CN112985500A - Universal motion system and detection device thereof - Google Patents
Universal motion system and detection device thereof Download PDFInfo
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- CN112985500A CN112985500A CN202110182973.1A CN202110182973A CN112985500A CN 112985500 A CN112985500 A CN 112985500A CN 202110182973 A CN202110182973 A CN 202110182973A CN 112985500 A CN112985500 A CN 112985500A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
- G01D21/00—Measuring or testing not otherwise provided for
- G01D21/02—Measuring two or more variables by means not covered by a single other subclass
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B69/00—Training appliances or apparatus for special sports
- A63B69/0028—Training appliances or apparatus for special sports for running, jogging or speed-walking
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
- G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
- G06F3/011—Arrangements for interaction with the human body, e.g. for user immersion in virtual reality
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F2203/00—Indexing scheme relating to G06F3/00 - G06F3/048
- G06F2203/01—Indexing scheme relating to G06F3/01
- G06F2203/011—Emotion or mood input determined on the basis of sensed human body parameters such as pulse, heart rate or beat, temperature of skin, facial expressions, iris, voice pitch, brain activity patterns
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F2203/00—Indexing scheme relating to G06F3/00 - G06F3/048
- G06F2203/01—Indexing scheme relating to G06F3/01
- G06F2203/012—Walk-in-place systems for allowing a user to walk in a virtual environment while constraining him to a given position in the physical environment
Abstract
The invention provides a detection device of a universal motion system, which comprises: the motion platform and the human motion detection assembly; a motion space for the human body to move is formed on the motion platform; the human body motion detection assembly comprises a detection unit, a position identification unit connected with the detection unit and a processing unit connected with the position identification unit; the detection unit comprises two groups of infrared transmitters and infrared receivers which are uniformly arranged around the motion space; the position identification unit is used for acquiring the position of the infrared receiver which does not detect the infrared signal according to a preset time interval and determining the position coordinate of the human body according to the position of the infrared receiver which does not detect the infrared signal; the processing unit is used for determining the movement trend of the human body according to the change of the position coordinates of the human body. The detection device of the universal motion system can quickly and accurately detect the motion trend of the human body.
Description
Technical Field
The invention relates to the technical field, in particular to a universal motion system and a detection device thereof.
Background
With the rise of virtual reality technology, new devices and solutions are diversified, a human body can only walk at different speeds in one direction on a traditional motion mechanism, and the requirement that the human body required by virtual reality can walk at different speeds in any direction cannot be met, so that the user experience is low, a universal motion mechanism is required to be adopted for improving the user experience, and a human body motion detection device for supporting the operation of the universal motion mechanism is not available at present.
Disclosure of Invention
The invention aims to overcome the defects in the prior art and provide a universal motion system and a detection device thereof.
One embodiment of the present invention provides a detection apparatus for a gimbal system, including: the motion platform and the human motion detection assembly;
a motion space for the human body to move is formed on the motion platform;
the human body motion detection assembly comprises a detection unit, a position identification unit connected with the detection unit and a processing unit connected with the position identification unit;
the detection unit comprises two groups of infrared transmitters and infrared receivers which are uniformly arranged on the periphery of the movement space, wherein one group of infrared transmitters and infrared receivers are correspondingly arranged in the X-axis direction, the other group of infrared transmitters and infrared receivers are correspondingly arranged in the Y-axis direction, and an infrared matrix network of the two groups of infrared transmitters and infrared receivers covers the movement space;
the position identification unit is used for acquiring the position of the infrared receiver which does not detect the infrared signal according to a preset time interval and determining the position coordinate of the human body according to the position of the infrared receiver which does not detect the infrared signal;
the processing unit is used for determining the movement trend of the human body according to the change of the position coordinates of the human body.
Compared with the prior art, the detection device of the universal motion system can quickly and accurately detect the motion trend of the human body.
Further, the processing unit is used for determining the movement trend of the human body according to the change of the position coordinates of the human body at the current moment and the position coordinates of the human body at the previous moment.
Further, the human motion detection assembly comprises a plurality of detection units which are arranged in an array along the Z-axis direction;
the position identification unit is used for determining the position coordinates of the human body in a coordinate system formed by the X axis, the Y axis and the Z axis according to the position of the infrared receiver which does not detect the infrared signal;
the processing unit is used for determining the movement trend of the human body in a coordinate system formed by the X axis, the Y axis and the Z axis according to the human body position coordinate at the current moment and the human body position coordinate at the previous moment.
Further, the human body position coordinates comprise human body leg position coordinates, and the processing unit is used for determining the human body leg movement trend and the human body foot falling position according to the human body leg position coordinates at the current moment and the human body leg position coordinates at the previous moment.
Further, the foot-falling position is an intersection point of a curve made in a coordinate system formed by the X axis, the Y axis and the Z axis according to the position coordinates of the plurality of human leg positions and the bottom surface of the motion space.
Further, the processing unit is used for determining a motion vector of the human body according to the position coordinate of the human body at the current moment and the position coordinate of the human body at the previous moment, and determining the motion trend of the human body and the motion speed of the human body according to the motion vector.
Further, the processing unit is further configured to determine whether the human body position coordinates are outside the motion space;
the detection device of the universal motion system further comprises an alarm unit connected with the processing unit, and the alarm unit is used for sending out an alarm signal when the position coordinates of the human body are located outside the motion space.
One embodiment of the present invention provides a universal motion system, comprising: the detection device comprises at least 2 support assemblies, a movement control assembly and the detection device of the universal motion system, wherein the support assemblies are movably arranged on the motion platform, and the movement control assembly controls the support assemblies to alternately move according to the detection result of the human body movement detection assembly.
Further, the human motion detection assembly further comprises a sensor arranged on the supporting assembly, and the sensor is used for sensing the contact state of the legs of the human body and the supporting assembly.
Further, the sensor is a pressure sensor.
In order that the invention may be more clearly understood, specific embodiments thereof will be described hereinafter with reference to the accompanying drawings.
Drawings
FIG. 1 is a schematic structural diagram of a gimbal system according to an embodiment of the present invention;
FIG. 2 is a first diagram illustrating the movement of a support assembly of the gimbal system in accordance with one embodiment of the present invention;
FIG. 3 is a diagram of a second process of movement of the support assembly of the gimbal system in accordance with one embodiment of the present invention;
FIG. 4 is a diagram of the movement of the support assembly of the gimbal system in accordance with one embodiment of the present invention;
FIG. 5 is a diagram of the movement of the support assembly of the gimbal system in accordance with one embodiment of the present invention;
FIG. 6 is a first diagram illustrating the movement of the support plate of the gimbal system according to an embodiment of the present invention;
FIG. 7 is a diagram illustrating the movement of the support plate of the gimbal system according to an embodiment of the present invention;
FIG. 8 is a schematic structural diagram of a gimbal mechanism according to an embodiment of the present invention;
FIG. 9 is a schematic structural diagram of a motion control assembly according to an embodiment of the present invention;
FIG. 10 is a schematic view of the bottom of the support plate according to one embodiment of the present invention;
FIG. 11 is a schematic structural view of the gimbal mechanism shown in FIG. 9 when a protection plate is disposed thereon;
FIG. 12 is a schematic view of a side of the support plate shown in FIG. 10;
fig. 13 is a schematic structural diagram of a detection unit according to an embodiment of the present invention.
Description of reference numerals:
10. a motion platform; 11. a motion space; 20. a support assembly; 21. a support plate; 22. a tooth-shaped bulge; 30. a human motion detection component; 31. an infrared emitter; 32. an infrared receiver; 40. a housing; 50. a movement control assembly; 51. a first drive lever; 511. a first tooth slot; 512. a first gear; 513. a first worm; 52. a second drive lever; 521. a second tooth slot; 522. a second gear; 523. a second worm; 53. a power assembly; 54. and (5) protecting the board.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Please refer to fig. 1, which is a schematic structural diagram of a gimbal system according to an embodiment of the present invention, the gimbal system includes: the human body motion detection assembly 30 is used for detecting the motion trend of a human body on the motion platform 10, obtaining the contact state of the support assembly 20 and the feet of the human body, and acquiring the foot falling position of the human body according to the motion trend, and the movement control assembly 50 is used for controlling the alternate movement of the support assembly 20 by combining the detection result of the human body motion detection assembly 30.
When the foot of the human body leaves the supporting component 20, the movement control component 50 controls the supporting component 20 to move to the foot-falling position; when the support member 20 contacts the foot of the human body, the movement control member 50 controls the support member 20 to move from the foot-falling position in a direction opposite to the movement tendency. Please refer to fig. 2, which is a first diagram of the movement process of the supporting component of the universal sports system according to an embodiment of the present invention, when the human body stands still, the feet of the human body step on the supporting component 20; referring to fig. 3, it is a diagram of a second motion process of the support assembly of the universal motion system according to an embodiment of the present invention, when a person walks, if the right foot is lifted and moved forward, the support assembly 20 disengaged from the right foot moves to a foot-falling position in front of the right foot; referring to fig. 4 and 5, which are a third motion process diagram of the support assembly of the universal exercise system according to an embodiment of the present invention and a fourth motion process diagram of the support assembly of the universal exercise system according to an embodiment of the present invention, when the right foot is stepped on the human body movement support assembly 20, the left foot is lifted, the support assembly 20 separated from the left foot moves to the foot-falling position in front of the left foot movement, and the support assembly 20 supporting the right foot moves in the opposite direction of the movement trend, so that the left and right alternate circulation is performed, so that the human body is transported by the support plate 2121 in the opposite direction of the movement direction, and the universal exercise is realized.
It should be noted that the detection mode of the detection component may be appropriately designed according to actual needs, for example, the detection component may detect the position of the human body on each motion platform 10 in real time through an infrared receiving transmitter and a laser radar, so as to determine the motion trend of the human body; or the motion posture of the human body is detected through the camera, so that the motion trend of the human body is judged.
It should be noted that the design of the movement control assembly 50 can be selected according to actual needs, for example, the movement control assembly 50 can move the support assembly 20 in two mutually perpendicular directions through a gear transmission structure, or can drive the support assembly 20 to move through a magnetic or pneumatic manner.
In some alternative embodiments, when the foot of the person is off the support member 20, the movement control member 50 controls the support member 20 to move from either side of the movement trend to the foot-down position, avoiding the support members 20 from colliding with each other.
In some alternative embodiments, the motion platform 10 includes an initial position; when the support member 20 contacts the foot of the human body, the movement control member 50 controls the support member 20 to move from the foot-falling position to the initial position in the opposite direction of the movement tendency. So that the support assembly 20 always carries the human body back to the original position after the alternate cyclic motion.
It should be noted that the number of the support assemblies 20 can be selected according to actual needs, and in some alternative embodiments, the universal motion mechanism includes at least a first support assembly 20, a second support assembly 20, and a third support assembly 20; the movement control assembly 50 sequentially controls the first support assembly 20, the second support assembly 20 and the third support assembly 20 to alternately move. When the human body stands still, the feet of the human body step on the first supporting component 20 and the second supporting component 20, the third supporting component 20 is in an idle state, when the human body walks, the right foot supported by the first supporting component 20 is lifted to move forwards, the first supporting component 20 separated from the right foot moves to any side of the movement trend, and the third supporting component 20 enters the foot-falling position; when the right foot steps on the third support element 20, the left foot is lifted, the second support element 20 separated from the left foot moves to either side of the movement trend, the first support element 20 moves to the foot-falling position of the left foot, and the third support element 20 moves in the opposite direction of the movement trend, so that the reciprocating and alternating cycles are performed. Through a plurality of supporting assemblies 20, when a human body moves rapidly, the supporting assemblies 20 moving towards either side can rapidly enter the foot-falling position, and the response speed and the stability of the whole system are improved. Of course, if there are even more support assemblies 20 of the fourth support assembly 20, the number of support assemblies 20 standing by on either side of the movement trend is increased, and the fault tolerance is improved.
In some alternative embodiments, after the supporting member 20 enters the standby state, the movement control member 50 controls the supporting member 20 in the standby state to move away from the initial position to one side or two sides of the movement trend, and controls the supporting member 20 in the earliest standby state to enter the response state. The support assembly 20 is moved to be on both sides of the body's motion trend to more quickly enter the body's motion trend.
In some alternative embodiments, after the supporting component 20 enters the second state, if the supporting component 20 in the second state is not located at the initial position, the movement control component 50 controls the supporting component 20 in the second state to move to the initial position in a direction opposite to the movement direction. The support member 20 in the second state moves to the initial position in a linear direction, and the support member 20 in the first state bypasses the support member 20 in the second state and moves from both sides of the support member 20 in the second state to the human body movement direction.
In some alternative embodiments, each of the support assemblies 20 includes at least 2 support plates 2121 movably disposed on the motion platform 10, the movement control assembly 50 acquires a foot-falling position of the human body according to the movement trend, and controls the support plates 2121 of the support assemblies 20 to alternately move in combination with the detection result of the human body movement detection assembly 30; when the foot of the human body leaves the supporting member 20, the movement control member 50 controls the supporting plate 2121 to move to the foot-falling position; referring to fig. 6, a first motion process diagram of the support plate of the universal exercise system according to an embodiment of the present invention, when the support assembly 20 contacts the foot of the human body, the movement control assembly 50 controls the support plate 2121 to move from the foot-down position in a direction opposite to the motion trend. The two support plates 2121 support one leg of the human body together, so that the area for supporting the feet of the human body is increased, the fault tolerance is improved, and the plurality of support plates 2121 move separately and are gathered together when supporting, thereby being convenient for controlling the alternate movement of the support plates 2121 of different support assemblies 20. It should be noted that the number of the supporting plates 2121 included in the supporting assembly 20 can be selected according to actual needs, for example, the supporting assembly 20 can include tens of supporting plates 2121, the supporting plates 2121 can be configured to be small, and can have only a few tenths of the area of the bottom of the human foot, but when the supporting plates 2121 are combined together, the supporting plate can sufficiently support one foot of the human body, and the design facilitates flexible control of the movement of the supporting plates 2121, and avoids the situation that the supporting plates 2121 of different supporting assemblies 20 are too large to cause the supporting plates 2121 to collide with each other.
Referring to fig. 7, a second motion process diagram of the supporting plate of the universal motion system according to an embodiment of the present invention, in some alternative embodiments, when the foot of the human body leaves the supporting assembly 20, the movement control assembly 50 controls the supporting plate 2121 to move to both sides of the motion trend, and then controls the supporting plate 2121 to move to the foot-falling position from both sides of the motion trend.
In some alternative embodiments, an initial position is set on the motion platform 10; when the foot of the human body leaves the support assembly 20, the movement control assembly 50 controls the support plate 2121 to move to both sides of the movement tendency, and then controls the support plate 2121 to move from both sides of the movement tendency to the foot-falling position; when the supporting member 20 contacts the foot of the human body, the movement control member 50 controls the supporting plate 2121 to move from the foot-falling position to the initial position in a direction opposite to the movement tendency.
In some optional embodiments, the human body motion detecting assembly 30 includes a first detecting assembly for detecting a motion trend of the human body moving on the motion platform 10 and a second detecting assembly for obtaining a contact state of the supporting assembly 20 with the foot of the human body.
In some alternative embodiments, the detection assembly is also used for the speed of movement of the human body on the motion platform 10; when the supporting member 20 contacts the foot of the human body, the movement control member 50 controls the supporting plate 2121 to move from the foot-falling position in the opposite direction of the movement trend at the movement speed, so that the movement of the supporting member 20 can be kept stable.
The above-mentioned universal motion system can use on virtual reality based universal treadmill, this virtual reality based universal treadmill includes: a virtual reality device connected to the motion control assembly 50, and a gimbaled motion system as described above.
Referring to fig. 8, which is a schematic structural diagram of a universal motion mechanism according to an embodiment of the present invention, an embodiment of the present invention provides a universal motion mechanism, including: the human foot motion platform comprises a motion platform 10, and a motion control assembly 50 and at least 2 support assemblies 20 which are arranged on the motion platform 10, wherein the motion control assembly 50 drives the support assemblies 20 to move on the motion platform 10, and the support assemblies 20 are used for supporting the feet of a human body. The universal motion mechanism can be applied to the universal motion system.
Referring to fig. 9, which is a schematic structural diagram of a movement control assembly according to an embodiment of the present invention, the movement control assembly 50 includes a plurality of first driving rods 51 and second driving rods 52 movably disposed on the moving platform 10, and a plurality of power assemblies 53 disposed on the moving platform 10, the first driving rod 51 is provided with a plurality of first tooth sockets 511 extending along an X-axis direction, the second driving rod 52 is provided with a second tooth socket 521 extending along a Y-axis direction, and the power assemblies 53 drive the first driving rod 51 and the second driving rod 52 to rotate; referring to fig. 10, which is a schematic structural diagram of the bottom of a supporting plate according to an embodiment of the present invention, the supporting assembly 20 includes a plurality of supporting plates 21, a plurality of tooth-shaped protrusions 22 are disposed at the bottom of the supporting plates 21, the tooth-shaped protrusions 22 are arranged in a matrix manner in the directions of the X axis and the Y axis, the supporting plates 21 are movably disposed on the first driving rod 51 and the second driving rod 52, and the tooth-shaped protrusions 22 of the supporting plates 21 are respectively engaged with the first tooth slot 511 and the second tooth slot 521; the power assembly 53 drives the first driving rod 51 to rotate, so that the supporting plate 21 generates a motion component along the Y-axis direction, and the power assembly 53 drives the second driving rod 52 to rotate, so that the supporting plate 21 generates a motion component along the X-axis direction. During the movement of the supporting plate 21, the tooth-shaped protrusions 22 can simultaneously engage with the first tooth slots 511 of the first driving levers 51 of 1 or more of the movement control assemblies 50, and can simultaneously engage with the second tooth slots 521 of the second driving levers 52 of 1 or more of the movement control assemblies 50, so as to be driven by a plurality of movement control assemblies 50. Among them, the preferred first driving levers 51 and second driving levers 52 are arranged in a matrix arrangement in the X-axis and Y-axis directions.
In some alternative embodiments, the bottom of the supporting plate 21 is uniformly distributed with the tooth-shaped protrusions 22.
Referring to fig. 11, which is a schematic structural diagram of the universal motion mechanism shown in fig. 9 when a protection plate is disposed, in some alternative embodiments, a protection plate 54 is disposed on the motion platform 10, and a plurality of through slots are disposed on the protection plate 54; the first driving rod 51, the second driving rod 52 and the power assembly 53 are arranged below the protection plate 54, the supporting plate 21 is arranged above the protection plate 54, the first tooth groove 511 of the first driving rod 51 extends out of the through groove and is meshed with the tooth-shaped protrusion 22, the second tooth groove 521 of the second driving rod 52 extends out of the through groove and is meshed with the tooth-shaped protrusion 22, so that the power assembly 53 and other components of the mobile control assembly 50 are protected, and the accidental falling of the first driving rod 51 and the second driving rod 52 caused by the separation of the supporting plate 21 can be avoided, and the safety factor is improved. In this embodiment, the movement control assembly 50 further includes a plurality of housings 40, the protection plate 54 is covered on the top of the housings 40, and one of the housings 40 is correspondingly provided with one of the first driving rods 51, one of the second driving rods 52 and one of the power assemblies 53, so that the movement control assembly 50 is composed of a plurality of modular assemblies for replacement.
In some optional embodiments, the length of the first tooth slot 511 in the X-axis direction and the length of the second tooth slot 521 in the Y-axis direction are not less than the distance between two adjacent tooth-like protrusions 22, so as to ensure that one and the same first tooth slot 511 or one and the same second tooth slot 521 can be engaged with a plurality of tooth-like protrusions 22 simultaneously.
It should be noted that the shape of the tooth-like protrusion 22 can be selected according to actual needs, for example, the tooth-like protrusion 22 can be hemispherical. Referring to fig. 12, which is a schematic structural view of one side of the supporting plate shown in fig. 10, preferably, the tooth-shaped protrusion 22 is in a shape of a truncated pyramid, when the power assembly 53 drives the first driving rod 51 to rotate, at least one edge surface of the tooth-shaped protrusion 22 is attached to the first tooth groove 511, when the power assembly 53 drives the second driving rod 52 to rotate, at least one edge surface of the tooth-shaped protrusion 22 is attached to the second tooth groove 521, and the inner walls of the first tooth groove 511 and the second tooth groove 521 push the edge surfaces to drive the tooth-shaped protrusion 22 to move.
In some alternative embodiments, the first driving rod 51 is provided with a plurality of first gears 512 arranged along the extending direction of the first driving rod 51, and the first gears 512 are provided with a plurality of first tooth slots 511; the second driving lever 52 is provided with a plurality of second gears 522 arranged along the extending direction of the second driving lever 52, and the second gear groove 521 is provided on the second gears 522.
In some alternative embodiments, the first tooth slot 511 is formed with openings extending to both ends of the first gear 512 to facilitate the tooth-like protrusion 22 to enter or leave the first tooth slot 511 in the X direction, and the second tooth slot 521 is formed with openings extending to both ends of the second gear 522 to facilitate the tooth-like protrusion 22 to enter or leave the second tooth slot 521 in the Y direction.
In some alternative embodiments, the power assembly 53 includes a first motor in driving connection with the first driving rod 51 and a second motor in driving connection with the second driving rod 52. It should be noted that the manner of the transmission connection between the power assembly 53 and the driving rod may be appropriately selected according to actual needs, for example, in some alternative embodiments, a first worm 513 is disposed on the first driving rod 51, the first motor is in transmission connection with the first driving rod 51 through the first worm 513, a second worm 523 is disposed on the second driving rod 52, and the second motor is in transmission connection with the second driving rod 52 through the second worm 523. Of course, the first driving rod 51 can also be directly connected to the first motor, or through a gear transmission, etc., and the second driving rod 52 and the second motor are the same.
One embodiment of the present invention provides a detection apparatus for a gimbal system, including: a motion platform 10 and a human motion detection assembly 30. The detection device of the universal motion system can be applied to the universal motion system.
A motion space 11 for the human body to move is formed on the motion platform 10; the human motion detection assembly 30 comprises a detection unit, a position recognition unit connected with the detection unit and a processing unit connected with the position recognition unit; referring to fig. 13, a schematic structural diagram of a detection unit according to an embodiment of the present invention is shown, where the detection unit includes two groups of infrared transmitters 31 and infrared receivers 32 uniformly arranged around the movement space 11, where one group of the infrared transmitters 31 and the infrared receivers 32 is arranged in an X-axis direction, the other group of the infrared transmitters 31 and the infrared receivers 32 is arranged in a Y-axis direction, and an infrared matrix network of the two groups of the infrared transmitters 31 and the infrared receivers 32 covers the movement space 11; the position identification unit is configured to acquire the position of the infrared receiver 32 at which the infrared signal is not detected at preset time intervals, and determine a human body position coordinate according to the position of the infrared receiver 32 at which the infrared signal is not detected, where it should be noted that the human body position coordinate may be determined by a certain part of a human body, such as a foot part, a hand part, a head part, or a trunk part of the human body; the processing unit is used for determining the movement trend of the human body according to the change of the position coordinates of the human body.
It should be noted that the determination manner of the human body movement tendency may be a suitable design according to actual needs, for example, in some alternative embodiments, the processing unit is configured to determine the human body movement tendency according to the change of the human body position coordinate at the current time and the human body position coordinate at the previous time; of course, the human motion curve can be made according to the human body positions at more than three moments so as to judge the motion trend of the human body.
In some alternative embodiments, the human motion detection assembly 30 includes a plurality of the detection units, which are arranged in a row along the Z-axis direction; the position identification unit is used for determining the position coordinates of the human body in a coordinate system formed by the X axis, the Y axis and the Z axis according to the position of the infrared receiver 32 which does not detect the infrared signal, and the position of the human body can be more accurately judged by determining the coordinates of the human body in a three-dimensional space; the processing unit is used for determining the movement trend of the human body in a coordinate system formed by the X axis, the Y axis and the Z axis according to the human body position coordinate at the current moment and the human body position coordinate at the previous moment.
In some optional embodiments, the human body position coordinates include human body leg position coordinates, and the processing unit is configured to determine a leg movement trend of the human body and a foot falling position of the human body foot according to the human body leg position coordinates at a current time and the human body leg position coordinates at a previous time. It should be noted that, the determination method of the foot-falling position of the body foot can be selected according to actual needs, and in some alternative embodiments, the foot-falling position is an intersection point of a curve made in a coordinate system formed by the X-axis, the Y-axis and the Z-axis according to the coordinates of the plurality of positions of the body leg and the bottom surface of the motion space 11. Of course, the foot-falling position of the human foot can also be determined by detecting the movement speed of the human body and the step width of the human body.
In some optional embodiments, the processing unit is configured to determine a motion vector of the human body according to the human body position coordinate at the current time and the human body position coordinate at the previous time, and determine a motion trend of the human body and a motion speed of the human body according to the motion vector, where the motion speed of the human body is a length of the motion vector divided by a duration of a preset time interval, and an average value of a plurality of motion speeds of the human body may be taken to obtain a more accurate motion speed of the human body.
In some optional embodiments, the processing unit is further configured to determine whether the body position coordinates are outside the motion space 11; the detection device of the universal motion system further comprises an alarm unit connected with the processing unit, and the alarm unit is used for sending out an alarm signal when the position coordinates of the human body are located outside the motion space 11. The alarm signal may be a light signal, a sound signal or a vibration signal.
In addition, in some alternative embodiments, in the universal exercise system, the human body movement detection assembly 30 further includes a sensor disposed on the support assembly 20, and the sensor is used for sensing a contact state between the leg of the human body and the support assembly 20. Preferably, the sensor is a pressure sensor, but may be a photoelectric sensor, a touch switch, or the like.
Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (10)
1. A detection apparatus for a gimbal system, comprising: the motion platform and the human motion detection assembly;
a motion space for the human body to move is formed on the motion platform;
the human body motion detection assembly comprises a detection unit, a position identification unit connected with the detection unit and a processing unit connected with the position identification unit;
the detection unit comprises two groups of infrared transmitters and infrared receivers which are uniformly arranged on the periphery of the movement space, wherein one group of infrared transmitters and infrared receivers are correspondingly arranged in the X-axis direction, the other group of infrared transmitters and infrared receivers are correspondingly arranged in the Y-axis direction, and an infrared matrix network of the two groups of infrared transmitters and infrared receivers covers the movement space;
the position identification unit is used for acquiring the position of the infrared receiver which does not detect the infrared signal according to a preset time interval and determining the position coordinate of the human body according to the position of the infrared receiver which does not detect the infrared signal;
the processing unit is used for determining the movement trend of the human body according to the change of the position coordinates of the human body.
2. The detecting device of a gimbal motion system as claimed in claim 1, wherein: the processing unit is used for determining the movement trend of the human body according to the change of the position coordinates of the human body at the current moment and the position coordinates of the human body at the previous moment.
3. The detecting device of a gimbal motion system according to claim 2, wherein: the human motion detection assembly comprises a plurality of detection units which are arranged in an array along the Z-axis direction;
the position identification unit is used for determining the position coordinates of the human body in a coordinate system formed by the X axis, the Y axis and the Z axis according to the position of the infrared receiver which does not detect the infrared signal;
the processing unit is used for determining the movement trend of the human body in a coordinate system formed by the X axis, the Y axis and the Z axis according to the human body position coordinate at the current moment and the human body position coordinate at the previous moment.
4. A detecting apparatus for a gimbal system as claimed in claim 3, wherein: the human body position coordinates comprise human body leg position coordinates, and the processing unit is used for determining the leg movement trend of the human body and the foot falling position of the human body according to the human body leg position coordinates at the current moment and the human body leg position coordinates at the previous moment.
5. The detecting device of a gimbal system as claimed in claim 4, wherein: the foot position is the intersection point of a curve made in a coordinate system formed by the X axis, the Y axis and the Z axis according to the position coordinates of the human legs and the bottom surface of the motion space.
6. The detecting device for the universal kinematic system according to any of claims 1 to 5, wherein: the processing unit is used for determining a motion vector of the human body according to the position coordinate of the human body at the current moment and the position coordinate of the human body at the previous moment, and determining the motion trend of the human body and the motion speed of the human body according to the motion vector.
7. The detecting device for the universal kinematic system according to any of claims 1 to 5, wherein: the processing unit is further used for determining whether the human body position coordinates are located outside the motion space;
the detection device of the universal motion system further comprises an alarm unit connected with the processing unit, and the alarm unit is used for sending out an alarm signal when the position coordinates of the human body are located outside the motion space.
8. A universal motion system, comprising: at least 2 support assemblies movably arranged on the motion platform, a movement control assembly and a detection device of the universal motion system according to any one of claims 1 to 7, wherein the movement control assembly controls the support assemblies to alternately move according to the detection result of the human body movement detection assembly.
9. A gimbal motion system as claimed in claim 8, wherein: the human motion detection assembly further comprises a sensor arranged on the supporting assembly, and the sensor is used for sensing the contact state of the legs of the human body and the supporting assembly.
10. A gimbal motion system as claimed in claim 9, wherein: the sensor is a pressure sensor.
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