CN113058208B - Control method of omnidirectional virtual reality running machine - Google Patents
Control method of omnidirectional virtual reality running machine Download PDFInfo
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- 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
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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
- A63B22/0048—Exercising apparatus specially adapted for conditioning the cardio-vascular system, for training agility or co-ordination of movements with cantilevered support elements pivoting about an axis
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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
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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
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- 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
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- A—HUMAN NECESSITIES
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- 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
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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
- 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
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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
- 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
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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
- A63B2220/00—Measuring of physical parameters relating to sporting activity
- A63B2220/50—Force related parameters
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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
- A63B2220/00—Measuring of physical parameters relating to sporting activity
- A63B2220/50—Force related parameters
- A63B2220/56—Pressure
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Abstract
The control method of the 360-degree omnidirectional virtual reality running machine is shown in fig. 1, the omnidirectional is a combination of front-back linear motion and left-right steering motion, the front-back linear motion is required to be accurately controlled, the left-right steering motion of the whole front-back linear motion assembly including a user is required to be accurately controlled, further, the front-back linear motion servo motor and the left-right steering motion servo motor are accurately controlled, further, the output torque of the two servo motors is accurately controlled, namely, the torque and the direction which are matched with the weight and the motion trend of the user are controlled, further, signals are obtained through a sensor and processed, and the size and the direction of output torque control signals of the two servo motor control modules are obtained.
Description
Technical Field
The patent relates to a running machine control method, which can theoretically realize in-situ walking, running, starting, stopping, advancing, backing, steering, accelerating, uniform speed and decelerating which are indiscriminate from reality, wherein the process is completely controlled by a user, the omni-direction means that the user can advance and backing in the 360-degree direction, and the technology can be applied to the related fields of body building, entertainment, virtual reality, intelligent wearing and the like.
Background
In the field of conventional exercise treadmills, there are mainly classified into a powered treadmill and an unpowered treadmill, both of which have no interaction with the user. The power running machine only outputs power, and a user only passively runs according to the rotating speed of the running machine. The running belt of the running machine is high in front and low in back, the running belt of the running machine can keep the running belt to rotate when the running belt is driven by the inertia of the flywheel, but the inertia of the flywheel is inconsistent with the inertia of a human body, and the running belt is quite different from the running experience in reality, and the running belt is only used as a cheap substitute of the running machine. Both of these treadmills are less safe and less comfortable.
In the emerging field of virtual reality and intelligent wearing, there is a so-called virtual reality running machine, which has various different structural forms, but the basic principle is that a user is fixed in place, the ground is made very smooth, so that the friction force is as close as possible to zero, the user can run in place by wearing special shoes, in fact, the running machine slides in place, no resistance and inertia of running in reality exist, the use experience is still poor, and the level of virtual reality is far from being reached. The running machine does not have a running belt of the traditional running machine, can realize 360-degree omni-directional running, but still does not solve the essential problem.
Disclosure of Invention
The control method of the 360-degree omnidirectional virtual reality running machine is shown in fig. 1, the omnidirectional is a combination of front-back linear motion and left-right steering motion, the front-back linear motion is required to be accurately controlled, the left-right steering motion of the whole front-back linear motion assembly including a user is required to be accurately controlled, further, the front-back linear motion servo motor and the left-right steering motion servo motor are accurately controlled, further, the output torque of the two servo motors is accurately controlled, namely, the torque and the direction which are matched with the weight and the motion trend of the user are controlled, further, signals are obtained through a sensor and processed, and the size and the direction of output torque control signals of the two servo motor control modules are obtained.
The first problem to be solved in achieving the virtual reality control of the front-rear rectilinear motion is to zero the friction force of the transmission system of the front-rear rectilinear motion assembly, and further, to make the servo motor output a torque which exactly counteracts the torque formed by the friction force, wherein the torque is determined by the transmission system of the front-rear rectilinear motion assembly, is fixed and constant in quantity, can be accurately measured, and is set to t1.
The second problem to be solved is to zero the friction force between the running belt and the bearing bottom plate of the front-back linear motion assembly, and further to make the servo motor output a torque which can exactly offset the torque generated by the friction force. This torque is the product of four parameters, namely the drive ratio s between the running belt roller and the servo motor, the running belt roller radius r, the friction coefficient k, the gravitational acceleration g and the weight m of the user, and is set to t2, i.e. t2=srkgm. As shown in fig. 2, a gravity sensor is installed inside the front-rear linear motion assembly, so that the weight m applied by the user to the treadmill can be measured in real time. It should be further noted that the weight m of the user is a variable, and because the weight m measured by the weight sensor is instantaneously changed according to the running posture of the user although the weight of the user is fixed, the torque is proportional to the downward weight m applied to the treadmill by the user.
The third problem to be solved is how to determine the movement direction of the user, and immediately adjust the directions of the output torques t1 and t2 of the servo motor, so that the directions of t1 and t2 are always consistent with the movement direction of the user. The pull pressure sensor is called because the sensor can measure both pull force and pressure, and the signal values of the pull force and the pressure are positive and negative.
The fourth problem to be solved is how to realize virtual inertial control of the front-back linear motion, i.e. how to enable the front-back linear motion servo motor to sense the motion trend of a user and output torque with corresponding magnitude and direction without delay. The physical law followed by inertia in the back and forth linear motion is that the product of the body weight m and the acceleration a is equal to the travelling force f, i.e., ma=f. As shown in fig. 2, a gravity sensor is installed inside the front-rear linear motion assembly to measure the weight m applied to the running machine by the user, the left and right sides behind the waist of the user are connected with the running machine through two tension pressure sensors to measure the running force f1+f2 applied to the running machine by the user, and an acceleration sensor is installed inside the roller of the running belt to measure the acceleration a of the running belt, so that after the first, second and third problems are solved, the user runs on the running machine without virtual inertia control, which is equivalent to running on a smooth surface with zero friction force. For a heavy user, the inertia of the user is larger than that of the transmission system of the front-back linear motion assembly, relatively larger acceleration a can be generated by relatively smaller running force f1+f2, meanwhile, the weight m, the acceleration a and the running force f1+f2 have the same change trend, the product ma of the weight m and the acceleration a is larger than that of the running force f1+f2, namely ma > f1+f2, and the virtual inertia control aims to achieve the aim that ma=f1+f2 is to lead the running belt roller radius r and the transmission ratio s between the running belt roller and the servo motor, namely the torque mars is equal to the torque (f1+f2) rs, and further, the virtual inertia control of the front-back linear motion, namely virtual inertia control torque t3=sr ((f1+f2) -ma) can be realized by taking the difference between the torque mars and the torque (f1+f2) rs as a part of the output torque of the servo motor. For a user with lighter weight, although the inertia is smaller than that of the transmission system of the front-back linear motion assembly, the inertia needs to output power by the front-back linear motion servo motor when accelerating, and needs to output resistance by the front-back linear motion servo motor when decelerating, so that the virtual inertia control torque of the front-back linear motion is still t3=sr ((f1+f2) -ma). It should be further noted that the direction of the virtual inertia control torque t3 of the back and forth linear motion is changed with acceleration or deceleration of the user.
The output torque t=t1+t2+t3=t1+srkgm+sr ((f1+f2) -ma) of the forward and backward linear motion servo motor.
The four problems are solved, and the purpose of virtual reality control of the front-back linear motion can be achieved.
The first problem to be solved in achieving the virtual reality control of the steering left and right is to zero the friction force of the steering left and right motion assembly transmission system, and further, to make the steering left and right motion servo motor output a torque which exactly counteracts the torque formed by the friction force, wherein the torque is determined by the steering left and right motion assembly transmission system, is fixed and constant in quantification, can be accurately measured, and is set to be T1.
The second problem to be solved is to make the weight m of the user zero the friction force generated by the downward gravity applied by the bearings of the left and right steering motion assembly transmission system, and further to make the left and right steering motion servo motor output a torque which exactly can offset the torque generated by the friction force. The torque is the product of four parameters of transmission ratios S1, S2, sn, distances R1, R2, rn between the bearings and the left and right steering mechanisms, friction coefficients K1, K2, kn, gravity acceleration g and weight m of a user, this torque is set to T2, i.e., t2= (s1r1k1+s2r2k2+, + SnRnKn) gm. It should be further noted that the weight m of the user is a variable, and this torque is proportional to the downward weight m applied to the treadmill by the user because the weight m measured by the weight sensor is instantaneously changed according to the running posture of the user although the weight of the user itself is fixed.
To achieve the virtual reality control of the left and right steering motions, a third problem to be solved is how to determine the steering direction of the user, and instantly adjust the directions of the output torques T1 and T2 of the left and right steering motion servomotors so that the directions of T1 and T2 are always consistent with the steering direction of the user, and to solve this problem, it is necessary that the running machine has a steering speed measuring function, and each time the steering speed value is zero, the steering direction of the user is determined according to the directions of the traveling forces f1-f2 measured by two tension pressure sensors installed at the left and right sides behind the waist of the user and connected to the running machine, and the servomotors are controlled to output the torques T1 and T2 in the corresponding directions. The pull pressure sensor is called because the sensor can measure both pull force and pressure, and the signal values of the pull force and the pressure are positive and negative.
The fourth problem to be solved is how to realize virtual inertial control of the left-right steering motion, that is, how to enable a servo motor of the left-right steering motion to sense the steering trend of a user, and to output torque with corresponding magnitude and direction without delay in real time, so that the angular acceleration of the user is equal to the angular acceleration of the whole front-rear linear motion assembly including the user. The physical law followed by inertia in the left-right steering motion is that the product of the moment of inertia M and the angular acceleration a is equal to the steering torque T3, i.e., ma=t3. The moment of inertia M1 of the front-rear linear motion assembly mounted above the left-right steering motion assembly is fixed constant in weight and structural size, and the moment of inertia M2 of the user is also fixed constant in weight, i.e., (m1+m2) a=t3. The product c (f 1-f 2) of the difference f1-f2 of the measured values of the two pulling pressure sensors which are arranged behind the waist of the user and connected with the running machine and the half distance c between the two pulling pressure sensors is the steering torque output by the user. The steering angular acceleration a=c (f 1-f 2)/M2 of the user, that is, the steering angular acceleration of the entire front-rear linear motion assembly including the user, further considers the transmission ratio S between the left-right steering motion transmission system and the servo motor, so the virtual inertia control moment t3=s (m1+m2) c (f 1-f 2)/M2 of the left-right steering motion servo motor.
So the servo motor output torque of left and right steering motion t=t1+t2+t3=t1+ (s1r1k1+s2r2k2+, snRnKn) gm+s (m1+m2) c (f 1-f 2)/M2.
The four problems are solved, the purpose of virtual inertia control of left and right steering motions can be achieved, and the purpose of virtual inertia control of front and back linear motions and left and right steering motions is achieved at the same time, namely the control purpose of the omnidirectional virtual reality running machine is achieved.
Drawings
Fig. 1 is a perspective stress analysis diagram of the present patent.
Fig. 2 is a diagram of the force analysis of the back and forth linear motion of the present patent.
Fig. 3 is a diagram of the force analysis of the left and right steering motions of the present patent.
Claims (3)
1. A control method of an omnidirectional virtual reality running machine is characterized in that the control method is divided into front-back rectilinear motion and left-right steering motion, a front-back rectilinear motion component drives two rollers to rotate by a servo motor and drives a running belt to do front-back motion, a bearing bottom plate is arranged below an upper running belt, the left side and the right side of the waist of a user are connected with the running machine by two tension pressure sensors, the servo motor of the front-back rectilinear motion outputs torque t=t1+srkgm+sr ((f1+f2) -ma), wherein T1 is torque generated by friction force of a transmission system in the front-back rectilinear motion component, S is a transmission ratio between the rollers of the running belt and the servo motor, R is a roller radius of the running belt, K is a friction coefficient between the running belt and the bearing bottom plate, g is gravity acceleration, M is weight of the user applied to the bearing bottom plate vertically downwards, f1+f2 is the horizontal travelling force applied by the user to the running machine and measured by two pulling pressure sensors, a is the acceleration of the front-back linear motion, the left-right steering motion assembly is positioned below the front-back linear motion assembly and drives the whole front-back linear motion assembly to steer left and right, the output torque T=T1+ (S1R1K1+S2R2K2+, +SnRnKn) gm+S (M1+M2) c (f 1-f 2)/M2, wherein T1 is the torque generated by the friction force of the transmission system in the left-right steering motion assembly, S1, S2, sn is the transmission ratio between bearings and a servo motor in the left-right steering motion assembly influenced by the weight M applied by the user in the vertical downward direction, R1, R2, rn is the distance between the bearings and the left-right steering center, k1, K2, kn are friction coefficients of the bearings at the positions, g is gravity acceleration, M is weight applied by a user to the running machine vertically downwards, S is a transmission ratio between a left-right steering motion assembly transmission system and a servo motor, M1 is rotational inertia of the whole front-back linear motion assembly, M2 is rotational inertia of the user, c is half of center distance of the two tension pressure sensors, and f1-f2 is steering force applied by the user to the running machine, which is measured by the two tension pressure sensors.
2. The method according to one of the preceding claims, wherein the directions of the output torques t1 and srkgm of the front and rear linear motion servo motor are determined in the f1+f2 direction when the front and rear linear motion speed is zero.
3. The method according to claim, wherein the directions of the output torque T1 of the left and right steering motion servo motor and (S1R1K1+S2R2K2+, +SnRnKn) gm are determined in the direction of f1-f2 when the left and right steering motion speed is zero.
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