CN113058207A - 一种虚拟转向的全向虚拟现实跑步机控制方法 - Google Patents
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Abstract
本专利是一种全向虚拟现实跑步机的控制方法,全向的虚拟现实,如图1所示,可以分为前后直线运动的虚拟现实和左右转向的虚拟现实,前后直线运动的虚拟现实可以通过伺服电机驱动滚轴并带动跑步带前后运动实现,并且还需要在使用者腰部后方左右两侧通过两个拉压力传感器与跑步机连接,而左右转向的虚拟现实则可以通过采集使用者腰部后方左右两侧两个拉压力传感器的差值,实现在虚拟环境中的左右转向。前后直线运动的虚拟现实,最根本的任务是如何实现对伺服电机进行精确控制,更进一步的,是如何实现对伺服电机的输出扭矩进行精确控制,即控制伺服电机输出与使用者的体重和运动趋势相匹配的扭矩大小和方向,更进一步的,是如何通过传感器获得信号并对信号进行加工处理,以获得伺服电机控制模块的输出扭矩控制信号的大小和方向。
Description
技术领域
本专利涉及一种跑步机控制方法,理论上能够实现与现实无差别的原地行走、奔跑、起跑、停止、前进、后退、转向、加速、匀速和减速,这一过程完全由使用者自主控制,而“虚拟转向”则意味着使用者仅仅是在虚拟环境里进行了转向,在现实环境里并没有发生转向,这种技术可以应用于健身、娱乐、虚拟现实和智能穿戴等相关领域。
背景技术
在传统的健身跑步机领域,主要分为动力跑步机和无动力跑步机,这两种跑步机都与使用者之间没有任何交互。动力跑步机只是单纯的输出动力,使用者只是被动的按照跑步机的转速跑动。无动力跑步机是依靠飞轮旋转的惯性迫使使用者跑动,这种跑步机的跑道是前高后低的,使用者既对飞轮输出动力维持其转动,又在飞轮的惯性驱动下跑动,但是飞轮的惯性与人体的惯性是不一致的,与现实中的跑动体验差别很大,这种技术只是作为动力跑步机的廉价替代品。这两种跑步机的安全性和舒适性都欠佳。
在新兴的虚拟现实和智能穿戴领域,有一种所谓的虚拟现实跑步机,虽然有各种不同的结构形式,但是其基本原理都是把使用者固定在原地,并且把地面做的非常的光滑,使摩擦力尽量接近于零,使用者能够穿着特制的鞋子在原地跑动,事实上,这是原地滑动,没有现实中跑动的阻力和惯性,使用体验仍然很差,远远达不到虚拟现实的水平。这种跑步机没有传统跑步机的跑道,可以实现360度的全向跑动,但是仍然解决不了本质问题。
发明内容
本专利是一种全向虚拟现实跑步机的控制方法,全向的虚拟现实,如图1所示,可以分为前后直线运动的虚拟现实和左右转向的虚拟现实,前后直线运动的虚拟现实可以通过伺服电机驱动滚轴并带动跑步带前后运动实现,并且还需要在使用者腰部后方左右两侧通过两个拉压力传感器与跑步机连接,而左右转向的虚拟现实则可以通过采集使用者腰部后方左右两侧两个拉压力传感器的差值,实现在虚拟环境中的左右转向。前后直线运动的虚拟现实,最根本的任务是如何实现对伺服电机进行精确控制,更进一步的,是如何实现对伺服电机的输出扭矩进行精确控制,即控制伺服电机输出与使用者的体重和运动趋势相匹配的扭矩大小和方向,更进一步的,是如何通过传感器获得信号并对信号进行加工处理,以获得伺服电机控制模块的输出扭矩控制信号的大小和方向。
实现前后直线运动的虚拟现实控制目的,需要解决的第一个问题是,使跑步机内部传动系统的摩擦力归零,进一步的讲,是使伺服电机输出一个扭矩,这个扭矩正好可以抵消上述摩擦力形成的扭矩,这个扭矩是由跑步机传动系统本身决定的,是固定不变的定量,是可以精确测量的,在此设定为t1。
实现前后直线运动的虚拟现实控制目的,需要解决的第二个问题是,使跑步机的跑步带与承重底板之间的摩擦力归零,进一步的讲,是使伺服电机输出一个扭矩,这个扭矩正好可以抵消上述摩擦力产生的扭矩。这个扭矩是跑步带滚轴与伺服电机传动比s、跑步带滚轴半径r、摩擦系数k、重力加速度g和使用者的体重m五个参数的乘积,把这个扭矩设定为t2,即t2=srkgm。如图1所示,在跑步机内部安装有体重传感器,可以即时的测量使用者对跑步机施加的向下的体重m,需要进一步指出的是,体重m是变量,因为虽然使用者本身的体重是固定不变的,但是重力传感器测得的重力m是随着使用者的跑动姿态而即时变化的,所以这部分扭矩是与使用者对跑步机施加的向下的体重m成正比的。
实现前后直线运动的虚拟现实控制目的,需要解决的第三个问题是,如何判定使用者的运动方向,并即时的调整上述的伺服电机的输出扭矩t1和t2的方向,使t1和t2的方向与使用者的运动方向始终保持一致,要解决这个问题,需要跑步机具有速度测量功能,每当速度值为零时,根据安装在使用者腰部后方左右两侧并与跑步机连接的两个拉压力传感器测得的行进力f1+f2的方向来判定使用者的运动方向,并控制伺服电机输出相应方向的扭矩t1和t2。之所以称为拉压力传感器,是因为这种传感器,既能测量拉力,也能测量压力,拉力和压力的信号值是正负反向的。
实现前后直线运动的虚拟现实控制目的,需要解决的第四个问题是,如何使前后直线运动伺服电机能感应到使用者的运动趋势,并即时无延迟的输出相应大小和方向的扭矩,即如何实现虚拟惯性控制。前后直线运动中惯性所遵循的物理定律,是体重m与加速度a的乘积等于行进力f,即ma=f。如图1所示,在前后直线运动组件内部安装有重力传感器,以测量使用者对跑步机施加的体重m,使用者的腰部后方左右两侧与跑步机之间通过两个拉压力传感器连接,以测量使用者对跑步机施加的行进力f1+f2,在跑步带的滚轴内安装有加速度传感器,以测量跑步带的加速度a,解决了前述的第一个问题、第二个问题和第三个问题之后,在不进行虚拟惯性控制的情况下,使用者在跑步机上跑动,等同于在一个摩擦力为零的光滑面上跑动。对于体重较重的使用者,其惯性大于前后直线运动组件传动系统的惯性,相对较小的行进力f1+f2就可以产生相对较大的加速度a,同时,体重m、加速度a、行进力f1+f2具有相同的变化趋势,体重m与加速度a的乘积ma大于行进力f1+f2,即ma>f1+f2,而虚拟惯性控制要达到的目的,就是使ma=f1+f2,引入跑步带滚轴半径r和伺服电机与跑步带滚轴之间的传动比s,也就是使扭矩mars等于扭矩(f1+f2)rs,进一步的,也就是把扭矩mars和扭矩(f1+f2)rs之间的差值作为伺服电机输出扭矩的一部分,就可以实现前后直线运动的虚拟惯性控制,即前后直线运动的虚拟惯性控制扭矩t3=sr((f1+f2)-ma)。对于体重较轻的使用者,虽然其惯性小于前后直线运动组件传动系统的惯性,但是其加速时需要前后直线运动伺服电机输出动力,减速时需要前后直线运动伺服电机输出阻力,所以其前后直线运动的虚拟惯性控制扭矩仍然是t3=sr((f1+f2)-ma)。需要进一步指出的是,前后直线运动的虚拟惯性控制扭矩t3的方向是随着使用者的加速或减速而变化的。
所以前后直线运动伺服电机的输出扭矩t=t1+t2+t3=t1+srkgm+sr((f1+f2)-ma)。
解决了上述的四个问题,就能够 实现虚拟现实的前后直线运动控制目的。进一步的,要实现360度的全向虚拟现实,需要采集安装在使用者腰部后方左右两侧并与跑步机连接的两个拉压力传感器的测量值之差f1-f2,并以此测量值当做虚拟现实环境中的转向信号,通过软件驱动虚拟现实环境转向,以实现虚拟转向。
附图说明
图1是本专利的受力分析图。
Claims (2)
1.一种虚拟转向的全向虚拟现实跑步机控制方法,其特征在于,分为前后直线运动和左右转向运动,前后直线运动组件是由一个伺服电机驱动两个滚轴旋转并带动跑步带进行前后运动,上层跑步带下方有承重底板,使用者的腰部左右两侧通过两个拉压力传感器与跑步机连接,前后直线运动的伺服电机输出扭矩t=t1+srkgm+sr((f1+f2)-ma),其中t1是前后直线运动组件内部传动系统的摩擦力产生的扭矩,s是跑步带滚轴与伺服电机之间的传动比,r是跑步带的滚轴半径,k是跑步带与承重底板之间的摩擦系数,g是重力加速度,m是使用者对承重底板施加的竖直向下的体重,f1+f2是两个拉压力传感器测得的使用者对跑步机施加的水平方向的行进力,a是前后直线运动的加速度,左右转向运动是通过采集两个拉压力传感器的差值f1-f2并驱动虚拟现实环境中的转向,以实现虚拟转向的。
2.如上述权利要求一所述的,一种虚拟转向的全向虚拟现实跑步机控制方法,其特征还在于,前后直线运动伺服电机的输出扭矩t1和srkgm的方向,是在前后直线运动速度为零时,以f1+f2的方向确定的。
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US20130158444A1 (en) * | 2011-12-20 | 2013-06-20 | Massachusetts Institute Of Technology | Robotic System for Simulating a Wearable Device and Method of Use |
CN109568882A (zh) * | 2018-12-07 | 2019-04-05 | 陈益心 | 一种基于滑块的全向跑步机 |
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