CN111558198A - 具有虚拟现实系统的跑步训练机及其工作模式 - Google Patents

具有虚拟现实系统的跑步训练机及其工作模式 Download PDF

Info

Publication number
CN111558198A
CN111558198A CN202010087813.4A CN202010087813A CN111558198A CN 111558198 A CN111558198 A CN 111558198A CN 202010087813 A CN202010087813 A CN 202010087813A CN 111558198 A CN111558198 A CN 111558198A
Authority
CN
China
Prior art keywords
treadmill
virtual
virtual model
user
virtual reality
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
CN202010087813.4A
Other languages
English (en)
Inventor
R·A·基尔马诺维奇
K·R·科马罗夫
V·V·波利扬斯基
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Dv Jennie Reynolds Co ltd
Original Assignee
Dv Jennie Reynolds Co ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Dv Jennie Reynolds Co ltd filed Critical Dv Jennie Reynolds Co ltd
Publication of CN111558198A publication Critical patent/CN111558198A/zh
Pending legal-status Critical Current

Links

Images

Classifications

    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B22/00—Exercising apparatus specially adapted for conditioning the cardio-vascular system, for training agility or co-ordination of movements
    • A63B22/0015—Exercising apparatus specially adapted for conditioning the cardio-vascular system, for training agility or co-ordination of movements with an adjustable movement path of the support elements
    • A63B22/0023—Exercising apparatus specially adapted for conditioning the cardio-vascular system, for training agility or co-ordination of movements with an adjustable movement path of the support elements the inclination of the main axis of the movement path being adjustable, e.g. the inclination of an endless band
    • 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
    • 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
    • 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
    • A63B22/16—Platforms for rocking motion about a horizontal axis, e.g. axis through the middle of the platform; Balancing drums; Balancing boards or the like
    • 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
    • A63B71/06—Indicating or scoring devices for games or players, or for other sports activities
    • A63B71/0619—Displays, user interfaces and indicating devices, specially adapted for sport equipment, e.g. display mounted on treadmills
    • A63B71/0622—Visual, audio or audio-visual systems for entertaining, instructing or motivating the user
    • 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
    • A63B22/06—Exercising apparatus specially adapted for conditioning the cardio-vascular system, for training agility or co-ordination of movements with support elements performing a rotating cycling movement, i.e. a closed path movement
    • A63B22/0605—Exercising apparatus specially adapted for conditioning the cardio-vascular system, for training agility or co-ordination of movements with support elements performing a rotating cycling movement, i.e. a closed path movement performing a circular movement, e.g. ergometers
    • A63B2022/0635—Exercising apparatus specially adapted for conditioning the cardio-vascular system, for training agility or co-ordination of movements with support elements performing a rotating cycling movement, i.e. a closed path movement performing a circular movement, e.g. ergometers specially adapted for a particular use
    • A63B2022/0641—Exercising apparatus specially adapted for conditioning the cardio-vascular system, for training agility or co-ordination of movements with support elements performing a rotating cycling movement, i.e. a closed path movement performing a circular movement, e.g. ergometers specially adapted for a particular use enabling a lateral movement of the exercising apparatus, e.g. for simulating movement on a bicycle
    • 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
    • A63B2024/009—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 in synchronism with visualising systems, e.g. hill slope
    • 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
    • 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
    • A63B2024/0096—Electric or electronic controls for exercising apparatus of groups A63B21/00 - A63B23/00, e.g. controlling load using performance related parameters for controlling electronic or video games or avatars
    • 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
    • A63B71/06—Indicating or scoring devices for games or players, or for other sports activities
    • A63B71/0619—Displays, user interfaces and indicating devices, specially adapted for sport equipment, e.g. display mounted on treadmills
    • A63B71/0622—Visual, audio or audio-visual systems for entertaining, instructing or motivating the user
    • A63B2071/0636—3D visualisation
    • 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
    • A63B71/06—Indicating or scoring devices for games or players, or for other sports activities
    • A63B71/0619—Displays, user interfaces and indicating devices, specially adapted for sport equipment, e.g. display mounted on treadmills
    • A63B71/0622—Visual, audio or audio-visual systems for entertaining, instructing or motivating the user
    • A63B2071/0638—Displaying moving images of recorded environment, e.g. virtual environment
    • 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
    • A63B71/06—Indicating or scoring devices for games or players, or for other sports activities
    • A63B71/0619—Displays, user interfaces and indicating devices, specially adapted for sport equipment, e.g. display mounted on treadmills
    • A63B71/0622—Visual, audio or audio-visual systems for entertaining, instructing or motivating the user
    • A63B2071/0638—Displaying moving images of recorded environment, e.g. virtual environment
    • A63B2071/0644—Displaying moving images of recorded environment, e.g. virtual environment with display speed of moving landscape controlled by the user's performance
    • 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
    • A63B71/06—Indicating or scoring devices for games or players, or for other sports activities
    • A63B71/0619—Displays, user interfaces and indicating devices, specially adapted for sport equipment, e.g. display mounted on treadmills
    • A63B2071/065—Visualisation of specific exercise parameters
    • 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
    • A63B71/06—Indicating or scoring devices for games or players, or for other sports activities
    • A63B71/0619—Displays, user interfaces and indicating devices, specially adapted for sport equipment, e.g. display mounted on treadmills
    • A63B2071/0658—Position or arrangement of display
    • A63B2071/0661—Position or arrangement of display arranged on the user
    • A63B2071/0666—Position or arrangement of display arranged on the user worn on the head or face, e.g. combined with goggles or glasses
    • 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
    • A63B71/06—Indicating or scoring devices for games or players, or for other sports activities
    • A63B2071/0675—Input for modifying training controls during workout
    • A63B2071/068—Input by voice recognition
    • 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
    • A63B22/18—Exercising apparatus specially adapted for conditioning the cardio-vascular system, for training agility or co-ordination of movements with elements, i.e. platforms, having a circulating, nutating or rotating movement, generated by oscillating movement of the user, e.g. platforms wobbling on a centrally arranged spherical support
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B2220/00—Measuring of physical parameters relating to sporting activity
    • A63B2220/10—Positions
    • A63B2220/13—Relative positions
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B2220/00—Measuring of physical parameters relating to sporting activity
    • A63B2220/80—Special sensors, transducers or devices therefor
    • A63B2220/803—Motion sensors
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B2220/00—Measuring of physical parameters relating to sporting activity
    • A63B2220/80—Special sensors, transducers or devices therefor
    • A63B2220/83—Special sensors, transducers or devices therefor characterised by the position of the sensor
    • A63B2220/833—Sensors arranged on the exercise apparatus or sports implement

Landscapes

  • Health & Medical Sciences (AREA)
  • General Health & Medical Sciences (AREA)
  • Physical Education & Sports Medicine (AREA)
  • Engineering & Computer Science (AREA)
  • Cardiology (AREA)
  • Vascular Medicine (AREA)
  • Multimedia (AREA)
  • Human Computer Interaction (AREA)
  • Rehabilitation Tools (AREA)
  • Processing Or Creating Images (AREA)

Abstract

本发明涉及训练设备，其被制造用于在具有或不具有测量仪器的情况下借助于克服反作用力的锻炼而促使肌肉组织或关节发育及增强，且涉及个人在虚拟现实建模系统中的运动。本发明的组合中包括适于当前任务并具有至少两个自由度的原始构成的跑步训练机、通过根据虚拟下垫面的地势来控制跑步机跑道的运动和跑步机的斜率两者来实现用户定位功能的硬件和软件设备。定位系统可使用不同传感器和反馈通道来建立。来自虚拟模型的地势读数基于从下垫面海拔字段来生成数据阵列的计算设备，该字段能够例如基于摄影测量数据来建立并且例如通过虚拟现实眼镜提供世界的三维模型的可视化。

Description

具有虚拟现实系统的跑步训练机及其工作模式
技术领域
本发明涉及训练设备，其被制造用于在具有或不具有测量仪器的情况下借助于克服反作用力的锻炼而促使肌肉组织或关节发育及增强，并且还涉及个人在虚拟现实建模系统中的运动。
背景技术
从谷歌的专利申请中已知现有技术，其基于包括计算机和外围通信设备的机器人鞋以及使用户定位成使得在虚拟世界中活动所需的空间最小化(EN 20180326286，2018年11月15日)。
根据专利KR100483857B1已知将跑步机连接至虚拟现实系统，该专利被选择作为所述设备和方法的原型。
已知技术方案的缺点为受限于用户的速度，并且无法将虚拟空间中变化的地形考虑在内，以及分别传送地势的曲率以改变用户肌肉上的负载。另外，没有在训练过程中校正用户位置的系统。
发明内容
要求保护的本发明的问题在于形成一种跑步机，在其控制电路中具有集成式虚拟现实复合可视化，并且用户的运动不受仿真器所处房间的维度的限制。
所述设备的技术效果是可以通过形成具有任何复杂度和长度的踪迹而对跑步机上更有效训练的过程进行建模，从而在可用于训练的空间有限的条件下提供完全沉浸在虚拟世界中的效果。
该技术效果通过如下跑步机来实现：该跑步机具有虚拟现实系统，包含跑道、生成虚拟现实的计算设备、控制系统，并且其特征在于，该跑步机具有至少两个自由度，包括竖直驱动通道和翻滚驱动通道，该跑步机运行时，可以根据虚拟现实的地形而改变纵向方向和横向方向上的斜率，由此，如果虚拟模型中的地势在海拔上发生变化，则电压作为控制信号而施加到竖直通道的一对前方或后方推举致动器上，同时致动器上的力引起支撑杆旋转，从而外部力框架将其单元的前部或者后部抬升，并且控制信号包括翻滚电路中的电力接通，且在通道组的右致动器和左致动器上同时施加电压，但是极性相反，这引起在虚拟景观模型沿横向方向在地面曲率上变化的情况下内部活动框架会旋转。
此外，所述技术效果还通过如下方法来实现，该方法用于在使用跑步机的过程中模拟虚拟现实中的运动，且包括：选择预先配置的驱动模式之一和虚拟模型；在开始执行虚拟模型之后跟踪用户的位置，用户的位置在初始时位于跑步机的跑带的中心部分中；在虚拟模型的执行过程中，根据该虚拟模型中地势的变化，沿纵向方向和横向方向改变所述跑步机的动力框架的角度；在连续跟踪用户在跑步机跑带中心的指定终端区中的位置的同时，并且在用户偏离到该指定终端区之外的情况下，改变动力框架(即负载框架)的倾斜角并使活动框架旋转，并且在需要时改变跑步机跑带(即皮带)的运动速度，以使得根据所述虚拟模型将所述用户带回到指定的终端区；在该校正之后，控制系统根据虚拟模型中的地势使跑道的皮带的位置返回。
利用不同的传感器和反馈渠道能够构建定位系统。来自虚拟模型的地势读数基于从下垫面海拔字段来生成数据阵列的计算设备，该字段能够例如基于摄影测量数据来建立并且例如通过虚拟现实眼镜提供世界的三维模型的可视化。
该问题能够通过如下解决：本发明允许移动下垫面，其与三维虚拟跑道相关联以满足用户的运动(给定了其相对于跑步机中心的空间位置和定向)。可以采用强制人工偏移，以避免用户与限定该模拟器的物理边界的机械部件相接触。
附图说明
本发明通过附图示出，在附图中：
图1示出用户位于跑步机上；
图2示出虚拟世界的模型；
图3示出跑步机的设计；
图4示出节点驱动通道组；
图5示出定位系统操作的逻辑框图；
图6示出模拟器的控制系统的功能框图。
具体实施方式
在图3中示出了跑步机设备，其包括动力框架13，该动力框架13在初始状态下借助于四个支腿12置于健身房的地面上，所述支腿12具有带橡胶垫的铰接跟部。在框架13的侧轮廓(即，长边)上附接有扶手16，扶手16上设置有位置传感器5，并且在扶手16的前部上安装有显示控制器6。
在框架13的侧向轮廓的外侧为竖直通道9的致动器的附接点以及翻滚驱动通道10的壳体。此外，在侧向轮廓的中间部分配备有用于安装活动轴承8的凸耳，在其下部分具有支承辊。
在框架13的前部轮廓和后部轮廓(即，短边)上具有用于安装轴11的支承轴承，活动框架14通过所述轴11而连接至框架13。在活动框架14上还设置有牵引马达7，该牵引马达7通过齿形带来驱动导辊，从而使跑步机11的跑带活动。由用户施加到活动框架14上部的负载被施加在下方的片状高强度夹板15上，该夹板15供跑带17在其上滑动通过。
在具有U形横截面的框架13的侧轮廓的内腔中，具有用于控制活动框架14活动的机构。在图4中示出了右侧机构，其包括由马达和蜗轮构成的翻滚驱动通道10。齿轮箱的输出元件通过正齿轮与轴18连接，形成滚珠丝杆传动器的一部分，其中纵向浮动元件形成为两个滑块19的形式。用于所述滑块的引导件为动力框架13的U形轮廓的内表面。在所述两个滑块的端部具有轴，在该轴上具有辊20。辊20在凸轮21的位置的侧边运动，该凸轮21被刚性固定在活动框架14的侧表面上。这样的机构位于跑步机的两侧，这增加了整个结构的刚性。
本发明的实现如下。所述机构如下工作。
根据图5中所示的逻辑，用户在跑步机的跑带上，利用触摸屏上的界面功能选择希望的路径和驱动模式。接下来，如图1中所示，用户站在跑步机的终端区3的中心，戴上FlatZone(平区)1和VR 2。此外，用户利用显示器4上的命令界面来激活自主式定位系统，利用传感器5，开始跟踪用户在跑步机终端区3中在跑带的中心部分中的位置的过程。
利用控制单元中内建的语音接口，用户启动所选轨迹的虚拟模型，并且在其虚拟现实眼镜中获得想要的三维图像，如图1中所示。
控制单元的存储器中所存储的或者由用户独立下载以改善真实性并增强锻炼效果(原因在于在爬坡时对腿部肌肉的负载发生变化)的虚拟世界模型可以具有带变化地势的路径。这种地形变化具有如下两组数据的形式：相对于海平面的海拔(在纵向方向上的倾斜)以及地面的弯曲度(在横向方向上的倾斜)，其能够动态读取。这些数字数据(其作为每个时刻的离散参数)会形成两个相关通道(竖直通道和通道组)中模拟器的机械部分的主控制器的工作指令。
在实现虚拟模型工作的过程中，在主控制器中被转换成控制信号的指令会流送到图3中所示模拟器的机械部分的功率继电器电路中。如果虚拟模型中的地势在海拔上发生变化，则控制信号(打开继电器)会将电压提供给竖直通道9的一对前部或后部推举致动器(即，线性致动器)。致动器9的工作会引起支撑杆8旋转。由于外部动力框架11(或总体而言为模拟器)的这些工作，会使用户所处部分的前部或后部相对于地面以±15°的最大角度抬升，这会对应于虚拟路径在纵向方向上的斜率的最大可能斜率。
如果景观的虚拟模型沿着地面的曲率(在图2中的横向方向上)发生变化，则控制信号会包括翻转电路中的电力接通并且同时会施加电压，但是在通道组10的右致动器和左致动器上的极性相反，这还会驱动被固定在动力模拟器的外部框架13上的竖直通道。这些驱动代表具有减速箱的牵引马达，其输出轴在图4中被制成为高纵横比螺丝18的形式。在该输出轴上(在其螺纹段的边缘)，有一对滑块19，所述滑块19具有整体带螺纹的孔，并且每个滑块的侧表面包括具有位于滚针轴承20中的辊的轴。当输出轴旋转时，滑块19会沿其位于外部框架13内的轨道移动，并且它们的辊会在相应凸轮21的轮廓上的凹槽中行走，所述凸轮被刚性固定在跑步机的内部活动框架的侧表面上。如图3所示，通过移动所述滑块，实现使跑步机的内部活动框架围绕轴11能够旋转±3°的最大翻滚角度。该旋转对应于虚拟道路的曲率沿路测方向的最大可能变化。
因此，虚拟地势的两个方向变化会引起跑步机相对于健身房地面的空间位置发生实际变化。鉴于此，利用肌肉训练时负载的实际变化，完全符合不同地势上的训练。
此外，跑步机的具有可变位置的现有模拟器只允许用户仅在纵向方向上改变跑带位置且仅允许正角度，与此不同，本发明提出的方案允许跑步机在两个平面中以正角度和负角度改变位置。
为了避免用户由于沉浸在虚拟现实中的效果(即，用户对物理空间没有视觉感知)而在训练过程中偏离到跑步机的终端区3之外，如图1所示，并且补偿跑步表面在两个平面中的移动性，模拟器提供了用户的自主式定位系统。其工作包括连续监视用户位于模拟器中间的指定终端区中。在图5的示意图中描述了该定位系统的算法。
在用户偏离到终端区之外的情况下，图1中的传感器5b’通过它们与平区1上的标记的主动相互作用而形成信号并发送到约束系统上，约束系统在图6中被示为在主控制器中。这些信号加上来自地势生成器的针对控制器的操作命令，并生成主控制信号给竖直通道和通道组的致动器，使得它们改变跑步机的倾斜角度。具有反馈信号形式的、跑步机的实际空间位置也被发送到控制器。
在由于跑步机的倾斜角度发生变化而引起校正失败的情况下，通过将相同校正信号输入牵引马达来提供速度校正，从而根据用户相对于模拟器的中心向后或向前偏离而分别使该马达转动更快或更慢。
所有这些校正信号依照地形三维模型，但通常具有相反方向，且必须使用户在退出时移动到指定终端区。
在校正之后，即，用户返回到终端区的中心后，来自校正单元的信号必为零值，并且进入控制器的工作信号将需要确保跑步机的空间位置符合虚拟模型的地势，直到下一次用户离开终端区。
在锻炼过程中，如果用户意识到其明显领先或滞后于跑步机的速度，则可以提供通过语音接口实现的标准的语音控制命令集，以用于实现对轨迹的非接触式控制。
跑步机的虚拟模型在执行后，可能逐渐不会使用户持续保持在终端区的中心。
对于跑步机的前部边界和后部边界，如果需要，可以附接上可伸缩带，其在慢跑开始后会立即用上并与扶手一起工作，这将能够防止用户摔倒在跑带之外。

Claims (2)

1.一种具有虚拟现实系统的跑步机，所述跑步机包括跑道、提供虚拟现实可视化的计算设备、控制系统，其中所述跑道具有至少两个自由度，包括竖直通道驱动器和翻滚驱动器，而所述跑道能够根据虚拟模型中的地势而改变纵向方向和横向方向两者上的斜率，其原因在于，当虚拟路径中的地势在海拔上发生变化时，控制信号将电压施加到一对前方或后方的推举式竖直通道驱动器上，同时所述推举式竖直通道驱动器的动作引起支撑杆旋转，从而外部力框架将其前部或后部抬升，并且控制信号包括翻滚电路中的电力接通，且同时将电压施加到右翻滚驱动器和左翻滚驱动器上，但是极性相反，这引起在虚拟模型中的地势沿横向方向在地面曲率上变化时内部活动框架会旋转。
2.一种用于在跑步机上训练的过程中模拟虚拟现实中的运动的方法，包括以下阶段：
选择预先配置的驱动模式之一和虚拟模型；
在开始执行所述虚拟模型之后跟踪用户的位置，其中所述用户在初始时位于跑道皮带的中心部分中所设置的终端区中；
在所述虚拟模型的执行过程中，根据所述虚拟模型中地势的变化，沿纵向方向和横向方向改变所述跑步机的动力框架的角度；
在用户偏离到所述终端区之外的情况下，改变所述动力框架的倾斜角并使活动框架旋转，并且在需要时改变所述皮带的运动速度，以使得根据所述虚拟模型将所述用户带回到所述终端区；
在前一阶段中的变化之后，所述控制系统根据所述虚拟模型中的地势使所述动力框架和所述皮带的位置返回。
CN202010087813.4A 2019-02-11 2020-02-11 具有虚拟现实系统的跑步训练机及其工作模式 Pending CN111558198A (zh)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
RU2019103702 2019-02-11
RU2019103702A RU2696754C1 (ru) 2019-02-11 2019-02-11 Беговой тренажёр с системой виртуальной реальности и способ его работы

Publications (1)

Publication Number Publication Date
CN111558198A true CN111558198A (zh) 2020-08-21

Family

ID=67587104

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202010087813.4A Pending CN111558198A (zh) 2019-02-11 2020-02-11 具有虚拟现实系统的跑步训练机及其工作模式

Country Status (4)

Country Link
US (1) US20200254300A1 (zh)
EP (1) EP3693064A1 (zh)
CN (1) CN111558198A (zh)
RU (1) RU2696754C1 (zh)

Families Citing this family (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2022056435A1 (en) * 2020-09-14 2022-03-17 EKTO VR, Inc. System and method of robotic virtual reality footwear
US11465031B2 (en) * 2020-09-16 2022-10-11 RevolutioNice, Inc. Ambulation simulation systems, terrain simulation systems, treadmill systems, and related systems and methods
CN112933516A (zh) * 2021-01-27 2021-06-11 重庆大学 基于虚拟现实技术的万向跑步机
RU2769182C1 (ru) * 2021-11-26 2022-03-29 Федеральное государственное бюджетное образовательное учреждение высшего образования "Дальневосточная государственная академия физической культуры" Тренажер для тренировки беговых способностей
CN114904216B (zh) * 2022-06-10 2023-04-07 广州卓远虚拟现实科技有限公司 一种用于虚拟现实跑步机的反馈增强处理方法及系统

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20100304931A1 (en) * 2009-05-27 2010-12-02 Stumpf John F Motion capture system
CN106659923A (zh) * 2014-08-29 2017-05-10 爱康保健健身有限公司 横向偏斜跑步机底板
CN107335180A (zh) * 2017-08-17 2017-11-10 苏州中德睿博智能科技有限公司 用于虚拟现实系统的智能跑步机与方法
CN107754212A (zh) * 2016-08-16 2018-03-06 上海掌门科技有限公司 跑步运动设备及其虚拟现实交互方法
CN108211217A (zh) * 2016-12-22 2018-06-29 智眸科技有限公司 跑步机

Family Cites Families (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5562572A (en) * 1995-03-10 1996-10-08 Carmein; David E. E. Omni-directional treadmill
KR100483857B1 (ko) 2002-02-28 2005-04-15 (주)누리텍 아이엔씨 온라인 건강진단기능을 갖는 트레드밀시스템
US7682291B2 (en) * 2006-05-22 2010-03-23 Reel Efx, Inc. Omni-directional treadmill
RU87686U1 (ru) * 2009-06-08 2009-10-20 Государственное образовательное учреждение высшего профессионального образования "Курский государственный технический университет" Виброробот с двумя подвижными массами
US9586090B2 (en) * 2012-04-12 2017-03-07 Icon Health & Fitness, Inc. System and method for simulating real world exercise sessions
TWI683687B (zh) * 2016-03-28 2020-02-01 江國慶 雲端虛擬實境之運動健身機系統
KR20180064794A (ko) * 2016-12-06 2018-06-15 조민수 가상현실 회전형 보행 시뮬레이터
CN207085180U (zh) * 2017-08-17 2018-03-13 苏州中德睿博智能科技有限公司 用于虚拟现实系统的智能跑步机
CN107866033A (zh) * 2017-11-29 2018-04-03 佛山市神风航空科技有限公司 一种组合式骑行跑步机
CN208018032U (zh) * 2017-12-22 2018-10-30 重庆闪酷科技发展有限公司 虚拟现实跑步机

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20100304931A1 (en) * 2009-05-27 2010-12-02 Stumpf John F Motion capture system
CN106659923A (zh) * 2014-08-29 2017-05-10 爱康保健健身有限公司 横向偏斜跑步机底板
CN107754212A (zh) * 2016-08-16 2018-03-06 上海掌门科技有限公司 跑步运动设备及其虚拟现实交互方法
CN108211217A (zh) * 2016-12-22 2018-06-29 智眸科技有限公司 跑步机
CN107335180A (zh) * 2017-08-17 2017-11-10 苏州中德睿博智能科技有限公司 用于虚拟现实系统的智能跑步机与方法

Also Published As

Publication number Publication date
RU2696754C1 (ru) 2019-08-05
EP3693064A1 (en) 2020-08-12
US20200254300A1 (en) 2020-08-13

Similar Documents

Publication Publication Date Title
CN111558198A (zh) 具有虚拟现实系统的跑步训练机及其工作模式
WO2018018942A1 (en) Omnidirectional motion method, apparatus and system
GB2316156A (en) A walk simulation apparatus
GB2316155A (en) A virtual reality and walk simulation apparatus
US11614796B1 (en) Virtual reality haptic system and apparatus
KR101593028B1 (ko) 회전3자유도 및 병진3자유도 기반의 보행 재활 훈련 장치
EP2964349B1 (en) A training apparatus
KR20160144268A (ko) Hmd용 보행 시뮬레이션 장치
KR20100132523A (ko) 운동 장치
JP3788159B2 (ja) バランス訓練装置
JP3991747B2 (ja) 訓練装置
KR101943643B1 (ko) 가상현실 걷기체험장치
US20160184702A1 (en) Game system having full-body exercise apparatus controller with independently operable appendicular members
AT522019B1 (de) Vorrichtung für die simulierte Fortbewegung eines Benutzers
JP3373460B2 (ja) 仮想歩行装置
CN209361751U (zh) 脚部部件及vr万向跑步机
KR101979591B1 (ko) 다방향 삼차원 팔다리 교대 재활 운동 기기와 그것의 제어 방법
KR100470868B1 (ko) 가상 걸음장치
CN110302497B (zh) 可变换腿部运动方式的动力式运动器材
CN113476786A (zh) 一种具有模拟地形环境功能的vr万向运动机
CN203724735U (zh) 一种骑乘运动装置
KR101781307B1 (ko) 영상화면이 연동된 하중지지형 트레드밀
KR102623222B1 (ko) 3차원 구동 트레드밀 및 이를 포함하는 메타버스 시스템
WO2019008514A1 (de) Schuh, insbesondere zur verwendung für ein virtual reality system zur simulation von geh- und lauftätigkeit ohne wesentliche ortsveränderung
KR20190062996A (ko) 3차원 시뮬레이션을 위한 가상 체험 장치

Legal Events

Date Code Title Description
PB01 Publication
PB01 Publication
SE01 Entry into force of request for substantive examination
SE01 Entry into force of request for substantive examination
WD01 Invention patent application deemed withdrawn after publication
WD01 Invention patent application deemed withdrawn after publication

Application publication date: 20200821