of anticipating corrective action parameter information;
fig. 3 shows a flow chart of a method of acquiring gait space information;
FIG. 4 illustrates a flow diagram of a method for dynamically adjusting operating parameters of a platform;
FIG. 5 shows a flow chart of a method of anticipating corrective information;
fig. 6 shows a block diagram of an anti-fall anticipation system for a VR treadmill.
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.
Fig. 1 shows a flow chart of a method for preventing a VR treadmill from falling and prejudging according to the present invention.
As shown in fig. 1, a first aspect of the present invention provides a method for preventing falling and prejudging of a VR treadmill, including:
s102, establishing a motion space according to a VR scene, wherein a first sensor and a second sensor are used for detecting a left leg action signal of a user, and a third sensor and a fourth sensor are used for detecting a right leg action signal of the user;
s104, a fifth sensor is used for detecting a waist wriggling signal; the sixth sensor is used for detecting the dynamic change information of the distance between the leg and the treadmill support frame;
s106, acquiring left leg action signals detected by the first sensor and the second sensor through the first signal receiver;
s108, acquiring right leg action signals detected by a third sensor and a fourth sensor through a second signal receiver;
s110, calculating user inclination information and limb posture analysis of a user in a running process according to leg action signal gravity centers of a left leg and a right leg and included angle information of a platform, and through a waist twisting signal of the user and dynamic change information of distances between the legs and a treadmill support frame, and obtaining limb posture information of the user;
and S112, acquiring user safety information through the body posture information, and dynamically adjusting the platform operation parameters to perform user pre-judgment and prevent falling.
It should be noted that a first sensor is arranged at the inner side of the left leg kneepad corresponding to the lower leg of the left leg of the user, and a second sensor is arranged at the left leg kneepad corresponding to the upper leg of the user; a third sensor is arranged on the inner side of the right leg kneecap corresponding to the right lower leg of the user, and a fourth sensor is arranged on the right leg kneecap corresponding to the thigh; treadmill support frame inboard is provided with the fifth sensor, and support frame top gasbag inboard is provided with 3 sixth sensors along gasbag circumference interval corresponding to user's waist department, and the VR scene mainly includes aspects such as simulated environment, perception, natural skill and sensing equipment. The simulated environment is a three-dimensional realistic image generated by a computer and dynamic in real time. Perception means that an ideal VR should have the perception that everyone has. In addition to the visual perception generated by the computer graphics technology, the perception of hearing, touch, force, motion, and the like, even the perception of smell, taste, and the like, also called multi-perception, may be a virtual motion space or a real motion space, specifically, the real motion space may be a room or a platform selected according to a VR scene, the area of the room and the size of the platform may be changed according to the VR scene, for example, when the VR scene requires a single person to simulate, only a smaller room area or platform area, such as 5-20 square meters, preferably 10 square meters, needs to be selected, and when a plurality of persons are required to cooperate to simulate, a larger motion space, such as a room area and a platform size of 20-100 square meters, preferably a motion space of 50 square meters, needs to be established.
In addition, a motion space is established according to a VR scene, a leg action signal and a gravity signal are acquired at the same time, gait space information is acquired, specifically, the moving direction or the direction to be moved of a moving object can be acquired through the leg action signal, the gravity center can be correspondingly changed when the leg acts, the gravity signal is detected in the process of changing the gravity center, the gravity center change information of the moving object is analyzed, and displacement track information and motion parameters are analyzed and acquired, the displacement track can be a sole motion track or a human body gravity center displacement track, the difference of gait characteristics is mainly embodied in the difference of body types, such as body proportion, height, step length and the like, the gait space information can be influenced by the swing amplitude and the swing frequency of the upper body and the arm, when the gait changes, the position of the moving object relative to the motion space correspondingly changes, in order to keep the moving object and the motion space relatively static, the correction processing of the gait space information is required.
The leg motion signal and the gravity signal are used for acquiring a pre-judgment signal to perform pre-judgment in advance to obtain pre-judgment correction information, and the motion space is subjected to pre-judgment correction through the pre-judgment correction information; for example, when the displacement direction is detected to be the first direction, the motion space needs to be controlled to move towards the second direction, where the first direction and the second direction are opposite, that is, the motion space moves towards the opposite direction of the displacement direction, and the moving displacement amounts are the same, so that in a limited motion space, universal motion is realized, and meanwhile, it is ensured that the motion object and the motion space are relatively stationary, or are always located at the center of the motion space.
Specifically, the pre-determination correction information can be specified from the leg motion information and the center of gravity change information, and the motion parameter is corrected by the pre-determination correction information. In addition, after obtaining the prejudgment correction information, comparing the gait space information with the prejudgment correction information to obtain deviation information and a deviation rate, and if the deviation rate is greater than a preset threshold value, correcting the prejudgment correction information; and feeding back the corrected prejudgment correction information to the VR scene, and simultaneously carrying out reverse correction on the motion space to establish a new motion space.
Specifically, in the process of performing the prejudgment correction, the motion parameter is not necessarily corrected accurately at one time, so that two or more corrections are required, and the basis of the two or more corrections is that the deviation correction is performed after the correction according to the primary correction information, a predetermined deviation is preset in the correction process, the correction can be completed as long as the corrected motion parameter is kept within the predetermined deviation, when the corrected deviation is larger than the predetermined deviation, the two corrections are required, in the secondary correction process, the secondary prejudgment correction information is determined again according to the deviation, after the secondary correction, the gait space information after the secondary correction is compared with the secondary prejudgment correction information again until the deviation ratio between the prejudgment correction information and the gait space information is within the set range of the predetermined deviation ratio, and the prejudgment correction information after the correction can perform reverse correction on the motion space, establishing a new motion space, namely a virtual or simulated motion space, namely, when the gait space information changes during correction processing, correcting the gait space information in real time through the correction processing information, feeding the gait space information back to the VR scene, and adapting the VR scene to the correction processing information to realize the precision of the VR treadmill, so that the virtual motion space in the VR scene changes in real time according to the correction information, and the virtual motion space is still ensured to be positioned at the center of the motion space in real time in sense.
FIG. 2 is a flow chart illustrating a method of anticipating corrective action parameter information;
according to the embodiment of the invention, the safety information of the user is obtained through the body posture information of the user, and meanwhile, the operation parameter information of the platform is dynamically adjusted; the method specifically comprises the following steps:
s202, acquiring left leg action information of a user through a first sensor and a second sensor, and acquiring right leg action information of the user through a third sensor and a fourth sensor;
s204, acquiring dynamic change information of the distance between the leg and the treadmill support frame through a fifth sensor, and acquiring waist twisting information of the user through a sixth sensor;
s206, analyzing the gravity center information through the left leg action information and the right leg action information, and calculating the gravity center shift information to obtain the gravity center shift rate;
s208, dynamically acquiring user safety information through the limb posture information and the waist wriggling information;
s210, pre-judging the body posture change information of the user according to the safety information of the user;
s212, pre-judging and correcting running parameter information of the treadmill according to the body posture change information of the user, and adjusting the air inflation amount of the air bag for air bag safety protection.
It should be noted that, when detecting that the left leg or the right leg signal is abnormal, it indicates that the body inclination rate of the user exceeds a predetermined threshold, at this time, it needs to be determined whether to stop running the treadmill or adjust running parameters of the treadmill, when the body inclination of the user is large, it needs to be forced to stop running the treadmill, it is determined by the large deviation of the leg signal, during the running process of the user, the fifth sensors on the support frames detect the dynamic change information of the distance between the legs and the support frames, the fifth sensors are all arranged on the three support frames, and can monitor from three directions respectively, the monitoring referential is high, when detecting that any one or more of the fifth sensors on the three support frames detect that the distance between the legs and the support frames is abnormal, it indicates that at least one leg is cheap, and at this time, it assists with the user inclination information, the user body posture dynamic change information, and the user waist twisting information Judging, if two or more than two of the three are abnormal, carrying out treadmill scram, in the scram process, inflating the protection airbag on the treadmill, preventing the user from falling and prejudging, when only the running parameter of the treadmill needs to be adjusted, gradually adjusting the running speed or the acceleration of the treadmill, slowly making the body of the user tend to be stable, after the body of the user is stable, adjusting the running speed of the treadmill to be in a preset uniform speed state, and then recovering the normal state of the treadmill.
Fig. 3 shows a flow chart of a method of acquiring gait space information;
acquiring gait space information comprises the following steps:
s302, establishing discrete distribution nodes;
s304, preprocessing, gait space information extraction and algorithm identification node information are carried out frame by frame, and gait cycle and gait space parameters are extracted;
s306, extracting a real-time displacement track by using a numerical integration and de-trending algorithm through gait space parameters;
and S308, combining the track fluctuation information to generate displacement track information, and recording the displacement track information into a database.
It should be noted that the database is a space-time database, which is a database that embodies concepts of time, space and space-time and captures characteristics of time and space of data at the same time, and is mainly used for storing and managing various space objects whose positions and states change with time, and analyzing and processing space-time information of the objects, and since the positions of the moving objects change continuously with time, modeling the moving objects needs to consider both a continuous model and a discrete model, the continuous model refers to describing the moving objects as a set of infinite moving points, and the moving points are analyzed as a continuous curve in a three-dimensional space.
In one embodiment of the invention, the gait space information comprises one or two or three combinations of motion routes simulated according to a VR scene, or limb gait change information realized according to the VR scene, or motion information preprocessed according to the VR scene.
It should be noted that the motion route of the VR scene simulation may be understood as information pre-stored in the VR scene, or motion information pre-processed by the VR scene, for example, if the motion information needs to be performed around west lake in the VR scene, then multiple plans of roads around west lake need to be performed in advance, during the simulation, any road may be selected to travel, different roads have different road condition information, the detected gait space information and displacement information have differences, different roads and different road condition information have differences when corrected, and different predicted corrected information is obtained at the same time.
In an embodiment of the present invention, the step of correcting the gait space information includes:
acquiring displacement direction information, a gravity signal and displacement acceleration information according to the gait space information;
carrying out reverse correction on the displacement direction information and the displacement acceleration information;
the displacement acceleration information is corrected by
Figure BDA0002422813350000131
Wherein, ax、ay、azRespectively represent the corrected acceleration information, Ax、Ay、AzRespectively representing measured acceleration information, X4*3Then represents the correction matrix, the value k in the matrix1、k2、k3Then represents the three-axis scale factor, ERx、ERy、ERzThen represents zero drift, kyx、kzx、kxy、kzy、kxz、kyzAnd representing the coupling factor, acquiring n groups of acceleration data each time, and correcting, wherein the value range of n is a positive integer with n being more than or equal to 1.
It should be noted that after the moving object is processed by the pre-determination correction information in the motion space, the acceleration information needs to be corrected, so that the error is maintained within a predetermined range, the accelerations of the moving object at different times may be the same or different, and the reverse acceleration when the correction needs to be performed also changes at the same time in different time periods of the acceleration, the accelerations in different time periods are corrected by the correction matrix, and the zero drift of the moving object is removed in consideration of the influence of the zero drift deviation of the moving object point, and n sets of acceleration data are quantized, i.e., the amplitude of the sampled instantaneous value is dispersed, so that the measurement can be performed definitely.
FIG. 4 illustrates a flow diagram of a method for dynamically adjusting operating parameters of a platform;
in one embodiment of the invention, the user inclination information and the body posture analysis of the user in the running process are calculated through the waist twisting signal of the user and the dynamic change information of the distance between the legs and the treadmill support frame, so as to obtain the body posture information of the user; through limbs posture information, acquire user's safety information, dynamic adjustment platform operating parameter simultaneously still includes:
s402, obtaining a displacement track according to the leg action signal, analyzing gravity center information, and establishing a track data model;
s404, analyzing dynamic change information of the user body and user inclination information through the body posture information and the waist wriggling information;
s406, performing displacement track information segmentation and extraction by adopting track segmentation, and establishing a single-step gait database;
s408, single-step gait analysis is carried out through data indexing, and aggregation simulation is carried out on gait analysis results to obtain complete gait space information;
s410, analyzing the posture change of the user body according to the posture analysis of the user body to obtain the safety information of the user;
and S412, pre-judging and correcting running parameter information of the treadmill according to the safety information of the user and the body posture change information of the user, and synchronously and dynamically correcting the running speed or the acceleration of the treadmill.
It should be noted that, in this embodiment, the moving space is a circular platform or a magnetic biasing platform, but is not limited to these two types, and those skilled in the art can selectively adjust the moving space according to the actual use situation, a moving magnetic field is established outside the moving platform, and the establishment of the moving magnetic field generates a magnetic field by energizing a coil, where the coil may be one, two, or more coils individually energized or multiple coils cooperatively energized, and the coils are not in the same plane, it can be understood that a plurality of coils are located in a three-dimensional or multi-dimensional space, when one coil is energized, a single constant magnetic field is generated, when a plurality of coils are energized, an acting force and a reaction force are generated between a plurality of magnetic fields generated by a plurality of coils, and interaction of the magnetic fields is performed, magnetic force is cancelled, and the energizing manner of the coils can be individually energized or a plurality of coils are energized according to a predetermined sequence or a, or a plurality of coils are matched with a plurality of ways of electrifying at the same time, and the use is flexible.
FIG. 5 shows a flow chart of a method of anticipating corrective information;
the method comprises the following steps of correcting user gait information in advance, prejudging correction information to reduce the hysteresis of a system, wherein the prejudging correction information specifically comprises the following steps:
s502, determining the initial coordinate information of the limbs in the motion space;
s504, in the gait changing process, extracting the position of the real-time limb in the motion space and the real-time coordinate information;
s506, determining the motion parameters in the gait change process;
s508, determining pre-judgment correction information according to the motion parameters;
the motion parameters comprise one or more of motion direction, gravity information, moving speed or acceleration.
It should be noted that, by analyzing the position deviation ratio between the initial coordinate information and the real-time coordinate information, the actual deviation ratio after the correction of the moving object is obtained, and whether the difference between the actual deviation ratio and the preset deviation ratio is within a reasonable range is calculated, and if the difference is not within the reasonable range, the reverse correction of the moving space or the secondary correction of the displacement information or the combined correction of both the moving space and the displacement information is required, so that the deviation ratio is maintained within the preset range.
In an embodiment of the present invention, the performing a reverse correction of a motion space while performing a prejudgment correction to establish a new motion space specifically includes:
determining the initial coordinate information of limbs in the motion space;
extracting the position of the real-time limb in the motion space and real-time coordinate information in the gait change process;
correcting the motion space through the correction processing information to obtain the position deviation rate of the limb coordinate information in the motion space;
judging whether the position deviation rate is greater than a preset position deviation rate threshold value or not;
and if the position deviation ratio is larger than the preset position deviation ratio threshold value, performing reverse correction on the motion space.
Wherein, the initial coordinate information is marked as (x)0,y0) And the detected real-time coordinate information is recorded as (x)j,yj) J is a positive integer, and each time coordinate information is detected, the value of j is added by 1,
real time coordinates (x)j,yj) And the starting coordinate (x)0,y0) The deviation of displacement on the X axis is X ═ Xj-x0The displacement deviation on the Y axis is Y ═ Yj-y0；
Deviation ratio ρ of moving object in X-axis directionxIs composed of
Figure BDA0002422813350000161
Wherein x0≠0；
Deviation ratio ρ of moving object in Y-axis directionyIs composed of
Figure BDA0002422813350000162
Wherein y is0≠0；
The deviation ratio of the moving object in the motion space is
Figure BDA0002422813350000163
Wherein xj-x0≠0；
Real-time displacement of moving objects
Figure BDA0002422813350000164
And performing displacement correction through the real-time displacement and the real-time coordinate information, and if the corrected coordinate information has a certain deviation from the real-time coordinate information, calculating a deviation threshold value.
When the moving object is only displaced in the X-axis direction, it is necessary to calculate ρxThe deviation ratio from the preset deviation ratio is calculated when the moving object is only displaced in the Y-axis directionyAnd whether the deviation threshold value between the preset deviation rate is within the deviation range or not.
The gait space prejudgment correction information is obtained according to the coordinate information in the gait space, the prejudgment correction process is more accurate, the prejudgment can be performed in advance through the prejudgment correction information according to the real-time monitoring gait space information and the coordinate information, the hysteresis of the system is reduced, the prejudgment correction information is determined, single step information is extracted by performing gait segmentation on the gait space information, the single step information is analyzed, the analyzed result is aggregated again, the completed gait space information can be obtained, and the aggregation overall correction is performed through the single step correction.
Fig. 6 shows a block diagram of an anti-fall anticipation system for a VR treadmill.
The second aspect of the present invention also provides a system 6 for preventing falling and prejudging of a VR treadmill, where the system 6 includes: the memory 61 and the processor 62, the memory 61 includes a program of a falling prevention anticipating method of the VR treadmill, and the program of the falling prevention anticipating method of the VR treadmill realizes the following steps when executed by the processor:
establishing a motion space according to a VR scene, wherein a first sensor and a second sensor are used for detecting a left leg action signal of a user, and a third sensor and a fourth sensor are used for detecting a right leg action signal of the user;
the fifth sensor is used for detecting a waist wriggling signal; the sixth sensor is used for detecting the dynamic change information of the distance between the leg and the treadmill support frame;
acquiring left leg action signals detected by a first sensor and a second sensor through a first signal receiver;
acquiring right leg action signals detected by a third sensor and a fourth sensor through a second signal receiver;
calculating user inclination information and body posture analysis of a user in a running process according to leg action signal gravity centers of the left leg and the right leg and platform included angle information and dynamic distance change information between the legs and a treadmill support frame through a user waist twisting signal, so as to obtain body posture information of the user;
acquiring user safety information through the body posture information, and dynamically adjusting platform operation parameters;
a first sensor is arranged on the inner side of the left leg kneecap corresponding to the position of the lower leg of the left leg of the user, and a second sensor is arranged on the left leg kneecap corresponding to the position of the upper leg;
a third sensor is arranged on the inner side of the right leg kneecap corresponding to the right lower leg of the user, and a fourth sensor is arranged on the right leg kneecap corresponding to the thigh;
the inner side of the treadmill support frame is provided with a fifth sensor, and the inner side of the air bag at the top of the support frame is provided with a plurality of sixth sensors corresponding to the waist of a user.
It should be noted that, a motion space is established according to a VR scene, a leg motion signal and a gravity signal are simultaneously acquired to obtain gait space information, specifically, a moving direction or a direction to be moved of a moving object can be obtained through the leg motion signal, when the leg moves, the center of gravity also changes correspondingly, in the process of the change of the center of gravity, the gravity signal is detected, the change information of the center of gravity of the moving object is analyzed, and displacement track information and motion parameters are obtained by analysis, the displacement track can be a sole motion track or a human body center of gravity displacement track, the difference of gait characteristics is mainly embodied in differences of body types, such as body proportion, height, step length and the like, the swing amplitude and swing frequency of the upper body and arms can affect the gait space information, when the gait changes, the position of the moving object in the motion space correspondingly changes, in order to keep the moving object and the motion space relatively still, correction processing on the gait space information is required.
According to the embodiment of the invention, the safety information of the user is obtained through the body posture information of the user, and meanwhile, the operation parameter information of the platform is dynamically adjusted; the method specifically comprises the following steps:
acquiring the action information of the left leg of the user through a first sensor and a second sensor;
acquiring the action information of the right leg of the user through a third sensor and a fourth sensor;
acquiring dynamic change information of the distance between the leg and the treadmill support frame through a fifth sensor;
acquiring waist twisting information of a user through a sixth sensor;
analyzing the gravity center information through the left leg action information and the right leg action information, and calculating the gravity center shift information to obtain the gravity center shift rate;
user safety information is dynamically acquired through limb posture information and waist wriggling information;
pre-judging the body posture change information of the user according to the safety information of the user;
the running parameter information of the treadmill is pre-judged and corrected according to the body posture change information of the user, and meanwhile, the inflation quantity of the air bag is adjusted for air bag safety protection.
It should be noted that, when detecting that the left leg or the right leg signal is abnormal, it indicates that the body inclination rate of the user exceeds a predetermined threshold, at this time, it needs to be determined whether to stop running the treadmill or adjust running parameters of the treadmill, when the body inclination of the user is large, it needs to be forced to stop running the treadmill, it is determined by the large deviation of the leg signal, during the running process of the user, the fifth sensors on the support frames detect the dynamic change information of the distance between the legs and the support frames, the fifth sensors are all arranged on the three support frames, and can monitor from three directions respectively, the monitoring referential is high, when detecting that any one or more of the fifth sensors on the three support frames detect that the distance between the legs and the support frames is abnormal, it indicates that at least one leg is cheap, and at this time, it assists with the user inclination information, the user body posture dynamic change information, and the user waist twisting information Judging, if two or more than two of the three are abnormal, carrying out treadmill scram, in the scram process, inflating the protection airbag on the treadmill, preventing the user from falling and prejudging, when only the running parameter of the treadmill needs to be adjusted, gradually adjusting the running speed or the acceleration of the treadmill, slowly making the body of the user tend to be stable, after the body of the user is stable, adjusting the running speed of the treadmill to be in a preset uniform speed state, and then recovering the normal state of the treadmill.
According to the embodiment of the invention, the user inclination information and the body posture analysis of the user in the running process are calculated through the waist twisting signal of the user and the dynamic change information of the distance between the legs and the treadmill support frame, so that the body posture information of the user is obtained; through limbs posture information, acquire user's safety information, dynamic adjustment platform operating parameter simultaneously still includes:
according to the leg action signals, obtaining displacement tracks, analyzing gravity center information and establishing a track data model;
analyzing the dynamic change information of the user limb and the user inclination information through the limb posture information and the waist wriggling information;
adopting track segmentation to carry out displacement track information segmentation and extraction, and establishing a single-step gait database;
performing single-step gait analysis through data indexing, and performing aggregation simulation on gait analysis results to obtain complete gait space information;
analyzing the change of the limb posture of the user according to the analysis of the limb posture of the user to obtain user safety information;
and pre-judging and correcting running parameter information of the treadmill according to the safety information of the user and the body posture change information of the user, and synchronously and dynamically correcting the running speed or the acceleration of the treadmill.
It should be noted that, in this embodiment, the moving space is a circular platform or a magnetic biasing platform, but is not limited to these two types, and those skilled in the art can selectively adjust the moving space according to the actual use situation, a moving magnetic field is established outside the moving platform, and the establishment of the moving magnetic field generates a magnetic field by energizing a coil, where the coil may be one, two, or more coils individually energized or multiple coils cooperatively energized, and the coils are not in the same plane, it can be understood that a plurality of coils are located in a three-dimensional or multi-dimensional space, when one coil is energized, a single constant magnetic field is generated, when a plurality of coils are energized, an acting force and a reaction force are generated between a plurality of magnetic fields generated by a plurality of coils, and interaction of the magnetic fields is performed, magnetic force is cancelled, and the energizing manner of the coils can be individually energized or a plurality of coils are energized according to a predetermined sequence or a, or a plurality of coils are matched with a plurality of ways of electrifying at the same time, and the use is flexible.
The correction of the gait space information specifically comprises the following steps:
acquiring displacement direction information, a gravity signal and displacement acceleration information according to the gait space information;
carrying out reverse correction on the displacement direction information and the displacement acceleration information;
the displacement acceleration information is corrected by
Figure BDA0002422813350000201
Wherein, ax、ay、azRespectively represent the corrected acceleration information, Ax、Ay、AzRespectively representing measured acceleration information, X4*3Then represents the correction matrix, the value k in the matrix1、k2、k3Then represents the three-axis scale factor, ERx、ERy、ERzThen represents zero drift, kyx、kzx、kxy、kzy、kxz、kyzAnd representing the coupling factor, acquiring n groups of acceleration data each time, and correcting, wherein the value range of n is a positive integer with n being more than or equal to 1.
It should be noted that after the moving object is processed by the pre-determination correction information in the motion space, the acceleration information needs to be corrected, so that the error is maintained within a predetermined range, the accelerations of the moving object at different times may be the same or different, and the reverse acceleration when the correction needs to be performed also changes at the same time in different time periods of the acceleration, the accelerations in different time periods are corrected by the correction matrix, and the zero drift of the moving object is removed in consideration of the influence of the zero drift deviation of the moving object point, and n sets of acceleration data are quantized, i.e., the amplitude of the sampled instantaneous value is dispersed, so that the measurement can be performed definitely.
In addition, the VR scene mainly includes aspects of a simulated environment, perception, natural skills, sensing equipment and the like, and the simulated environment is a three-dimensional realistic image which is generated by a computer and is dynamic in real time. The perception means that an ideal VR should have the perception of all people, besides the visual perception generated by the computer graphics technology, the perception of hearing, touch, force sense, motion, and the like, even including smell, taste, and the like, also called multi-perception, the motion space may be a virtual motion space or a real motion space, specifically, the real motion space may be a room or a platform selected according to the VR scene, the area of the room and the size of the platform may be changed according to the VR scene, for example, when the VR scene needs a single person to perform simulation operation, only a small room area or platform area needs to be selected, e.g. 5-20 square meters, preferably 10 square meters, when multiple persons are required to cooperate with the simulation, a larger space for movement needs to be established, e.g. a room area of 20-100 square meters and a platform size is selected, preferably a space for movement of 50 square meters.
The anti-falling prejudgment system adopts an AT89C51 singlechip data acquisition unit and a central processing unit for data processing, storage and control, the data acquisition unit is communicated with a sensor through an IIC protocol, the acquisition units are communicated through RS485 interfaces, the data acquisition unit temporarily stores data and an internal RAM, the acquisition units of all modules simultaneously acquire uploaded data, and the non-delay precision of the data is ensured, wherein the type of the singlechip can be selected by technicians in the field according to actual needs, such as selection of ATMEGA48 or AT89C52, and the like.
The acceleration sensor is mainly used for detecting acceleration information of a moving object, the acceleration information can display the motion change state of the moving object in real time, error correction is carried out through acquisition of the acceleration information, during correction, the acceleration in correction processing information is the same as the acceleration value of the moving object, but the direction is opposite, so that the displacement of the moving object is zero, and the moving object is kept relatively still.
In addition, AT89C51 provides standard functions of 4 kbyte Flash memory, 256 bytes on-chip data memory (00H-7FH is on-chip RAM, 80H-FFH is special function register SFR), 32I/O port lines, two 16-bit timing/counters, a 5-vector two-stage interrupt structure, a full-duplex serial communication port, an on-chip oscillator and a clock circuit, and AT the same time, AT89C51 can be reduced to 0Hz static logic operation and support two software selectable power-saving operating modes. The idle mode stops the CPU from operating, but allows the RAM, timer/counter, serial port and interrupt system to continue operating. The power down mode saves the contents of the RAM, but the oscillator stops and inhibits all other components from operating until the next hardware reset
According to the embodiment of the present invention, the method for obtaining the pre-judging signal according to the leg action signal and the gravity signal to pre-judge in advance to obtain the pre-judging correction information further includes:
acquiring a displacement track according to the leg action signal, and establishing a track data model;
adopting track segmentation to carry out displacement track information segmentation and extraction, and establishing a single-step gait database;
performing single-step gait analysis through data indexing, and performing aggregation simulation on gait analysis results to obtain complete gait space information;
and determining pre-judgment correction information according to the complete gait space information.
Specifically, in the process of performing the prejudgment correction, the motion parameter is not necessarily corrected accurately at one time, so that two or more corrections are required, and the basis of the two or more corrections is that the deviation correction is performed after the correction according to the primary correction information, a predetermined deviation is preset in the correction process, the correction can be completed as long as the corrected motion parameter is kept within the predetermined deviation, when the corrected deviation is larger than the predetermined deviation, the two corrections are required, in the secondary correction process, the secondary prejudgment correction information is determined again according to the deviation, after the secondary correction, the gait space information after the secondary correction is compared with the secondary prejudgment correction information again until the deviation ratio between the prejudgment correction information and the gait space information is within the set range of the predetermined deviation ratio, and the prejudgment correction information after the correction can perform reverse correction on the motion space, establishing a new motion space, namely a virtual or simulated motion space, namely, when the gait space information changes during correction processing, correcting the gait space information in real time through the correction processing information, feeding the gait space information back to the VR scene, and adapting the VR scene to the correction processing information to realize the precision of the VR treadmill, so that the virtual motion space in the VR scene changes in real time according to the correction information, and the virtual motion space is still ensured to be positioned at the center of the motion space in real time in sense.
In addition, the database is a space-time database, which is a database that embodies concepts of time, space and space-time and captures characteristics of time and space of data at the same time, the space-time database is mainly used for storing and managing various space objects with positions and states changing along with time, and analyzing and processing the space-time information of the objects.
In addition, the method specifically includes the following steps of performing inverse correction of a motion space while performing prejudgment correction, and establishing a new motion space:
determining the initial coordinate information of limbs in the motion space;
extracting the position of the real-time limb in the motion space and real-time coordinate information in the gait change process;
correcting the motion space through the correction processing information to obtain the position deviation rate of the limb coordinate information in the motion space;
judging whether the position deviation rate is greater than a preset position deviation rate threshold value or not;
and if the position deviation ratio is larger than the preset position deviation ratio threshold value, performing reverse correction on the motion space.
Wherein, the initial coordinate information is marked as (x)0,y0) And the detected real-time coordinate information is recorded as (x)j,yj) J is a positive integer, and each time coordinate information is detected, the value of j is added by 1,
real time coordinates (x)j,yj) And the starting coordinate (x)0,y0) The deviation of displacement on the X axis is X ═ Xj-x0The displacement deviation on the Y axis is Y ═ Yj-y0；
Deviation ratio ρ of moving object in X-axis directionxIs composed of
Figure BDA0002422813350000231
Wherein x0≠0；
Deviation ratio ρ of moving object in Y-axis directionyIs composed of
Figure BDA0002422813350000232
Wherein y is0≠0；
The deviation ratio of the moving object in the motion space is
Figure BDA0002422813350000241
Wherein xj-x0≠0；
Real-time displacement of moving objects
Figure BDA0002422813350000242
And performing displacement correction through the real-time displacement and the real-time coordinate information, and if the corrected coordinate information has a certain deviation from the real-time coordinate information, calculating a deviation threshold value.
When the moving object is only displaced in the X-axis direction, it is necessary to calculate ρxThe deviation ratio from the preset deviation ratio is calculated when the moving object is only displaced in the Y-axis directionyAnd whether the deviation threshold value between the preset deviation rate is within the deviation range or not.
The gait space prejudgment correction information is obtained according to the coordinate information in the gait space, the prejudgment correction process is more accurate, the prejudgment can be performed in advance through the prejudgment correction information according to the real-time monitoring gait space information and the coordinate information, the hysteresis of the system is reduced, the prejudgment correction information is determined, single step information is extracted by performing gait segmentation on the gait space information, the single step information is analyzed, the analyzed result is aggregated again, the completed gait space information can be obtained, and the aggregation overall correction is performed through the single step correction.
According to the embodiment of the present invention, the prejudging and correcting information specifically includes:
determining the initial coordinate information of limbs in the motion space;
extracting the position of the real-time limb in the motion space and real-time coordinate information in the gait change process;
determining motion parameters in the gait change process;
determining pre-judgment correction information according to the motion parameters;
the motion parameters comprise one or more of motion direction, gravity information, moving speed or acceleration.
The third aspect of the present invention further provides a computer-readable storage medium, where the computer-readable storage medium includes a program of a method for judging whether a VR treadmill falls or not, and when the program of the method is executed by a processor, the steps of the method for judging whether the VR treadmill falls or not are implemented.
Different motion spaces are established through different VR scenes, the displacement track and gait space information are monitored in real time according to leg action signals, the accuracy of prejudgment and correction is improved, in the motion process, the motion space is reversely corrected through the gait space information, so that the relative displacement of a motion object in the motion space is zero, the omnidirectional motion of the motion object is realized, in the correction process, the running state of the treadmill is adjusted according to the gravity information and the included angle between the gravity center and the platform, and a user can stably move on the treadmill.
When the signals of the left leg or the right leg are detected to be abnormal, the situation that the body inclination rate of a user exceeds a preset threshold value is indicated, at the moment, whether running of the running machine is stopped or running parameters of the running machine are required to be adjusted is judged, when the body of the user is inclined greatly and the running of the running machine is forced to be stopped, judgment is carried out through large deviation of leg signals, dynamic change information of the distance between the leg and the support frame is detected through a fifth sensor on the support frame in the running process of the user, the third support frame is provided with the fifth sensor which can monitor from three directions respectively, the monitoring reference is high, when any one or more than two fifth sensors on the three support frames are detected to detect that the distance between the leg and the support frame is abnormal, the situation that at least one leg has a large distance is indicated, and auxiliary judgment is carried out by matching with the inclination information of the user, the dynamic change information of, if two or more than two of the three are abnormal, the treadmill suddenly stops, in the process of sudden stop, the protective air bag on the treadmill inflates to prevent the user from falling and prejudge, when the running parameters of the treadmill are only required to be adjusted, the running speed or the acceleration of the treadmill is gradually adjusted to slowly enable the body of the user to tend to be stable, after the body of the user is stable, the running speed of the treadmill is adjusted to be in a preset uniform speed state, and at the moment, the treadmill returns to a normal state.
According to the displacement track and the gait space information monitored in real time, the system can be prejudged in advance through prejudgment correction information, the hysteresis of the system is reduced, in the process of determining the prejudgment correction information, single step information is extracted by carrying out gait segmentation on the gait space information, the single step information is analyzed, the analyzed result is aggregated again, the finished gait information can be obtained, the aggregation overall correction is carried out through the single step correction, and in the correction process, the motion state of the treadmill is matched with the motion state of the user according to the left leg action signal and the right leg action signal of the user, so that the user can be prevented from falling down.
In the several embodiments provided in the present application, it should be understood that the disclosed apparatus and method may be implemented in other ways. The above-described device embodiments are merely illustrative, for example, the division of a unit is only one logical function division, and there may be other division ways in actual implementation, such as: multiple units or components may be combined, or may be integrated into another system, or some features may be omitted, or not implemented. In addition, the coupling, direct coupling or communication connection between the components shown or discussed may be through some interfaces, and the indirect coupling or communication connection between the devices or units may be electrical, mechanical or other forms.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units; can be located in one place or distributed on a plurality of network units; some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
In addition, all the functional units in the embodiments of the present invention may be integrated into one processing unit, or each unit may be separately regarded as one unit, or two or more units may be integrated into one unit; the integrated unit can be realized in a form of hardware, or in a form of hardware plus a software functional unit.
Those of ordinary skill in the art will understand that: all or part of the steps for realizing the method embodiments can be completed by hardware related to program instructions, the program can be stored in a computer readable storage medium, and the program executes the steps comprising the method embodiments when executed; and the aforementioned storage medium includes: a mobile storage device, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.
Alternatively, the integrated unit of the present invention may be stored in a computer-readable storage medium if it is implemented in the form of a software functional module and sold or used as a separate product. Based on such understanding, the technical solutions of the embodiments of the present invention may be essentially implemented or a part contributing to the prior art may be embodied in the form of a software product, which is stored in a storage medium and includes several instructions for enabling a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the methods of the embodiments of the present invention. And the aforementioned storage medium includes: a removable storage device, a ROM, a RAM, a magnetic or optical disk, or various other media that can store program code.
The above description is only for the specific embodiments of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art can easily conceive of the changes or substitutions within the technical scope of the present invention, and the changes or substitutions should be covered within the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.

Claims (10)

1. An anti-falling pre-judging method of a VR treadmill is characterized by comprising the following steps:
establishing a motion space according to a VR scene, wherein a first sensor and a second sensor are used for detecting a left leg action signal of a user, and a third sensor and a fourth sensor are used for detecting a right leg action signal of the user;
the fifth sensor is used for detecting a waist wriggling signal; the sixth sensor is used for detecting the dynamic change information of the distance between the leg and the treadmill support frame;
acquiring left leg action signals detected by a first sensor and a second sensor through a first signal receiver;
acquiring right leg action signals detected by a third sensor and a fourth sensor through a second signal receiver;
calculating user inclination information and body posture analysis of a user in a running process according to leg action signal gravity centers of the left leg and the right leg and platform included angle information and dynamic distance change information between the legs and a treadmill support frame through a user waist twisting signal, so as to obtain body posture information of the user;
acquiring user safety information through the body posture information, and dynamically adjusting platform operation parameters;
a first sensor is arranged on the inner side of the left leg kneecap corresponding to the position of the lower leg of the left leg of the user, and a second sensor is arranged on the left leg kneecap corresponding to the position of the upper leg;
a third sensor is arranged on the inner side of the right leg kneecap corresponding to the right lower leg of the user, and a fourth sensor is arranged on the right leg kneecap corresponding to the thigh;
the inner side of the treadmill support frame is provided with a fifth sensor, and the inner side of the air bag at the top of the support frame is provided with a plurality of sixth sensors corresponding to the waist of a user.
2. The method of claim 1, wherein the method comprises:
acquiring user safety information through the body posture information of the user, and dynamically adjusting the operating parameter information of the platform; the method specifically comprises the following steps:
acquiring the action information of the left leg of the user through a first sensor and a second sensor;
acquiring the action information of the right leg of the user through a third sensor and a fourth sensor;
acquiring dynamic change information of the distance between the leg and the treadmill support frame through a fifth sensor;
acquiring waist twisting information of a user through a sixth sensor;
analyzing the gravity center information through the left leg action information and the right leg action information, and calculating the gravity center shift information to obtain the gravity center shift rate;
user safety information is dynamically acquired through limb posture information and waist wriggling information;
pre-judging the body posture change information of the user according to the safety information of the user;
the running parameter information of the treadmill is pre-judged and corrected according to the body posture change information of the user, and meanwhile, the inflation quantity of the air bag is adjusted for air bag safety protection.
3. The method of claim 1, wherein the method comprises: acquiring gait space information comprises the following steps:
establishing discrete distribution nodes;
preprocessing, gait space information extraction and algorithm identification node information are carried out frame by frame, and gait cycle and gait space parameters are extracted;
extracting a real-time displacement track by using a numerical integration and trend removal algorithm through gait space parameters;
and combining the track fluctuation information to generate displacement track information, and recording the displacement track information into a database.
4. The method of claim 3, wherein the method comprises:
the gait space information comprises one or two or three combinations of the motion route simulated according to the VR scene, the limb gait change information realized according to the VR scene, or the motion information preprocessed according to the VR scene.
5. The method of claim 3, wherein the method comprises:
the correction of the gait space information specifically comprises the following steps:
acquiring displacement direction information, a gravity signal and displacement acceleration information according to the gait space information;
carrying out reverse correction on the displacement direction information and the displacement acceleration information;
the displacement acceleration information is corrected by
Figure FDA0002422813340000031
Wherein, ax、ay、azRespectively represent the corrected acceleration information, Ax、Ay、AzRespectively representing measured acceleration information, X4*3Then represents the correction matrix, the value k in the matrix1、k2、k3Then represents the three-axis scale factor, ERx、ERy、ERzThen represents zero drift, kyx、kzx、kxy、kzy、kxz、kyzAnd representing the coupling factor, acquiring n groups of acceleration data each time, and correcting, wherein the value range of n is a positive integer with n being more than or equal to 1.
6. The method of claim 1, wherein the method comprises: calculating user inclination information and limb posture analysis of a user in a running process through a waist twisting signal of the user and dynamic change information of a distance between a leg and a treadmill support frame to obtain limb posture information of the user; through limbs posture information, acquire user's safety information, dynamic adjustment platform operating parameter simultaneously still includes:
according to the leg action signals, obtaining displacement tracks, analyzing gravity center information and establishing a track data model;
analyzing the dynamic change information of the user limb and the user inclination information through the limb posture information and the waist wriggling information;
adopting track segmentation to carry out displacement track information segmentation and extraction, and establishing a single-step gait database;
performing single-step gait analysis through data indexing, and performing aggregation simulation on gait analysis results to obtain complete gait space information;
analyzing the change of the limb posture of the user according to the analysis of the limb posture of the user to obtain user safety information;
and pre-judging and correcting running parameter information of the treadmill according to the safety information of the user and the body posture change information of the user, and synchronously and dynamically correcting the running speed or the acceleration of the treadmill.
7. A VR treadmill prevent falling and prejudge system characterized in that, this system includes: the anti-falling pre-judging method of the VR treadmill comprises a memory and a processor, wherein the memory comprises an anti-falling pre-judging method program of the VR treadmill, and the processor executes the anti-falling pre-judging method program of the VR treadmill to realize the following steps:
establishing a motion space according to a VR scene, wherein a first sensor and a second sensor are used for detecting a left leg action signal of a user, and a third sensor and a fourth sensor are used for detecting a right leg action signal of the user;
the fifth sensor is used for detecting a waist wriggling signal; the sixth sensor is used for detecting the dynamic change information of the distance between the leg and the treadmill support frame;
acquiring left leg action signals detected by a first sensor and a second sensor through a first signal receiver;
acquiring right leg action signals detected by a third sensor and a fourth sensor through a second signal receiver;
calculating user inclination information and body posture analysis of a user in a running process according to leg action signal gravity centers of the left leg and the right leg and platform included angle information and dynamic distance change information between the legs and a treadmill support frame through a user waist twisting signal, so as to obtain body posture information of the user;
acquiring user safety information through the body posture information, and dynamically adjusting platform operation parameters;
a first sensor is arranged on the inner side of the left leg kneecap corresponding to the position of the lower leg of the left leg of the user, and a second sensor is arranged on the left leg kneecap corresponding to the position of the upper leg;
a third sensor is arranged on the inner side of the right leg kneecap corresponding to the right lower leg of the user, and a fourth sensor is arranged on the right leg kneecap corresponding to the thigh;
the treadmill support frame inboard is provided with the fifth sensor, and support frame top gasbag inboard is located and is provided with three sixth sensor along gasbag circumference interval corresponding to user's waist.
8. The anti-fall pre-determination system of a VR treadmill of claim 7, wherein:
acquiring user safety information through the body posture information of the user, and dynamically adjusting the operating parameter information of the platform; the method specifically comprises the following steps:
acquiring the action information of the left leg of the user through a first sensor and a second sensor;
acquiring the action information of the right leg of the user through a third sensor and a fourth sensor;
acquiring dynamic change information of the distance between the leg and the treadmill support frame through a fifth sensor;
acquiring waist twisting information of a user through a sixth sensor;
analyzing the gravity center information through the left leg action information and the right leg action information, and calculating the gravity center shift information to obtain the gravity center shift rate;
user safety information is dynamically acquired through limb posture information and waist wriggling information;
pre-judging the body posture change information of the user according to the safety information of the user;
the running parameter information of the treadmill is pre-judged and corrected according to the body posture change information of the user, and meanwhile, the inflation quantity of the air bag is adjusted for air bag safety protection.
9. The anti-fall pre-determination system of a VR treadmill of claim 7, wherein:
calculating user inclination information and limb posture analysis of a user in a running process through a waist twisting signal of the user and dynamic change information of a distance between a leg and a treadmill support frame to obtain limb posture information of the user; through limbs posture information, acquire user's safety information, dynamic adjustment platform operating parameter simultaneously still includes:
according to the leg action signals, obtaining displacement tracks, analyzing gravity center information and establishing a track data model;
analyzing the dynamic change information of the user limb and the user inclination information through the limb posture information and the waist wriggling information;
adopting track segmentation to carry out displacement track information segmentation and extraction, and establishing a single-step gait database;
performing single-step gait analysis through data indexing, and performing aggregation simulation on gait analysis results to obtain complete gait space information;
analyzing the change of the limb posture of the user according to the analysis of the limb posture of the user to obtain user safety information;
and pre-judging and correcting running parameter information of the treadmill according to the safety information of the user and the body posture change information of the user, and synchronously and dynamically correcting the running speed or the acceleration of the treadmill.
10. A computer-readable storage medium characterized by: the computer readable storage medium includes a program of a fall prevention anticipation method for a VR treadmill, which when executed by a processor, implements the steps of the method of any one of claims 1 to 6.
CN202010211004.XA 2020-03-24 2020-03-24 Anti-falling pre-judging method and system for VR (virtual reality) treadmill and readable storage medium Withdrawn CN111330213A (en)

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