CN114733171B - Double-board skiing simulator - Google Patents

Double-board skiing simulator Download PDF

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Publication number
CN114733171B
CN114733171B CN202111592642.1A CN202111592642A CN114733171B CN 114733171 B CN114733171 B CN 114733171B CN 202111592642 A CN202111592642 A CN 202111592642A CN 114733171 B CN114733171 B CN 114733171B
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branched chain
pair
connecting rod
platform
rotation axis
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CN114733171A (en
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李永泉
张舵
乔晓飞
张立杰
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Yanshan University
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Yanshan University
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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
    • A63B69/18—Training appliances or apparatus for special sports for skiing
    • 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
    • A63B69/0093—Training appliances or apparatus for special sports for surfing, i.e. without a sail; for skate or snow boarding
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B71/00—Games or sports accessories not covered in groups A63B1/00 - A63B69/00
    • A63B71/06—Indicating or scoring devices for games or players, or for other sports activities
    • A63B71/0619—Displays, user interfaces and indicating devices, specially adapted for sport equipment, e.g. display mounted on treadmills
    • A63B71/0622—Visual, audio or audio-visual systems for entertaining, instructing or motivating the user
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B71/00—Games or sports accessories not covered in groups A63B1/00 - A63B69/00
    • A63B71/06—Indicating or scoring devices for games or players, or for other sports activities
    • A63B71/0619—Displays, user interfaces and indicating devices, specially adapted for sport equipment, e.g. display mounted on treadmills
    • A63B71/0622—Visual, audio or audio-visual systems for entertaining, instructing or motivating the user
    • A63B2071/0638—Displaying moving images of recorded environment, e.g. virtual environment
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B2220/00—Measuring of physical parameters relating to sporting activity
    • A63B2220/50—Force related parameters
    • A63B2220/51—Force
    • A63B2220/52—Weight, e.g. weight distribution

Abstract

The invention discloses a double-board skiing simulator which comprises a fixed platform, lower platforms, an upper platform, a sliding plate, snow sticks, two symmetrical UPU branched chains and two symmetrical PUR branched chains, wherein the two symmetrical UPU branched chains and the two symmetrical PUR branched chains are used for connecting the lower platform and the upper platform, the P branched chains are used for connecting the two lower platforms, the two lower platforms are arranged on the fixed platform, the two snow sticks which are symmetrical left and right are arranged on the lower platform, the sliding plate is arranged on the upper platform, and moving pairs in the UPU branched chains and the PUR are driving pairs. This patent provides a can realize that heeling, every single move, rotation and horizontal, vertical, the vertical direction of slide go up the two board skiing simulator who removes, and the collocation can stretch out and draw back snow stick, and auxiliary device such as skeleton location, fan in the combination machine vision again measures the vertical error of human shoulder and controls the action that the people want to realize and control wind speed and simulate skiing speed, can satisfy skiing fan's multiple body and feel experience.

Description

Double-board skiing simulator
Technical Field
The invention relates to the field of simulators, in particular to a double-board skiing simulator.
Background
Skiing is a competitive sport where athletes mount skis on the bottom of boots and play speed, jump, and downhill on snow. The snowboard is made of wood, metal materials and plastics by mixing.
Along with skiing sport's popularization, people are also more and more high to the enthusiasm of skiing, more and more people add in the team of skiing, because the requirement of true skiing to season and place is than higher, and need bear winter cold and the pain when falling at the in-process of true skiing, the skiing simulator can realize letting the skiing fan can just enjoy skiing indoors, but current skiing simulator still can't accomplish all degrees of freedom that true skiing needs, can't make the skiing fan experience the true body of skiing and feel.
Disclosure of Invention
In order to solve the defects of the prior art, the invention provides a double-plate skiing simulator, which can realize the rolling, pitching and rotating of a skateboard and multi-directional movement in the transverse, longitudinal and vertical directions and can well simulate the body feeling of real skiing. The two lower platforms move left and right in the slide way of the static platform, the two connecting rods are used between the lower platforms of the two sliding plate platforms and are connected through the sliding pair, the connecting rods penetrate through the support fixed in the middle of the static platform, so that the opening and closing of two feet of a person on the sliding plate can be realized when the virtual scene with a small screen is matched, and the person is not too far away from the center of the static platform. Can truly simulate the skiing feeling.
The two sliding plate assemblies are directly connected by virtue of a P branched chain, the two lower platforms are arranged on the fixed platform, the snow layer is arranged on the lower platform, the sliding plate is arranged on the upper platform, and moving pairs in each UPU branched chain and each PUR branched chain are driving pairs;
a transverse slideway is arranged in the middle of the fixed platform, a longitudinal slideway is arranged on the lower platform, and the longitudinal slideway of the lower platform is connected with the transverse slideway of the fixed platform through a sliding pair;
the P branched chain comprises two connecting rods, the top end of the first connecting rod is connected with the bottom end of the second connecting rod through a sliding pair, the bottom end of the first connecting rod is fixed on one of the lower platforms, and the top end of the second connecting rod is fixed on the other lower platform;
a first branched chain, a second branched chain, a third branched chain and a fourth branched chain are arranged between the upper platform and the lower platform, the first branched chain and the third branched chain are symmetrically arranged, and the second branched chain and the fourth branched chain are symmetrically arranged;
the first branched chain and the third branched chain are PUR branched chains, and the PUR branched chains comprise moving pairs, U pairs, rotating pairs and connecting rods; the bottom end of the connecting rod is connected with one end of the lower platform through a moving pair and a U pair, and the top end of the connecting rod is connected with one end of the upper platform through a rotating pair;
the second branched chain and the fourth branched chain are UPU branched chains, and the UPU branched chains comprise a first U pair, a moving pair, a second U pair, a first connecting rod and a second connecting rod; the bottom end of the first connecting rod is connected with the lower platform through a U pair, the top end of the first connecting rod is connected with the bottom end of the second connecting rod through a moving pair, and the top end of the second connecting rod is connected with one end of the upper platform through the U pair;
one of the rotation axes of the first U pair of the UPU branched chain is parallel to one of the rotation axes of the second U pair of the UPU branched chain, one of the rotation axes of the U pair of the PUR branched chain is parallel to the rotation axis of the rotation pair connected with the upper platform at the upper end of the connecting rod, and the other rotation axis of the U pair of the branched chain PUR is vertical to the rotation axis of the rotation pair connected with the upper platform at the upper end of the connecting rod;
the two UPU branched chains have 4U pairs in total, wherein one rotation axis of the second branched chain U pair is coaxial with one rotation axis of the corresponding fourth branched chain U pair, the other rotation axis of the second branched chain U pair is parallel to the other rotation axis of the corresponding fourth branched chain U pair, the two PUR branched chains have 2U pairs in total, one rotation axis of the first branched chain U pair is coaxial with the rotation axis of the corresponding third branched chain U pair, and the other rotation axis of the first branched chain U pair is parallel to the other rotation axis of the corresponding third branched chain U pair.
Preferably, the fixed platform, the lower platform and the sliding plate are all rectangular plate-shaped platforms, and the upper platform is of a cross-shaped plate-shaped structure.
Preferably, the sliding plate is connected to the upper platform through a revolute pair.
Preferably, the snow guard comprises a first connecting rod and a second connecting rod, the top end of the first connecting rod is connected with the bottom end of the second connecting rod through a moving pair, and the bottom end of the first connecting rod is connected to the lower platform through a U pair.
Preferably, the driving pairs in the first branch chain, the second branch chain, the third branch chain and the fourth branch chain are all driven linearly by electric cylinders.
Preferably, the moving pair direction of the UPU branched chain is along the direction of the connecting rod, and the moving direction of the PUR branched chain moving pair is along the direction of the guide rail of the lower platform.
Preferably, one of the rotation axes of the U pairs of the UPU branched chain connected with the lower platform is perpendicular to one of the rotation axes of the U pairs of the PUR branched chain, and one of the rotation axes of the U pairs of the UPU branched chain connected with the upper platform is parallel to the rotation axis of the rotation pair of the PUR branched chain.
Preferably, the vice department of removal of snow stick and the lower extreme of slide all are provided with weighing sensor, and weighing sensor passes through the signal conversion unit and turns into digital signal and input to the host computer with pulse signal, and the host computer turns into force information with gravity information, and the vice department of U of snow stick is provided with the angle sensor who measures snow stick turned angle, and angle sensor passes through the signal conversion unit and turns into digital signal and input to the host computer with pulse signal, the host computer is with input signal output acceleration signal after handling, feeds back to the double plate skiing simulator.
Preferably, the specific working process of the upper computer comprises the following steps:
s1, establishing a mechanical model of the skiing simulator:
the projection of the force in the X direction is:
F X ＝F 4 sinθ 1 +F 2 cosθ 1 -F 3 sinθ 1 ；
the projection of the force in the Y direction is:
F Y ＝F 4 cosθ 1 +F 2 sinθ 1 -F 3 cosθ 1 ；
the calculation formula of the acceleration a of the mechanical model obtained according to the Newton's third law is as follows:
Figure GDA0003686862180000031
wherein:
F 2 ＝F 1 cosθ 2
F 3 ＝F 1 sinθ 2
wherein, F 1 Data of the moving pair weighing sensor for snow cane 2 Is a projection of the U pair on the horizontal direction of the counterforce at the bottom end of the snow cane, F 3 Is a projection of the U pair on the vertical direction of the counterforce at the bottom end of the snow stick,F 4 data of load cells on the board, theta 1 For the angle of the slide plate relative to the horizontal direction, the information of the angle can be obtained from the data in the virtual scene, theta 2 The data of the angle sensor on the revolute pair of the U pair on the snow cane and the direction of the fixed platform guide rail are consistent;
and S2, outputting an acceleration signal based on the mechanical model of the skiing simulator, and feeding the acceleration signal back to the double-plate skiing simulator.
Compared with the prior art, the invention has the following effects:
(1) The invention is provided with two upper and lower platforms and a six-degree-of-freedom platform, and can realize rotation of each axis and movement in each direction to the maximum extent. The two lower platforms move left and right in the slide way of the static platform, the two connecting rods are used in the middle of the lower platforms of the two sliding plate platforms and are connected through the sliding pair, the effect of limiting displacement is achieved, and the phenomenon that the transverse relative displacement of the two sliding plate platforms is too large to cause injury to people is prevented. The connecting rod passes through the support fixed in the middle of the static platform, so that the opening and closing of the two feet of a person on the sliding plate can be realized when the virtual scene with a small screen is matched, and the position of the person away from the center of the static platform can be ensured not to be too far. And two snow day layers respectively have a sliding pair, can realize flexible function, add weighing sensor in the sliding pair department to supplementary angle sensor that adds in U vice department measures the position appearance of snow day layer and the power that people gave snow day layer, also adds a weighing sensor in the slide lower extreme simultaneously, measures human gravity information, calculates the change of acceleration through information processing, feeds back to two board skiing simulators.
(2) When the skiing simulator is used in combination with a virtual scene, the pitch angle, the roll angle and the vertical fluctuation of the skiing simulator are controlled according to the road information and the acceleration information of the virtual scene, and the skiing simulator can simulate skiing body feeling with high fidelity under the condition of limited displacement by combining a fan and algorithm control.
(3) The sliding plate can freely rotate around the vertical direction, and the splayed actions of a skiing starting preparation stage and a skiing deceleration stage can be simulated. On the other hand, the invention can be combined with auxiliary devices such as skeleton positioning in machine vision, and the like, and can measure the vertical error of the shoulders of the human body to control the action which the human wants to realize.
Drawings
FIG. 1 is a schematic view of the overall structure of the snowboarding simulator of the present invention;
FIG. 2 is a schematic diagram of the structure of a 2-PUR branch of the present invention;
FIG. 3 is a schematic diagram of the structure of a 3-UPU branched chain of the present invention;
FIG. 4 is a schematic diagram of the structure of the upper and lower platforms and connecting branches of the present invention;
fig. 5 is a working principle diagram of the present invention.
In the figures, the main reference numerals are as follows:
0-fixed platform; 11-a lower platform; 12-a fixing bolt; 13-fixing the bracket; 1A-a lower platform moving pair; 21-a first strut link; 2A-first branch chain moving pair; 2B-first branch chain U pair; 2C-first branch chain revolute pair; 31-a second branched first link; 32-a second branched second link; 3A-a first U pair of a second branch chain; 3B-a second branched chain sliding pair; 3C-second branch chain second U pair; 41-upper platform; 51-a slide plate; 5A, a sliding plate revolute pair; 61-a third branched link; 6A-a third branched chain sliding pair; 6B-third branch chain U pair; 6C-a third branched chain revolute pair; 71-a slide bar first link; 72-slide bar second link; 7A-sliding rod moving pair; 7B-a slide bar U pair; 81-a fourth branched chain first connecting rod; 82-a fourth branched second link; 8A-a fourth branch chain first U pair; 8B-a fourth branched chain sliding pair; 8C-a fourth branch chain second U pair; 91-fifth branch chain first connecting rod; 92-fifth branch chain second connecting rod; 9A-fifth branch chain moving pair.
Detailed Description
Hereinafter, embodiments of the present invention will be described with reference to the drawings.
The invention provides a double-board skiing simulator, which comprises a fixed platform 0, a lower platform 11, an upper platform 41, a sliding plate 51, a snow layer, two symmetrical UPU branched chains and two symmetrical PUR branched chains which are connected with the lower platform 11 and the upper platform 41, and a P branched chain which is connected with the two lower platforms, wherein the two lower platforms are arranged on the fixed platform, the two snow layers which are symmetrical from left to right are arranged on the lower platform, the sliding plate is arranged on the upper platform, and moving pairs in the UPU branched chains and the PUR branched chains are driving pairs. Further, the fixed platform 0, the lower platform 11 and the sliding plate 51 are all rectangular plate-shaped platforms, a transverse slide way is arranged in the middle of the fixed platform, a longitudinal slide way is arranged on the lower platform, and the upper platform 41 is of a cross plate-shaped structure.
Further, the bottom end of the lower platform 11 of the mechanism is connected with the fixed platform 0 through a sliding pair.
Further, the two lower platforms are connected through lower platform moving pairs 1A and 9A.
Further, the slide plate 51 is connected to the upper stage 41 through a slide plate rotation pair 5A.
Furthermore, the driving pair in each branch chain UPU and PUR adopts an electric cylinder to drive linearly.
Further, a second branched chain 3 and a fourth branched chain 8 between the upper platform and the lower platform of the mechanism are UPU-shaped branched chains, and the UPU-shaped branched chains respectively comprise a first U pair, a moving pair, a second U pair, a first connecting rod and a second connecting rod; the bottom end of the first connecting rod is connected with the lower platform through the first U pair, the top end of the first connecting rod is connected with the bottom end of the second connecting rod through the moving pair, and the top end of the second connecting rod is connected with one end of the upper platform 4 through the second U pair.
Further, a first branched chain 2 and a third branched chain 3 between the upper platform and the lower platform of the mechanism are PUR-type branched chains, and each of the two PUR branched chains comprises a sliding pair, a U pair, a rotating pair and a connecting rod; the bottom end of the connecting rod is connected with one end of the lower platform 1 through a moving pair and a U pair, and the top end of the connecting rod is connected with one end of the upper platform 4 through a rotating pair.
Furthermore, a moving pair fixed on the fixed platform is clamped on a slide rail of the fixed platform, and the direction of the moving pair is vertical to the direction of the plumb line of the universal angle 3A.
Furthermore, the axis of one of the revolute pair of the branched chain U pair of the branched chain UPU is parallel to the axis of one of the revolute pair of the other branched chain U pair, the rotational axis of one of the revolute pair of the branched chain PUR is parallel to the rotational axis of the revolute pair of the upper end of the connecting rod connected with the upper platform, and the rotational axis of the other revolute pair of the branched chain PUR is perpendicular to the rotational axis of the revolute pair of the upper end of the connecting rod connected with the upper platform.
Furthermore, the two UPU branched chains have 4 branched chain U pairs in total; the two revolute pairs of the U pair of one branched chain are coaxial with the revolute pairs of the two U pairs of the other branched chain respectively, and the revolute pair axes of the remaining revolute pairs of the U pair of each branched chain are parallel. The two PUR branched chains total 2 branched chain U pairs; the rotation axis of one branched chain U pair is coaxial with the rotation axis of the other branched chain U pair, and the rest rotation axis of each branched chain U pair is parallel.
Furthermore, the moving pair direction of the UPU branched chain is along the direction of the connecting rod, and the moving direction of the PUR branched chain moving pair is along the direction of the guide rail of the lower platform.
Furthermore, one of the rotation axes of the U pairs of the UPU branched chain connected with the lower platform is vertical to one of the rotation axes of the U pairs in the PUR branched chain. One of the rotation axes of the U pairs of the UPU branched chain and the upper platform is parallel to the rotation axis of the rotation pair of the PUR branched chain.
In the embodiment of the present invention, as shown in fig. 1, the mechanism includes a fixed platform 0, a lower platform 11, an upper platform 41, a sliding plate 51, a first branched chain, a second branched chain, a third branched chain, a fourth branched chain and a fifth branched chain, wherein the first branched chain, the second branched chain, the third branched chain and the fourth branched chain respectively connect the lower platform 11 and the upper platform 41 together, and the fifth branched chain connects the two lower platforms together. The first branched chain and the third branched chain have the same structure, and the second branched chain and the fourth branched chain have the same structure.
The first branch chain is provided with a first branch chain connecting rod 21, and the lower end of the first branch chain connecting rod 21 is connected with the U pair 2B; the first branch chain U pair 2B is fixed at a moving pair 2A connected with the lower platform, and the first branch chain moving pair 2A is clamped in a linear track of the lower platform 1. A driving pair is arranged in the linear track, and the driving pair is a linear electric cylinder; the other end of the first link rod 21 is connected to a first link revolute pair 2C, and the first link revolute pair 2C is connected to the upper platform 4.
The second branched chain comprises a second branched chain first connecting rod 31 and a second branched chain second connecting rod 32, a second branched chain moving pair 3B is arranged at the joint of the second branched chain first connecting rod 31 and the second branched chain second connecting rod 32, and a driving pair is arranged in the middle of the second branched chain moving pair 3B to drive the second branched chain first connecting rod 31 and the second branched chain second connecting rod 32 to perform relative linear motion; the driving pair is a linear electric cylinder. The other end of the first connecting rod 31 of the second branched chain is connected with the first U pair 3A of the second branched chain, and the first U pair 3A of the second branched chain is connected on the lower platform 1; the other end of the second branched chain second connecting rod 32 is connected with a second branched chain second U pair 3C, and the second branched chain second U pair 3C is connected on the upper platform 4.
The third branched chain is provided with a third branched chain connecting rod 61, and the lower end of the third branched chain connecting rod 61 is connected with a U pair 6B; the third branched chain U pair 6B is fixed at a moving pair 6A connected with the lower platform, and the third branched chain moving pair 6A is clamped in a linear track of the lower platform 1. A driving pair is arranged in the linear track, and the driving pair is a linear electric cylinder; the other end of the third branched link 61 is connected to a first branched revolute pair 6C, and the first branched revolute pair 6C is connected to the upper stage 41.
The fourth branched chain comprises a fourth branched chain first connecting rod 81 and a fourth branched chain second connecting rod 82, a fourth branched chain moving pair 8B is arranged at the joint of the fourth branched chain first connecting rod 81 and the second branched chain second connecting rod 82, and a driving pair is arranged in the middle of the fourth branched chain moving pair 8B to drive the fourth branched chain first connecting rod 81 and the fourth branched chain second connecting rod 82 to do relative linear motion; the driving pair is a linear electric cylinder. The other end of the fourth branched chain first connecting rod 81 is connected with a fourth branched chain first U pair 8A, and the fourth branched chain first U pair 8A is connected to the lower platform 1; the other end of the fourth branched chain second connecting rod 82 is connected with a fourth branched chain U pair 8C, and the fourth branched chain second U pair 8C is connected to the upper platform 4.
The fifth branched chain is a P branched chain, and a fourth branched chain sliding pair 9A is formed by a fifth branched chain first connecting rod 91 and a fifth branched chain second connecting rod 92; the other end of the fifth branched chain first link 91 is fixed to one of the two lower platforms, and the other end of the fifth branched chain second link 92 is fixed to the other lower platform.
The working principle of the present invention is further described below with reference to the structure and implementation method of the present invention:
the skiing simulator of this patent is a two board skiing simulator, including two slide platforms, two slide platforms side-to-side motion in the slide of quiet platform, use two connecting rods to pass through the sliding pair connection in the middle of the lower platform of two slide platforms, play the effect of restriction displacement, prevent that the too big people of horizontal relative displacement of two slide platforms from leading to the fact the injury, the connecting rod passes and fixes the support of fixing at fixed platform intermediate position, both can make the people realize opening and shutting of both feet on the slide when the virtual scene of the less screen of collocation, can guarantee again that the people can not be too far away from the position at quiet platform center.
Furthermore, when the skiing simulator is used in combination with a virtual scene, the road information and the speed information of the virtual scene are converted into analog signals through the servo driver to control the rotation of the motor through pulse signals, so that the pitch angle, the roll angle and the up-and-down fluctuation of the skiing simulator are controlled, and the optimal washout algorithm is combined for control, so that skiing somatosensory with high fidelity can be simulated under the condition of limited displacement.
Further, two snow bars respectively have a sliding pair, can realize flexible function, respectively add the weighing sensor of range 400KG in the sliding pair department, turn into digital signal and input to STM32 through HX7111 module, turn into force information with gravity information in STM32, and the auxiliary turned angle who adds angle sensor and measure snow bar in U pair department, turn into digital signal and input to STM32 through GY-25 module with pulse signal, simultaneously also add the weighing sensor of a range 200KG in the slide lower extreme and be used for measuring human gravity information, turn into digital signal and input to STM32 through HX7111 module with pulse signal, burn the procedure in STM32, output acceleration signal after the input signal is handled, feed back to double plate skiing simulator, its theory of operation is shown in figure 5. The specific working process comprises the following steps:
s1, establishing a mechanical model of the skiing simulator:
the projection of the force in the X direction is:
F X ＝F 4 sinθ 1 +F 2 cosθ 1 -F 3 sinθ 1 。
the projection of the force in the Y direction is:
F Y ＝F 4 cosθ 1 +F 2 sinθ 1 -F 3 cosθ 1 。
the calculation formula for obtaining the acceleration a of the mechanical model according to the Newton's third law is as follows:
Figure GDA0003686862180000071
wherein:
F 2 ＝F 1 cosθ 2
F 3 ＝F 1 sinθ 2
wherein, F 1 Data of moving pair weighing sensor for snow cane F 2 Projection of the U pair on the bottom end of the snow stick in the horizontal direction, F 3 Projection of the U pair on the vertical direction of the counterforce at the bottom end of the snow stick, F 4 Data of load cells on the board, theta 1 For the angle of the slide plate relative to the horizontal direction, the information of the angle can be obtained from the data in the virtual scene, theta 2 The data of the angle sensor on the revolute pair of the U pair on the snow cane and the direction of the fixed platform guide rail are consistent;
and S2, outputting an acceleration signal based on the mechanical model of the skiing simulator, and feeding the acceleration signal back to the double-plate skiing simulator.
Furthermore, the sliding plate can freely rotate around the vertical direction, and the splayed action of a skiing starting preparation stage and a skiing deceleration stage can be simulated.
Further, in the remaining embodiments of the present invention, the articulation points of the human skeleton can be directly obtained by using the depth camera Kinect. And (3) observing the coordinate position information of the K joint points of the human body corresponding to the skeleton at each moment (frame) to judge the action which the human wants to realize.
The above-mentioned embodiments are merely illustrative of the preferred embodiments of the present invention, and do not limit the scope of the present invention, and various modifications and improvements made to the technical solution of the present invention by those skilled in the art without departing from the spirit of the present invention shall fall within the protection scope defined by the claims of the present invention.

Claims (6)

1. A two-board skiing simulator which is characterized in that: the two lower platforms are arranged on the fixed platform, the snow stick is arranged on the lower platform, the sliding plate is arranged on the upper platform, the UPU branched chains and the PUR branched chains are both driving pairs, splayed actions of a skiing starting preparation stage and a deceleration stage can be simulated, and double-plate synchronization or double-plate asynchronous actions can be completed;
a transverse slideway is arranged in the middle of the fixed platform, a longitudinal slideway is arranged on the lower platform, and the longitudinal slideway at the bottom of the lower platform is connected with the transverse slideway of the fixed platform through a sliding pair;
a first branched chain, a second branched chain, a third branched chain and a fourth branched chain are arranged between the upper platform and the lower platform, the first branched chain and the third branched chain are symmetrically arranged, and the second branched chain and the fourth branched chain are symmetrically arranged; the lower platforms of the two sliding plate assemblies are directly connected by means of a fifth branched chain, the fifth branched chain is a P branched chain, the fifth branched chain comprises a first connecting rod and a second connecting rod, the top end of the first connecting rod is connected with the bottom end of the second connecting rod through a sliding pair, the bottom end of the first connecting rod is fixed on one of the lower platforms, and the top end of the second connecting rod is fixed on the other lower platform;
the first branched chain and the third branched chain are PUR branched chains, and both the first branched chain and the third branched chain comprise a sliding pair, a U pair, a rotating pair and a connecting rod; the bottom end of the connecting rod is connected with one end of the lower platform through a moving pair and a U pair, and the top end of the connecting rod is connected with one end of the upper platform through a rotating pair;
the second branched chain and the fourth branched chain are UPU branched chains, and both the second branched chain and the fourth branched chain comprise a first U pair, a sliding pair, a second U pair, a first connecting rod and a second connecting rod; the bottom end of the first connecting rod is connected with the lower platform through a first U pair, the top end of the first connecting rod is connected with the bottom end of the second connecting rod through a moving pair, and the top end of the second connecting rod is connected with one end of the upper platform through a second U pair;
one rotation axis of the first U pair of the UPU branched chain is parallel to one rotation axis of the second U pair of the UPU branched chain, one rotation axis of the U pair of the PUR branched chain is parallel to the rotation axis of the rotation pair connected with the upper platform at the upper end of the connecting rod, and the other rotation axis of the U pair of the PUR branched chain is perpendicular to the rotation axis of the rotation pair connected with the upper platform at the upper end of the connecting rod;
the two UPU branched chains are provided with 4U pairs in total, wherein one rotation axis of the two U pairs of the second branched chain is coaxial with one rotation axis of the two U pairs of the corresponding fourth branched chain respectively, the other rotation axis of the two U pairs of the second branched chain is parallel to the other rotation axis of the two U pairs of the corresponding fourth branched chain respectively, the two PUR branched chains are 2U pairs in total, one rotation axis of the U pair of the first branched chain is coaxial with one rotation axis of the U pair of the corresponding third branched chain, and the other rotation axis of the U pair of the first branched chain is parallel to the other rotation axis of the U pair of the corresponding third branched chain;
the fixed platform, the lower platform and the sliding plate are all rectangular plate-shaped platforms, and the upper platform is of a cross-shaped plate-shaped structure;
the snow cane comprises a first connecting rod and a second connecting rod, the top end of the first connecting rod is connected with the bottom end of the second connecting rod through a moving pair, and the bottom end of the first connecting rod is connected to the lower platform through a U pair;
still include the host computer of being connected with the simulator communication, the vice department of removal of snow layer and the lower extreme of slide all are provided with weighing sensor, and weighing sensor passes through the signal conversion unit and turns into digital signal and input the host computer with pulse signal, and the host computer turns into force information with gravity information, and the vice department of U of snow layer is provided with the angle sensor who measures snow layer turned angle, and angle sensor passes through the signal conversion unit and turns into digital signal with pulse signal and input the host computer in, the host computer exports acceleration signal after handling input signal to feed back to the simulator.
2. The two-board ski simulator of claim 1, wherein: the sliding plate is connected to the upper platform through a revolute pair.
3. The two-board ski simulator of claim 1, wherein: and driving pairs in the first branched chain, the second branched chain, the third branched chain and the fourth branched chain are all driven linearly by electric cylinders.
4. The two-board ski simulator of claim 1, wherein: the moving pair direction of the UPU branched chain is along the direction of the connecting rod, and the moving direction of the PUR branched chain moving pair is along the direction of the guide rail of the lower platform.
5. The two-board ski simulator of claim 4, wherein: one of the rotation axes of the U pairs connected with the UPU branched chain and the lower platform is vertical to one of the rotation axes of the U pairs in the PUR branched chain, and one of the rotation axes of the U pairs connected with the UPU branched chain and the upper platform is parallel to the rotation axis of the rotation pair of the PUR branched chain.
6. The two-board ski simulator of claim 1, wherein: the specific working process of the upper computer comprises the following steps:
s1, establishing a mechanical model of the skiing simulator:
the projection of the force in the X direction is:
F X ＝F 4 sinθ 1 +F 2 cosθ 1 -F 3 sinθ 1 ；
the projection of the force in the Y direction is:
F Y ＝F 4 cosθ 1 +F 2 sinθ 1 -F 3 cosθ 1 ；
the calculation formula for obtaining the acceleration a of the mechanical model according to the Newton's third law is as follows:
Figure FDA0003961424610000021
wherein:
F 2 ＝F 1 cosθ 2
F 3 ＝F 1 sinθ 2
wherein, F 1 Data of moving pair weighing sensor for snow cane F 2 Is a projection of the U pair on the horizontal direction of the counterforce at the bottom end of the snow cane, F 3 Projection of the U pair on the vertical direction of the counterforce at the bottom end of the snow stick, F 4 Data of load cells on the board, theta 1 The included angle of the sliding plate relative to the horizontal direction is obtained from data in a virtual scene, and theta 2 The data of the angle sensor on the revolute pair of the U pair on the snow cane and the direction of the fixed platform guide rail are consistent;
and S2, outputting an acceleration signal based on the mechanical model of the skiing simulator, and feeding the acceleration signal back to the simulator.
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CN110125919A (en) * 2019-06-26 2019-08-16 燕山大学 A kind of three freedom redundancy driven Parallel Kinematic Manipulator with big corner
CN110524517A (en) * 2019-09-04 2019-12-03 燕山大学 A kind of non-co-planar two turn of one shift redundancy driven Parallel Kinematic Manipulator of big corner
CN113318414A (en) * 2021-06-03 2021-08-31 北京理工大学 Multi-degree-of-freedom simulated skiing training system and training method

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN203556119U (en) * 2013-11-18 2014-04-23 天津至优科技有限公司 Skiing simulation training device
CN110125918A (en) * 2019-06-26 2019-08-16 燕山大学 A kind of two with a high rigidity turn shift redundancy driven Parallel Kinematic Manipulator
CN110125919A (en) * 2019-06-26 2019-08-16 燕山大学 A kind of three freedom redundancy driven Parallel Kinematic Manipulator with big corner
CN110524517A (en) * 2019-09-04 2019-12-03 燕山大学 A kind of non-co-planar two turn of one shift redundancy driven Parallel Kinematic Manipulator of big corner
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