CN1480839A - In doors integrated motion simulation system based on technique of virtual realty - Google Patents
In doors integrated motion simulation system based on technique of virtual realty Download PDFInfo
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- 238000006073 displacement reaction Methods 0.000 claims description 2
- 238000012360 testing method Methods 0.000 abstract description 2
- 230000010354 integration Effects 0.000 abstract 3
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Abstract
The characters of the invention are that training software for different sport items are stored in different integration cards. When in use, the integration card needed is inserted into dedicated slot connected to main controller so as to realize the sport needed in virtual reality. The system includes integration cards, main controller, simulation platform, projection screen in front of the simulation platform, and projector behind and above the simulation platform as well as exerciser and checkout test set. The input end of the projector is connected to main controller. Data transmission between the said dedicated slot and main controller is carried out through USB interface. The invention integrates simulation systems of various sports items for users to choose. Users in exercise can view own virtual reality.
Description
Technical field
Based on the indoor integrated motion simulation system of virtual reality technology, belong to the design field of movement training simulation equipment.
Background technology
Along with era development, multiple indoor sports equipments such as treadmill, indoor golf sport simulated system arise at the historic moment, and have weakened the restriction of factors such as weather, time, space, have satisfied people's body-building requirement.Patent of invention 98101140 has been introduced a kind of treadmill of front-supporting type.Patent of invention 96120583.0 has been introduced the golf practice device with two-dimensional space symmetry optical sensor net, comprising: be contained in the sensor on the batting carpet; Be located at the quadra of ball heading certain distance; The multiple light courcess generator; Produce many light signal secondary light sources to form the light net of single plane two-dimensional space by the light source of a focusing; The light signal pick-up probe is installed on the associated frame members of optical signal generator to form the symmetric light net of single plane two-dimensional space; And data processing and display.Patent of invention 00121253.2 has been introduced a kind of imitation-system measuring apparatus for golf sport.This device adopts the relevant kinematic parameter of sensor measurement golf after quilt has hit.These kinematic parameters will be input in the related software of golf sport system as important parameter, support the golf sport system to realize the accurate simulation to golf sports.
Above-mentioned these sport simulated systems only are suitable for a kind of motion, and the user can easily not change sports events.And such sport simulated system is only with the correlation parameter that moves, be presented on the display with digital form as the speed of running, the information such as final position that ball arrives, and whole movement locus can not be presented on the screen, can not make the user visually reach the sense of reality.
Summary of the invention
The objective of the invention is to, propose a kind of indoor integrated motion simulation system based on virtual reality technology, this system can concentrate on various existing sport simulated systems in the system, can select easily when the user needs; In addition, this system can make the user in motion process, sees the virtual reality state of my motion by screen, and is not only the numeral demonstration of correlation parameter.
The invention is characterized in: it is that training software with the different motion project leaves in respectively in the different sports events integrated cards, in the dedicated slot that the sports events integrated card inserts with main control computer is connected with needs during use, realize the virtual reality motion of this project;
It contains: sports events integrated card, main control computer, emulation platform, be positioned at the projection screen in described emulation platform dead ahead, be positioned at the projector of described emulation platform back upper place, the input end of described projector connects described main control computer, and sports apparatus and checkout equipment; Described sports events integrated card has dedicated slot, and this slot carries out data transmission by USB interface and main control computer.
Its feature is that also described sports apparatus is a ball; Described checkout equipment is the wireless camera that is positioned at directly over the motion platform with two vertical placements of side, described two wireless camera inside are provided with the wireless transmit chip, a wireless receiver is equipped with and respectively, the shared video frequency collection card of these two wireless receivers, this video frequency collection card links to each other with main control computer by pci interface; The motion image sequence of the orthogonal plane of the ball of described two wireless camera collection campaigns, and be sent to main control computer by wireless transmit chip and wireless receiver, carry out the data processing of virtual reality by main control computer, and the motion conditions of ball is presented on the projection screen by projector the most at last.
Its feature is that also described sports apparatus is a treadmill; On this treadmill checkout equipment is housed, this checkout equipment is sent to computing machine with detected displacement information, carries out the data processing of virtual reality, and the situation of running the most at last is presented on the projection screen by projector.
Its feature is that also described sports apparatus is a bicycle exerciser; This bicycle exerciser has built-in sensors, detect user's riding speed, turning degree, parameter such as degree of tilt, lateral inclination up and down, and parameter information is sent to main control computer, carry out the data processing of virtual reality, the situation of cycling is presented on the projection screen by projector the most at last.
Its feature is that also described sports apparatus is a digital control type racing boat training aids; This racing boat training aids is built-in with sensing device and actuator, detect user's the speed of paddling, turning degree, parameter such as degree of tilt, lateral inclination up and down, and parameter information is sent to computing machine, carry out the data processing of virtual reality, the situation of rowing is presented on the projection screen by projector the most at last.
Its feature is that also described sports apparatus is a laser gun; Described checkout equipment is one of above-mentioned wireless camera; Described wireless camera is transferred to main control computer with the location drawing picture of described laser gun emitted laser point by wireless transmit chip and wireless interface receiver, carry out the data processing of virtual reality by main control computer, and the situation of shooting the most at last is presented on the projection screen by projector.
Experiment showed, that the indoor integrated motion simulation system based on virtual reality technology proposed by the invention can concentrate multiple sport simulated system, can select easily when the user needs; This system can also make the user in motion process, sees the state of the virtual reality that I move by screen, and is not only the demonstration of numeral, makes the user experience " really " motion state and " really " movement environment.
Description of drawings
Fig. 1 is a structural representation of the present invention.
Among the figure, 1 is projector, and 2 is emulation platform, and 3 is giant-screen, and 4 is main control computer, and 5 is keyboard, and 6 is the sports events integrated card, and 7 is speech recognition apparatus, and 8 is two vertical cameras of placing.
Fig. 2 is a fundamental diagram of the present invention.
Fig. 3 is that wireless camera " is connected " synoptic diagram with computing machine.Wherein 8 is wireless camera, and 9 is emitting antenna, and 10 is receiving antenna, and 11 is wireless receiver, and 12 is the AV output terminal of receiver, and 13 is video frequency collection card, and 14 is video frequency collection card pci interface (inserting the computer PCI slot).
Fig. 4 is a network platform fundamental diagram of the present invention.
Embodiment
Accompanying drawings the specific embodiment of the present invention.
As shown in Figure 1, main control computer can for example be configured to CPU:1GHZ, internal memory: 128M, the computing machine of hard disk: 20G with general PC.This computing machine has USB interface.Sports events software integrated card is used to store the skimulated motion project procedure, different skimulated motion project procedures is stored in the different software integrated cards, the software integrated card can be selected the software integrated card of act.std recreation cassette for use, this software integrated card is equipped with dedicated slot, and this slot has USB interface to link to each other with computing machine.Write software program in this software integrated card by computing machine: such as can in computing machine, writing every motion software in advance, then different software is write in (being downloaded to) each software integrated card, insert in the computing machine dedicated slot when needing in the past.The user in use, computing machine accesses relevant data, the user can select the scene of this motion by keyboard, as run selecting scenes such as runway, bay, golf is selected the scene on golf course meadow etc., begins then to move.
Emulation platform 2 can be selected the high-performance plastic adhesive floor for use.
As shown in Figure 2, for ball game (comprising shooting), with non ball sport, the detection of data is different with the approach of transmission, ball game is to rely on the wireless high frequency camera shooting head of two vertical placements to obtain the series of frames image data sequence with shooting, realizes the detection and the transmission of data by being wirelessly transmitted to main frame; And non ball sport, as running, bicycle etc. then are to detect and transmit data by the built-in pick-up unit of sports apparatus.System can also exchange with other user's networking of using native system by network.
Introduce performance of the present invention below in conjunction with various motion.
One, road-work
When the user selects road-work, select to store the software integrated card of road-work simulation softward, it is linked to each other in computing machine, computing machine accesses virtual scene option wherein, the user can select needed scene by keyboard, as runway, reaches scenes such as the woods, seabeach.The sports apparatus that the user uses is a treadmill, the selected treadmill of the present invention is a JS-5006 type treadmill, and there is checkout equipment this treadmill inside, can detection speed, information such as direction, this treadmill links to each other with the parallel port of computing machine by cable, the line data of going forward side by side transmission.Treadmill can be placed in the emulation platform below, can not start when the user carries out other sports eventss.The user is in the running process, demonstrate the situation that the user runs in places such as the runway or the woods on the projection screen, as situation such as hurry up, jog, turn round, stop, and demonstrate parameters such as velocity, time, muscle power analysiss simultaneously, make the user can experience motion conditions really.
Two, ball game
Ball game comprise bowling, golf, billiard ball, deliver etc.When selecting golf, should be equipped with corresponding club, fly out, also should be equipped with net for preventing ball; When selecting billiard ball, should be equipped with billiard table and batting pole.The user links to each other the software integrated card of bowling, golf or billiard ball with computing machine, select moving scene, setting in motion then by keyboard.The parameter of ball game is obtained by two cameras 8.Two cameras 8 are vertically placed, obtain the motion image sequence of orthogonal plane X-Z, X-Y ball, and the wireless receiver of wireless transmit chip by camera inside and outfit and video frequency collection card are transferred to computing machine and carry out data processing, with real-time being presented on the projection screen of the movement locus of ball, simultaneously display ball is at parameter such as the emission angle of X, Y, Z direction, speed, acceleration, move distance and striking force, ground friction coefficient, wind speed etc.Wireless camera for example can be selected for use, and absolute sincerity reaches-the 315XXD wireless camera, the built-in transmitting chip of this wireless camera, the wireless interface receiver is equipped with and, receiver end has the AV delivery outlet, the AV delivery outlet is connected to the PCI video frequency collection card with video line gets final product as the AV input terminal of " day quick-10MOONS TV MASTER ".The infinite graph of gathering as sequence transmission to computing machine.Wireless camera is seen Fig. 3 with " connection " mode of computing machine.
Three, cycling
The software integrated card of selecting cycling, begins to move by bike by keyboard selection moving scene with during computing machine links to each other then.Sports apparatus is a bicycle exerciser, the present invention selects is that model is that this bicycle exerciser of cycle ergometer training aids of 839E type has built-in sensors, can be with user's riding speed, turning degree, degree of tilt, lateral inclination or the like parameter detecting is come out up and down, and give computing machine by cable transmission, one end of cable connects the signal output part of bicycle exerciser, and the other end connects the parallel port of computing machine.In the motion process, the user can be in the situation of seeing on the screen that bicycle travels in virtual scene, as fast running, travel at a slow speed, turn round, stop etc., can also see information such as speed, acceleration.The user can also make screen display have more authenticity by parameters such as the wind speed in the selection motion software, friction factor.
Four, shooting sports
Select the software integrated card of shooting to link to each other, select the shooting scene,, begin shooting then as the shooting range by keyboard with computing machine.Sports apparatus is a laser gun, the present invention selects thls-2000 series laser gun, checkout equipment can be selected the camera of emulation platform top or the camera of side for use, this camera passes through wireless transmit chip and wireless receiver with the location drawing picture of laser gun shooting point, and video frequency collection card is transferred to computing machine, after carrying out the data processing of processor, with the distance of shooting ring with the user, the initial flying speed of bullet, the simulated flight resistance coefficient, wind speed is finally shot number of rings, and the total points statistics is presented on the screen.
Five, rowing
Select the software integrated card of racing boat to link to each other with computing machine, select the racing boat scene by keyboard, Ru He, lake etc. begin to carry out racing boat then.Sports apparatus for example can be selected, and model is the moving racing boat test of a ST-I type digitizing exercising device.The racing boat training aids is built-in with sensing device and actuator.Sensing device is with the detected speed of paddling, turning degree, degree of tilt, lateral inclination or the like parameter is given computing machine by cable transmission up and down, and an end of cable connects the signal output part of racing boat training aids, and the other end connects the parallel port of computing machine.In motion process, show the progress situation of racing boat on the screen, as speed, jolt, situation such as inclination.Simultaneously, action commands such as computing machine also will be simulated jolts, turn, inclination are given the actuator of racing boat by cable transmission, make actions such as racing boat is jolted, turned, inclination, as in real scene.
System of the present invention can also link network, carry out online athletic competition with other users, the online friend's that can transmit this moment by network kinematic parameter, online friend's motion conditions is also shown on the screen with animated, and by speech ciphering equipment (voice recognition chip, sound card and loudspeaker) and online friend's dialogue.The present invention can adopt the High Performance DSP voice recognition chip, and direct and sound card links, and makes the user directly control screen image switching by voice.Broadcast equipment can carry out motion simulation information indicating and the simulation of the environment sound.See Fig. 4, the logging in system by user appointed website, the online user of current this project of inquiry clicks then and chooses user ID and send the networking request; If the other user's respective request is agreed networking, then both sides can begin to enter the networking competitive state; This network can be a LAN (Local Area Network), also can be wide area network.This computer-chronograph should be equipped with the Ethernet card of 10/100M.
Other sports eventss are similar to above-mentioned several motion simulations and implement.
The sports events software algorithm that arrives involved in the present invention:
For ball game project (comprising shooting):
Camera 8 is gathered the motion image sequence of orthogonal plane X-Z, X-Y, receives collection back data through emission and sends into the camera internal memory.Carry out sports ground by Kalman filtering and estimate, determine the centre of sphere of ball in each image by template matches, and further obtain initial position, the speed of this ball in three dimensions, acceleration, angular velocity.Utilize wind speed thus, parameter such as friction factor and kinematics, dynamic law are determined the track of corresponding ball.After this utilize animation simulation, and obtain three-dimensional scenic, the animation sequence of exporting is reflected on the projection screen by non-linear interpolation in conjunction with collision detection bounding algorithm and virtual reality technology.To firing item, system obtains user's laser gun light spot position information by camera, is wirelessly transmitted to computing machine, shows after treatment and hits number of rings etc.
For the non ball sport project:
Comprise running, bicycle, racing boat etc.During running, the user movement situation is measured in the sensor utilization on the treadmill.After this information is sent into computing machine, obtain the movable information that the user runs, the simulation running animation sequence that after this utilizes animation simulation to export is reflected on the projection screen of virtual reality background, and networking then will show the sports picture with the online friend in real time.To the bicycle project, obtain the movable information (inclination in the running direction, lateral inclination etc.) of analog bicycle by the sensor of bicycle after, correspondingly utilize linear interpolation algorithm emulation output bicycle cartoon scene, and give and corresponding information, other item class seemingly.
Claims (6)
1, based on the indoor integrated motion simulation system of virtual reality, it is characterized in that, it is that training software with the different motion project leaves in respectively in the different sports events integrated cards, in the dedicated slot that the sports events integrated card inserts with main control computer is connected with needs during use, realize the virtual reality motion of this project;
It contains: sports events integrated card, main control computer, emulation platform, be positioned at the projection screen in described emulation platform dead ahead, be positioned at the projector of described emulation platform back upper place, the input end of described projector connects described main control computer, and sports apparatus and checkout equipment; Described sports events integrated card has dedicated slot, and this slot carries out data transmission by USB interface and main control computer.
2, the indoor integrated motion simulation system based on virtual reality as claimed in claim 1 is characterized in that described sports apparatus is a ball; Described checkout equipment is the wireless camera that is positioned at directly over the motion platform with two vertical placements of side, described two wireless camera inside are provided with the wireless transmit chip, and a wireless receiver and a video frequency collection card being equipped with respectively, this video frequency collection card links to each other with main control computer by pci interface; The motion image sequence of the orthogonal plane of the ball of described two wireless camera collection campaigns, and be sent to main control computer by wireless transmit chip and wireless receiver, carry out the data processing of virtual reality by main control computer, and the motion conditions of ball is presented on the projection screen by projector the most at last.
3, the indoor integrated motion simulation system based on virtual reality as claimed in claim 1 is characterized in that described sports apparatus is a treadmill; On this treadmill checkout equipment is housed, this checkout equipment is sent to computing machine with detected displacement information, carries out the data processing of virtual reality, and the situation of running the most at last is presented on the projection screen by projector.
4, the indoor integrated motion simulation system based on virtual reality as claimed in claim 1 is characterized in that described sports apparatus is a bicycle exerciser; This bicycle exerciser has built-in sensors, detect user's riding speed, turning degree, parameter such as degree of tilt, lateral inclination up and down, and parameter information is sent to main control computer, carry out the data processing of virtual reality, the situation of cycling is presented on the projection screen by projector the most at last.
5, the indoor integrated motion simulation system based on virtual reality as claimed in claim 1 is characterized in that, described sports apparatus is a digital control type racing boat training aids; This racing boat training aids is built-in with sensing device and actuator, detect user's the speed of paddling, turning degree, parameter such as degree of tilt, lateral inclination up and down, and parameter information is sent to computing machine, carry out the data processing of virtual reality, the situation of rowing is presented on the projection screen by projector the most at last.
6, the indoor integrated motion simulation system based on virtual reality as claimed in claim 1 is characterized in that described sports apparatus is a laser gun; Described checkout equipment is one of above-mentioned two wireless cameras; Described wireless camera is transferred to main control computer with the location drawing picture of described laser gun emitted laser point by wireless transmit chip and wireless reception card, carry out the data processing of virtual reality by main control computer, and the situation of shooting the most at last is presented on the projection screen by projector.
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| CNA031532039A CN1480839A (en) | 2003-08-07 | 2003-08-07 | In doors integrated motion simulation system based on technique of virtual realty |
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Cited By (22)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN100414506C (en) * | 2006-07-19 | 2008-08-27 | 中国科学院计算技术研究所 | Virtual human movement simulation frame |
| CN102227668A (en) * | 2008-10-02 | 2011-10-26 | Yepp澳大利亚有限公司 | Imaging system |
| CN102908772A (en) * | 2012-10-16 | 2013-02-06 | 东南大学 | Upper limb rehabilitation training system by using augmented reality technology |
| CN104486595A (en) * | 2014-12-25 | 2015-04-01 | 安徽寰智信息科技股份有限公司 | Video acquisition and processing method for bowling teaching and training |
| CN104635579A (en) * | 2015-01-09 | 2015-05-20 | 江门市东方智慧物联网科技有限公司 | Bird control system and method based on virtual reality robot remote operation technology |
| CN104667488A (en) * | 2015-02-11 | 2015-06-03 | 刘宛平 | Method and system for generating omnidirectional displacement offset in moving platform |
| CN105056468A (en) * | 2015-08-11 | 2015-11-18 | 王燕军 | Real-time interaction treadmill |
| CN105107184A (en) * | 2015-08-26 | 2015-12-02 | 上海斐讯数据通信技术有限公司 | Exercise training method and system, intelligent glasses and exercise trainer |
| CN105169619A (en) * | 2015-07-16 | 2015-12-23 | 于希萌 | Gait-adjusting type running training device |
| CN105976432A (en) * | 2016-07-13 | 2016-09-28 | 顽石运动智能科技（北京）有限公司 | Football virtual system |
| CN106512408A (en) * | 2016-11-28 | 2017-03-22 | 石伟东 | Virtual reality sailing experience sailboat |
| CN106512403A (en) * | 2016-11-28 | 2017-03-22 | 赵新伟 | Virtual-reality volleyball movement experience device |
| CN107967060A (en) * | 2017-12-14 | 2018-04-27 | 齐乐无穷（北京）文化传媒有限公司 | Multi-freedom parallel connection vivid platform data real-time collecting system and method |
| CN107970600A (en) * | 2017-12-22 | 2018-05-01 | 深圳华侨城卡乐技术有限公司 | A kind of reality-virtualizing game platform and its control method for flying chair equipment based on hurricane |
| CN108633307A (en) * | 2016-05-17 | 2018-10-09 | 谷歌有限责任公司 | The method and apparatus of contact of the projection with real object in reality environment |
| CN109011555A (en) * | 2018-08-01 | 2018-12-18 | 浙江树人学院 | A kind of virtual reality somatic sensation television game equipment |
| CN109289187A (en) * | 2017-07-24 | 2019-02-01 | 北京英泰智科技股份有限公司 | A kind of table tennis training and Grade Exam System |
| CN109350952A (en) * | 2018-10-29 | 2019-02-19 | 江汉大学 | Method for visualizing, device and electronic equipment applied to golf ball flight trajectories |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN100414506C (en) * | 2006-07-19 | 2008-08-27 | 中国科学院计算技术研究所 | Virtual human movement simulation frame |
| CN102227668A (en) * | 2008-10-02 | 2011-10-26 | Yepp澳大利亚有限公司 | Imaging system |
| CN107007988A (en) * | 2008-10-02 | 2017-08-04 | Yepp澳大利亚有限公司 | It is used for the system and training method of shooting image in rowing |
| CN102908772A (en) * | 2012-10-16 | 2013-02-06 | 东南大学 | Upper limb rehabilitation training system by using augmented reality technology |
| CN102908772B (en) * | 2012-10-16 | 2015-02-18 | 东南大学 | Upper limb rehabilitation training system by using augmented reality technology |
| CN104486595A (en) * | 2014-12-25 | 2015-04-01 | 安徽寰智信息科技股份有限公司 | Video acquisition and processing method for bowling teaching and training |
| CN104635579B (en) * | 2015-01-09 | 2017-07-11 | 江门市东方智慧物联网科技有限公司 | Birds control system and method based on virtual reality machines people's teleoperation |
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| CN104667488A (en) * | 2015-02-11 | 2015-06-03 | 刘宛平 | Method and system for generating omnidirectional displacement offset in moving platform |
| CN105169619A (en) * | 2015-07-16 | 2015-12-23 | 于希萌 | Gait-adjusting type running training device |
| CN105056468A (en) * | 2015-08-11 | 2015-11-18 | 王燕军 | Real-time interaction treadmill |
| CN105056468B (en) * | 2015-08-11 | 2017-12-01 | 王燕军 | A kind of real-time, interactive treadmill |
| CN105107184A (en) * | 2015-08-26 | 2015-12-02 | 上海斐讯数据通信技术有限公司 | Exercise training method and system, intelligent glasses and exercise trainer |
| CN105107184B (en) * | 2015-08-26 | 2017-10-31 | 上海斐讯数据通信技术有限公司 | Exercise training method and system, intelligent glasses and exercise trainer |
| CN108633307A (en) * | 2016-05-17 | 2018-10-09 | 谷歌有限责任公司 | The method and apparatus of contact of the projection with real object in reality environment |
| CN105976432A (en) * | 2016-07-13 | 2016-09-28 | 顽石运动智能科技（北京）有限公司 | Football virtual system |
| CN106512403A (en) * | 2016-11-28 | 2017-03-22 | 赵新伟 | Virtual-reality volleyball movement experience device |
| CN106512408A (en) * | 2016-11-28 | 2017-03-22 | 石伟东 | Virtual reality sailing experience sailboat |
| CN109289187A (en) * | 2017-07-24 | 2019-02-01 | 北京英泰智科技股份有限公司 | A kind of table tennis training and Grade Exam System |
| CN109289187B (en) * | 2017-07-24 | 2021-04-30 | 北京英泰智科技股份有限公司 | Table tennis training and level examination system |
| CN107967060A (en) * | 2017-12-14 | 2018-04-27 | 齐乐无穷（北京）文化传媒有限公司 | Multi-freedom parallel connection vivid platform data real-time collecting system and method |
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| CN109350952A (en) * | 2018-10-29 | 2019-02-19 | 江汉大学 | Method for visualizing, device and electronic equipment applied to golf ball flight trajectories |
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