CN114275455B - Short-delay 360-degree walking device and control method thereof - Google Patents
Short-delay 360-degree walking device and control method thereof Download PDFInfo
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Abstract
The invention provides a short-time-delay 360-degree walking device and a control method thereof, wherein the walking device comprises a supporting mechanism, a conveying mechanism and a transmission mechanism, wherein the conveying mechanism and the transmission mechanism are supported by the supporting mechanism, the conveying mechanism comprises a conveying belt formed by connecting a plurality of circulating belts, and the conveying belt moves in a direction parallel to the circulating belts by friction between an outer contact surface and an external object; the transmission mechanism comprises a driving mechanism and a resistance mechanism which are arranged in the conveying belt, the driving mechanism is used for driving the conveying belt to move in the direction perpendicular to the circulating belt, and the resistance mechanism is used for generating resistance to match with the movement of the conveying belt in the direction parallel to the circulating belt. The running gear adopts the control method that active control and passive control combine together, has reduced the reaction time of conveyer belt, and then has reduced running gear's time delay. Meanwhile, the user data can be detected through the detection mechanism, real-time motion output feedback can be made, and the effect of better matching with the user is achieved.
Description
Technical Field
The invention belongs to the technical field of virtual reality equipment, and particularly relates to a short-time 360-degree extending walking device and a control method thereof.
Background
With the development of the virtual reality technology, the requirements of peripheral devices of the virtual reality technology are increasing, because the devices affect the immersion, comfort, safety, portability, etc. brought to the user by the virtual reality technology. In the prior art, a 360-degree walking device is a motion input device in peripheral equipment of a virtual reality technology, so that a user can walk infinitely in a limited space.
Conventional 360 degree running gear, generally, nest the belt conveyer through having certain intensity's bracing piece or crossbeam, then through two direction movements that are perpendicular to each other, realize 360 degree movements in limited range. However, the nested belt is difficult to avoid friction and interference between the nested belt and the support rod or the cross beam, the problem of inconsistent output results exists, and accumulated errors are easily generated when the running gear performs motion control, so that the response of the machine is affected, and further response delay is caused.
Further, since the strength of the belt conveyor itself is not high, the belt conveyor is liable to be excessively bent and damaged due to the large mass of the user and the long-term use, and the belt conveyor system has a large inertia and lacks flexibility.
In addition, the conventional running gear is generally sold in a classified manner according to the setting of a manufacturer, cannot be adjusted according to the self condition of a user, has a small data size when the running gear starts to perform formal work, and is easy to capture inaccurate running motion of the user, so that deviation of motion control is caused, and the time delay of the running gear is increased. Meanwhile, the volume cannot be changed according to the user environment directly according to the requirements of different times of the user.
Disclosure of Invention
In order to overcome the defects in the prior art, the invention provides a short-time-delay 360-degree walking device, which comprises a supporting mechanism, a conveying mechanism and a transmission mechanism, wherein the conveying mechanism and the transmission mechanism are supported by the supporting mechanism;
the conveying mechanism comprises a conveying belt formed by connecting a plurality of circulating belts, and the conveying belt moves in a direction perpendicular to the circulating belts through friction between an outer contact surface and an external object;
the transmission mechanism comprises a driving mechanism and a resistance mechanism, wherein the driving mechanism and the resistance mechanism are arranged inside the conveyor belt, the driving mechanism is used for driving the conveyor belt to move in a direction parallel to the circulating belt, and the resistance mechanism is used for generating resistance to match with the movement of the conveyor belt in a direction perpendicular to the circulating belt.
Specifically, the circulating belt is a chain plate, and the conveying belt is formed by splicing the chain plates.
Specifically, the conveying mechanism further comprises two roller connecting rods, rollers are arranged at two ends of each roller connecting rod, the resistance mechanism is a damper, two roller connecting rods are respectively provided with a damper, and the rollers and the dampers are used for being matched with the movement of the conveying belt in the direction perpendicular to the circulating belt.
Further, the walking device also comprises a detection mechanism and a control mechanism, wherein the detection mechanism is used for detecting data of a user and sending detected data information to the control mechanism through a signal;
the control mechanism is connected with the transmission mechanism and controls the output power of the driving mechanism and the resistance mechanism through detecting the obtained data information.
Specifically, the detection mechanism comprises a pressure sensing mechanism for detecting the weight of the user and transmitting the weight data of the user to the control mechanism;
the control mechanism is used for judging whether the weight data of the user exceeds the loadable range of the running gear, and when the weight data of the user exceeds the loadable range of the running gear, the control mechanism prevents the running gear from being started.
The detection mechanism further comprises a gyroscope, wherein the gyroscope is arranged at the waist of the user and used for detecting the walking angle of the user and transmitting the walking angle data of the user to the control mechanism.
The detection mechanism further comprises an image recognition mechanism, the image recognition mechanism is used for detecting the upper body form of the user, generating an image signal and transmitting the image signal to the control mechanism, and the control mechanism obtains the sex data of the user through the image signal.
The detection mechanism further comprises an infrared sensing mechanism which is fixedly arranged on the supporting mechanism and used for detecting foot size, step distance and toe direction data of a user.
Preferably, the control means is provided with a database, and the control means acquires the average walking speed and the average step distance of the user corresponding to the data information from the database by detecting the obtained data information by the detection means;
the control mechanism takes the obtained average walking speed and average step distance data as adjustment basis to adjust the initial output power of the driving mechanism and the resistance mechanism. To pre-match the user's start-up acceleration.
The invention also provides a control method of the short-time-delay 360-degree traveling device, which uses the short-time-delay 360-degree traveling device, and comprises the following steps:
collecting weight data of a user through the detection mechanism;
judging whether the weight data of the user exceeds the loadable range of the walking device or not;
judging whether the user has walking behaviors or not;
if the user has walking behaviors, collecting foot size, step distance and toe direction data of the user through the detection mechanism;
and the control mechanism controls the driving mechanism and the resistance mechanism to adjust output power according to the detected data, so that the running speed of the conveyor belt is adapted to the speed of a user.
Further, the method further comprises:
judging whether the user stops moving;
if the user stops moving, the control mechanism controls the driving mechanism and the resistance mechanism to slowly stop moving;
if the user does not stop moving, the detection mechanism continuously collects the foot size, the step distance and the toe direction data of the user, and the control mechanism controls the driving mechanism and the resistance mechanism to continuously adjust the output power, so that the running speed of the conveyor belt is adapted to the speed of the user.
The invention has at least the following beneficial effects:
according to the invention, only one active driving motor is needed to control the movement of the chain plate conveyor belt, so that the linkage driving mechanism of the travelling device is simplified, the movement uniformity of the travelling device is ensured, the power for longitudinal movement of the conveyor belt is derived from the friction force generated by the sole of a user, the time delay of the travelling device is smaller, the movement precision is correspondingly improved, and in addition, the conveyor belt is formed by splicing the chain plates, and the structure of the conveyor belt can be changed according to the requirement of the user;
furthermore, the invention realizes a pre-self-learning mode through the detection mechanism and the control mechanism, and can lead the driving motor and the damper to reach proper starting output power in advance according to walking habits of different users, thereby leading the running gear to reduce starting time delay when carrying out a 360-degree movement mode, simultaneously leading the driving motor and the damper to combine active movement control and passive movement control, adjusting the output power of the driving motor to adapt to the real-time speed of the users, and leading the damper to passively adjust the output power according to the real-time speed of the users, and further optimizing the effects of reducing the time delay and increasing the movement precision.
Therefore, the invention provides the short-time-delay 360-degree walking device and the control method thereof, and the control method combining active control and passive control is adopted, so that the linkage driving mechanism is simplified, the reaction time of the conveyor belt is reduced, and the time delay of the walking device is further reduced. Meanwhile, the problem that the belt conveyor belt can rub with the supporting rod or the cross beam and interfere with the supporting rod or the cross beam is solved, the problems that the strength of the belt conveyor belt is insufficient and the inertia of a belt conveyor system is large are also solved, and the service life, the motion control precision and the flexibility of the platform are improved. Through detection of the detection mechanism to the user data, the driving motor and the damper have proper output power, and can be matched with the user better.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are needed in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic diagram of the overall structure module relationship of a short-delay 360-degree running gear provided by the invention;
FIG. 2 is a schematic diagram of the whole structure of a short-time-delay 360-degree walking device provided by the invention;
FIG. 3 is a front perspective view of the whole structure of the short-delay 360-degree running gear provided by the invention;
FIG. 4 is a schematic diagram of a short-delay 360-degree walking device frame removing structure provided by the invention;
FIG. 5 is a schematic structural view of a link plate;
FIG. 6 is a schematic structural view of a roller link;
FIG. 7 is a schematic illustration of a user walking longitudinally on a running gear;
FIG. 8 is a schematic illustration of a user walking laterally on a walking device;
FIG. 9 is a schematic view of a user walking diagonally on a walking device;
FIG. 10 is a schematic flow chart of a control method of a short-delay 360-degree running gear provided by the invention;
FIG. 11 is a flow chart of a control mechanism adjusting the belt running speed based on the user speed.
Reference numerals:
1-a supporting mechanism; 2-a detection mechanism; 3-a conveying mechanism; 4-a transmission mechanism; 5-a control mechanism; 11-a frame; 21-an image recognition mechanism; 22-an infrared sensor; 23-a pressure sensor; 24-gyroscopes; 31-a conveyor belt; 41-driving a motor; 42-a damper; 111-supporting frames; 311-link plates; 312-roller links; 313-roller.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and fully with reference to the accompanying drawings, in which it is evident that the embodiments described are only some, but not all embodiments of the invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
The invention aims to provide the running gear which can control transverse and longitudinal transmission through one active driving mechanism and two dampers, so that the running gear can be better matched with a sensor to control a chain plate conveyor belt, the reaction time of the chain plate conveyor belt is shortened, the time delay of the running gear is further shortened, and the linkage driving mechanism is simplified.
The function of the belt conveyor and the support rod or the cross beam in the transverse direction and the longitudinal direction is realized through the chain plate conveyor structure, so that the problem that the belt conveyor rubs with the support rod or the cross beam and interferes is solved, the problems of insufficient strength of the belt conveyor and large inertia of a belt conveyor system are also solved, and the service life, the motion control precision and the flexibility of the platform are improved.
Meanwhile, the linkage mechanism provided by the invention is simpler, and the link plate conveyor belt can be driven to move transversely and longitudinally by combining the active and passive driving mechanisms, so that the response delay of the running gear is reduced, and the movement precision is enhanced. The structure provided by the invention can also change the volume of the running gear according to the requirements of users in different time, and the function of changing the volume of the running gear is realized through the splicing of the chain plates.
Example 1
Referring to fig. 1, the invention provides a short-time-delay 360-degree walking device, which comprises a supporting mechanism 1, a detecting mechanism 2, a conveying mechanism 3 supported by the supporting mechanism 1, a transmission mechanism 4 and a control mechanism 5, wherein the control mechanism 5 is connected with the transmission mechanism 4 and can receive signals sent by the detecting mechanism 2, and in the embodiment, the detecting mechanism 2 is arranged on the supporting mechanism 1.
Referring to fig. 2-4, the conveying mechanism 3 includes a conveying belt 31 formed by connecting a plurality of endless belts, in this embodiment, the endless belts are chain plates 311 as shown in fig. 5, the conveying belt 31 is a chain plate conveying belt 31 formed by splicing the chain plates 311, and two ends of the outer side of the chain plate conveying belt 31 are respectively provided with flexible connecting rods, wherein the flexible connecting rods are used for connecting each chain plate 31, and are matched with the movement of the conveying belt 31 in a direction parallel to the chain plates 311. In other embodiments, the flexible link may be replaced with a chain.
The conveying mechanism 3 further includes two roller links 312, referring to fig. 6, rollers 313 are disposed at two ends of each roller link 312, and the rollers 313 are used to cooperate with the link plate conveying belt 31, so that a user can drive the link plate 311 to move in a direction perpendicular to the link plate 311 by friction between the foot and the outer contact surface of the link plate conveying belt 31.
It should be noted that, the direction perpendicular to the link plate 311 is the longitudinal direction, and the direction parallel to the link plate 311 is the transverse direction.
Specifically, the supporting mechanism 1 comprises a frame 11 and a supporting frame 111, the supporting frame 111 is arranged inside the frame 11, the supporting frame 111 is fixedly connected with the chain plate conveying belt 31 and the frame 11 and is used for supporting the chain plate conveying belt 31, the control mechanism 5 comprises an alarm for prompting a user, and the control mechanism 5 is preset with a control program for controlling the conveying mechanism 3 and the transmission mechanism 4.
The transmission mechanism 4 is used for realizing motion control of the link plate conveyor 31, and comprises a driving mechanism for driving the link plate 311 to move in a direction parallel to the link plate 311 and a resistance mechanism in a direction perpendicular to the link plate 311.
Specifically, the transmission mechanism 4 is disposed inside the link plate conveyor belt 31, the driving mechanism is a driving motor 41, the resistance mechanism is a damper 42, the driving motor 41 is used for driving the transmission mechanism 4 to move, two roller connecting rods 312 are respectively provided with one damper 42, the damper 42 is used for generating proper damping, and when the link plate conveyor belt 31 moves longitudinally in cooperation with the speed of the link plate conveyor belt 31 during transverse movement, the link plate conveyor belt 31 does not need to be controlled by a separate motor, and can be driven by friction force generated between the link plate conveyor belt 31 and the feet of a user. In the present embodiment, the driving direction of the driving motor 41 is the lateral direction.
Through the arrangement, the movement control of the chain plate conveyor belt 31 can be realized by only one active driving motor 41, so that the linkage driving mechanism of the running gear is simplified, and the movement uniformity of the running gear is ensured; meanwhile, the power of the longitudinal movement of the link plate conveyor 31 comes from the friction force generated with the sole of the user, so the time delay of the running gear is smaller and the movement accuracy is higher.
The detecting mechanism 2 includes a pressure sensing mechanism for detecting the weight of the user, an angle sensing mechanism for detecting the angle at which the user walks, an image recognition mechanism 21 for detecting the upper body form of the user, and an infrared sensing mechanism for detecting the foot size and the step distance of the user.
Specifically, in the present embodiment, the pressure sensor device is a pressure sensor 23, the pressure sensor 23 is disposed inside the conveying mechanism 3, and in the present embodiment, the pressure sensor 23 is disposed on an inner surface of the link plate 311, that is, a surface that is not in contact with the sole of the user. The pressure sensor 23 is used for detecting the weight of the user, transmitting the weight data of the user to the control mechanism 5, judging whether the weight data of the user exceeds the loadable range of the running gear by a control program, stopping the starting of the running gear when the weight data of the user exceeds the loadable range of the running gear, and controlling the alarm to give an alarm;
the angle sensing mechanism is a gyroscope 24, in this embodiment, the gyroscope 24 is worn on the waist of the user, and is used for detecting the walking angle of the user, and transmitting the walking angle data of the user to the control mechanism 5;
the image recognition mechanism 21 is used for detecting the upper body shape of the user, generating an image signal according to the detection result, transmitting the image signal to the control mechanism 5, and obtaining the sex data of the user after the control program processes the image signal;
the infrared sensing mechanism is an infrared sensor 22, in this embodiment, the infrared sensor 22 is fixedly installed around the frame 11, and is used for detecting the foot size and the step distance of the user, and transmitting the foot size and the step distance data of the user to the control mechanism 5.
The control program carries out corresponding processing on the weight, the walking angle, the sex, the foot size, the step distance and other data of the user, according to the processing result, the average walking speed and the average step distance of the user which are consistent with the processing result are called in the database, the called average walking speed and average step distance data are taken as adjusting basis, and the initial output power of the driving motor 41 and the damper 42 is adjusted, so that the walking device can primarily recognize the walking action of the user, and the starting acceleration of the user is matched in advance, and the starting time delay of the walking device is reduced.
Further, the control mechanism 5 includes a voice component for prompting the user to complete a specific action by voice, so as to adjust the output power of the driving motor 41 and the damper 42, and in this embodiment, the device specifically includes:
first, the user is prompted to walk longitudinally for a certain distance, please refer to fig. 6, at this time, friction force is generated between the sole of the user and the outer side of each conveyor belt 31, and the conveyor belt 31 is driven to move longitudinally by the friction force. In the process of longitudinal movement of the conveyor belt 31, rollers 313 arranged at the front end and the rear end of the travelling device are matched to move, meanwhile, a control program processes weight data of a user obtained by the pressure sensor 23, and according to the result obtained by processing, real-time output power of two dampers 42 fixed at the roller connecting rods 312 at the front end and the rear end is regulated, so that the dampers 42 generate proper damping to be matched with the travelling action of the user in the longitudinal direction.
In this embodiment, the damper 42 has two working states, namely a first-gear working state and a second-gear working state, and the control program adjusts the damper 42 to the corresponding working states simultaneously when adjusting the output power of the damper 42, for example: when the weight of the user is less than 50% of the set value of the loadable range of the running gear, the damper 42 is in a first gear working state; when the user weight is greater than 50% of the set point for the loadable range, the damper 42 will be in the second gear operating state.
Next, the user is prompted to walk laterally for a distance, please refer to fig. 8, at which time the infrared sensor 22 obtains the foot size and the step distance of the user, and the walking angle of the user is obtained by using the gyroscope 24. The weight, foot size, step distance, walking angle and other data of the user are transmitted to the control mechanism 5, the control program processes to obtain the real-time walking speed and direction of the user, and the real-time walking speed of the user is used as the basis for adjusting the real-time output power of the driving motor 41, so that the driving motor 41 generates proper power to match the real-time walking speed and direction of the user.
After the user finishes the prescribed action according to the voice instruction, the control program of the running gear can read the average speed and the step distance of the user in the database according to the running action of the user, and adjust the damper 42 of the running gear to a proper output power range, so that the driving motor 41 of the running gear is adjusted to a proper output power range, thereby being capable of adapting to the running habits of different users when the running gear normally runs, and reducing untimely response and starting delay of the controller caused by the running habits of different users.
Next, the running gear enters an omnidirectional 360-degree movement mode, please refer to fig. 9, at this time, the user can start running in any direction, the longitudinal movement of the conveying mechanism 3 is set as x-axis, the transverse movement is set as y-axis, the angle formed by the running direction of the user and the y-axis is a, the speed component on the y-axis and the x-axis is respectively set as B, C, and the movement control ratio of the driving motor 41 and the damper 42 is correspondingly changed according to the running angle of the user, specifically:
when the gyroscope 24 detects a=45°, a=135°, a=225°, or a=315°, the foot size, the step distance, and the toe direction data of the user are detected by the infrared sensor 22, and the weight, the foot size, the step distance, and the toe direction data of the user are transmitted to the control means 5, and the traveling speed of the user is obtained after the control program processing, and the velocity component b=c of the traveling speed of the user at this time is obtained, so that the motion control of the damper 42 and the drive motor 41 each takes 50%.
When the gyroscope 24 detects 0 ° < a <45 °, 135 ° < a <225 ° or 315 ° < a <360 °, the foot size, the step distance, and the toe direction data of the user are detected by the infrared sensor 22, and then the weight, the foot size, the step distance, and the toe direction data of the user are transmitted to the control mechanism 5, and after the control program processing, the walking speed of the user is obtained, and the speed component B > C of the walking speed of the user at this time is obtained, so that the motion control of the damper 42 is >50% and the motion control of the driving motor 41 is <50%.
When the gyroscope 24 detects 45 ° < a <135 ° or 225 ° < a <315 °, the infrared sensor 22 detects the foot size, the step distance, and the toe direction data of the user, and the weight, the foot size, the step distance, and the toe direction data of the user are transmitted to the control mechanism 5, and after the control program processing, the walking speed of the user is obtained, and the speed component B < C of the walking speed of the user at this time is obtained, so that the motion control of the damper 42 is <50%, and the motion control of the drive motor 41 is >50%.
When the gyroscope 24 detects a=90° or a=270°, the infrared sensor 22 is used to detect the foot size, the step distance and the toe direction data of the user, then the weight, the foot size, the step distance and the toe direction data of the user are transmitted to the control mechanism 5, after being processed by the control program, the walking speed of the user is obtained, and the walking speed and the weight data of the user are used as the basis for adjusting the output power of the damper 42:
when the walking speed of the user is high and the weight data of the user is less than 50% of the set value of the loadable range of the walking device, the damper 42 can be in the output power of more than 50% of the first gear working state;
when the walking speed of the user is low and the weight data of the user is less than 50% of the set value of the loadable range of the walking device, the damper 42 can be in the output power below 50% of the first gear working state;
when the walking speed of the user is high and the weight data of the user is greater than 50% of the set value of the loadable range of the walking device, the damper 42 can be in the output power of more than 50% of the second gear working state;
when the walking speed of the user is low and the weight data of the user is greater than 50% of the set value of the loadable range of the walking device, the damper 42 can be in the output power below 50% of the second gear working state.
When the gyroscope 24 detects a=0° or a=180°, the infrared sensor 22 is used to detect the foot size, the step distance and the toe direction data of the user, then the weight, the foot size, the step distance and the toe direction data of the user are transmitted to the control mechanism 5, after being processed by the control program, the walking speed of the user is obtained, and the walking speed of the user is used as the basis for adjusting the output power of the driving motor 41, so that the link plate conveyor belt 31 can be translated in the opposite direction of the movement of the user, and the purpose of keeping the user to move in the center of the walking device is achieved.
Finally, when the user stops moving, the gyroscope 24 detects the last walking angle of the user, and according to the last walking angle of the user, the movement control modes of the driving motor 41 and the damper 42 are correspondingly changed, specifically:
when a=45°, a=135°, a=225° or a=315°, the damper 42 and the driving motor 41 perform motion control simultaneously, and in order to avoid the damage of motion inertia, the damper 42 reduces the output power, the driving motor 41 performs forward and reverse rotation alternation, and gradually reduces the output power;
when 0 ° < a <45 °, 135 ° < a <225 °, or 315 ° < a <360 °, the driving motor 41 is alternately rotated in the forward and reverse directions, and the output power is gradually reduced, and the damper 42 stops functioning;
when 45 ° < a <135 °, 225 ° < a <315 °, a=0° or a=180°, the damper 42 gradually reduces the output power, and the drive motor 41 stops operating;
when a=90° or a=270°, the damper 42 and the driving motor 41 stop operating immediately.
It should be noted that, the motion control of the walking device provided by the invention includes active motion control and passive motion control. The active motion control adjusts the driving motor 41 to forward or reverse according to the walking speed and the walking direction of the user, and adjusts the output power of the motor; the passive motion control directly links the stepping action of the user by the longitudinal movement of the conveyor belt 31, and adjusts the damper 42 in accordance with the weight data of the user. The starting and stopping response of the passive motion control is rapid, so that the starting and stopping of the whole running gear are smoother and quicker when the passive motion control is matched with the active motion control, the time delay of the running gear is reduced, and the running gear is stronger in linkage, higher in flexibility and stronger in safety.
Example 2
Based on the short-delay 360-degree running gear provided by the embodiment of the invention, the invention also provides a control method of the short-delay 360-degree running gear, please refer to fig. 10, the control method comprises the following steps:
s200: initially, the process advances to step S210.
S210: the weight data of the user is collected by the detection means 2, and the process advances to step S220.
S220: and judging whether the weight data of the user exceeds the loadable range of the walking device.
If the weight data of the user does not exceed the loadable range of the walking device, step S230 is entered; if the weight data of the user exceeds the loadable range of the walking device, the step S280 is performed.
S230: judging whether the user has walking behaviors or not.
If the user has walking behaviors, the step S240 is entered; if the user has no walking action, the process proceeds to step S280.
S240: the foot size, step distance, and toe direction data of the user are collected by the detection mechanism 2, and the process proceeds to step S250.
S250: the control means 5 controls the driving means and the resistance means to adjust the output power based on the detected data, so that the running speed of the conveyor belt 31 is adapted to the user' S speed, and the process proceeds to step S260.
S260: it is determined whether the user stops moving.
If the user stops moving, the process proceeds to step S270; if the user does not stop the movement, step S240 is repeated.
S270: the control mechanism 5 controls the driving mechanism and the resistance mechanism to slowly stop moving, and the process advances to step S280.
The driving mechanism and the resistance mechanism slowly stop moving, so that the user can be ensured not to generate safety accidents due to movement inertia.
S280: and (5) ending.
Specifically, referring to fig. 11, step S250 includes:
s251: and judging the walking angle of the user.
If the user walks transversely in parallel, step S252 is entered; if the user walks longitudinally in parallel, the step S253 is entered; if the user does not walk in parallel in the lateral direction and the longitudinal direction, the process proceeds to step S254.
S252: the control means 5 controls the drive means to adjust the output power based on the detected data so that the lateral running speed of the conveyor belt 31 matches the user speed.
S253: the control means 5 controls the resistance means to adjust the output power based on the detected data so that the longitudinal running speed of the conveyor belt 31 is adapted to the user's speed.
S254: the control means 5 controls the driving means and the resistance means to adjust the output power based on the detected data, so that the lateral and longitudinal running speeds of the conveyor belt 31 are combined together to adapt to the user's speed.
In summary, the invention provides a short-time-delay 360-degree traveling device and a control method thereof, which adopt a control method combining active control and passive control, simplify a linkage driving mechanism, reduce the reaction time of a conveyor belt, and further reduce the time delay of the traveling device. Meanwhile, the problem that the belt conveyor belt can rub with the supporting rod or the cross beam and interfere with the supporting rod or the cross beam is solved, the problems that the strength of the belt conveyor belt is insufficient and the inertia of a belt conveyor system is large are also solved, and the service life, the motion control precision and the flexibility of the platform are improved. Through detection of the detection mechanism to the user data, the driving motor and the damper have proper output power, and can be matched with the user better.
The foregoing description of the preferred embodiments of the invention is not intended to limit the invention to the precise form disclosed, and any such modifications, equivalents, and alternatives falling within the spirit and scope of the invention are intended to be included within the scope of the invention.
Claims (8)
1. The short-time-delay 360-degree walking device is characterized by comprising a supporting mechanism, a detecting mechanism, a control mechanism, a conveying mechanism and a transmission mechanism, wherein the conveying mechanism and the transmission mechanism are supported by the supporting mechanism;
the conveying mechanism comprises a conveying belt formed by connecting a plurality of circulating belts, and the conveying belt moves in a direction perpendicular to the circulating belts through friction between an outer contact surface and an external object;
the transmission mechanism comprises a driving mechanism and a resistance mechanism which are arranged in the conveyor belt, wherein the driving mechanism is used for driving the conveyor belt to move in a direction parallel to the circulating belt, and the resistance mechanism is used for generating resistance to match the movement of the conveyor belt in a direction perpendicular to the circulating belt; the conveying mechanism further comprises two roller connecting rods, rollers are arranged at two ends of each roller connecting rod, the resistance mechanism is a damper, each roller connecting rod is provided with a damper, and the rollers and the dampers are used for being matched with the movement of the conveying belt in the direction perpendicular to the circulating belt;
the detection mechanism is used for detecting data of a user and sending detected data information to the control mechanism through a signal; the control mechanism is connected with the transmission mechanism and controls the output power of the driving mechanism and the resistance mechanism through detecting the obtained data information.
2. The short-time-delay 360-degree traveling device according to claim 1, wherein the circulating belt is a chain plate, and the conveyor belt is formed by splicing the chain plates.
3. The short delay 360 degree running gear of claim 1, wherein the detection mechanism comprises a pressure sensing mechanism for detecting the weight of the user and transmitting the weight data of the user to the control mechanism;
the control mechanism is used for judging whether the weight data of the user exceeds the loadable range of the running gear, and when the weight data of the user exceeds the loadable range of the running gear, the control mechanism prevents the running gear from being started.
4. The short-delay 360-degree walking device according to claim 1, wherein the detection mechanism further comprises a gyroscope and an image recognition mechanism, the gyroscope is arranged at the waist of the user and is used for detecting the walking angle of the user and transmitting the walking angle data of the user to the control mechanism;
the image recognition mechanism is used for detecting the upper body form of the user, generating an image signal and transmitting the image signal to the control mechanism, and the control mechanism obtains the gender data of the user through the image signal.
5. The short-delay 360-degree walking device of claim 1, wherein the detection mechanism further comprises an infrared sensing mechanism fixedly mounted to the support mechanism for detecting foot size, step distance and toe direction data of the user.
6. The short-delay 360-degree traveling device according to claim 1, wherein the control mechanism is provided with a database, and the control mechanism obtains the data information through detection by the detection mechanism, and invokes an average traveling speed and an average step distance of a user conforming to the data information in the database;
the control mechanism takes the obtained average walking speed and average step distance data as adjustment basis, and adjusts the initial output power of the driving mechanism and the resistance mechanism so as to be matched with the starting acceleration of a user in advance.
7. A method for controlling a short-delay 360 degree running gear, characterized in that the method is used for controlling a short-delay 360 degree running gear as claimed in any one of claims 1, 4-6, the method comprising:
collecting weight data of a user through the detection mechanism;
judging whether the weight data of the user exceeds the loadable range of the walking device or not;
judging whether the user has walking behaviors or not;
if the user has walking behaviors, collecting foot size, step distance and toe direction data of the user through the detection mechanism;
and the control mechanism controls the driving mechanism and the resistance mechanism to adjust output power according to the detected data, so that the running speed of the conveyor belt is adapted to the speed of a user.
8. The control method of a short-delay 360-degree running gear according to claim 7, further comprising:
judging whether the user stops moving;
if the user stops moving, the control mechanism controls the driving mechanism and the resistance mechanism to slowly stop moving;
if the user does not stop moving, the detection mechanism continuously collects the foot size, the step distance and the toe direction data of the user, and the control mechanism controls the driving mechanism and the resistance mechanism to continuously adjust the output power, so that the running speed of the conveyor belt is adapted to the speed of the user.
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