CN208176823U - universal movement device - Google Patents
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- CN208176823U CN208176823U CN201820630829.3U CN201820630829U CN208176823U CN 208176823 U CN208176823 U CN 208176823U CN 201820630829 U CN201820630829 U CN 201820630829U CN 208176823 U CN208176823 U CN 208176823U
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Abstract
The utility model relates to universal movement devices, including the movement mechanism that can be rotated toward any direction, supporting mechanism, system for determining user movement displacement and movement velocity, wherein, movement mechanism is sphere, spherome surface is divided into 2M (N+1) a frame by weft and warp, the longitude and latitude of the frame is represented with the longitude and latitude of each frame center, supporting mechanism includes roller, fixing axle and bracket, system for determining user movement displacement and movement velocity includes the camera of at least one face movement mechanism, latitude indicator and eight latitude signal lamps on each frame and longitudinal lamp and 12 longitude signal lamps on each frame.The there is provided universal movement device of the utility model, can moving displacement, movement velocity and the direction of motion to user play the role of good detection, satisfied users diversified demand.
Description
Technical field
The utility model belongs to sports equipment equipment technical field, in particular to a kind of universal movement device.
Background technique
Universal treadmill refers to the treadmill that a kind of horizontal movement direction can change with operator's step, it can be interior
User provides unlimited space of freely walking.
In the prior art, be related to the scheme of omnidirectional moving mechanism mainly include the following types:
Patent CN106178399A discloses a kind of universal treadmill, which is arranged by being arranged in running platform in matrix
The rolling member of column, and each rolling member can independently turn around horizontal the first rotation axis rotation and around the second vertical rotation axis
Dynamic, to be uniformly controlled the rotation formula of each rolling member, the apparatus structure is complicated, and such structure is easy in use
Existing various failures, are repaired also pretty troublesome.
Device disclosed in patent CN206792896U then uses the structure of divergent shape, is around in diverging from disc centre
Shape, this structure need user oneself to change the position of standpoint, are just able to achieve the movement of different directions, use very not
Just.
Patent CN104906750A discloses a kind of comprehensive treadmill, including support system, control system, driving system
System, steering system and dynamic equilibrium sensor-based system, and for the carrier that operator runs in it, which passes through steering system
Realize it is comprehensive run, control system by dynamic equilibrium sensor-based system acquire carrier in operator centre-of gravity shift information after
Drive system and steering system are passed to, so that treadmill and operator's running direction and speed be made to be adapted.But use this
When device, for operator in ball, disengaging is very inconvenient, and the portable interactive device of operator must be wireless communication
, velocity and distance can not be recorded very well, so that certain use be caused to limit to.
Patent CN202422477U discloses a kind of omnibearing ambulation tracking device, including the fixed device of waist, workbench,
Roller ball, brake apparatus, Universal caster, speed measuring device, liftable support frame and Universal caster fixed ring pass through Universal caster reality
Existing omnibearing ambulation, speed measuring device are mechanical or photo-electric etc., are distributed in the Chi Daochu of roller ball.Operator is in use process
In, waist has restraint device, the strong comfort influenced when using, and experience sense can only be tested the speed by poor, it is difficult to be met present
The requirement of diversified exercise data record.
Meanwhile existing treadmill is typically disposed in interior, accounts for workbench product greatly, space utilization rate is not high, therefore, in order to
Meets the needs of user is growing, it is quite necessary to develop a kind of interior and account for the small and applied widely, energy of workbench product
Survey the universal treadmill of multinomial exercise data.
Utility model content
The utility model provides the universal of a kind of system for determining movement velocity and the direction of motion and the application system
Telecontrol equipment solves one or more in above-mentioned prior art problem.
One aspect according to the present utility model provides a kind of universal movement device, including can rotate toward any direction
Movement mechanism, supporting mechanism, for determine user movement displacement and movement velocity system, in which:
Movement mechanism is sphere, and sphere turns to the position of top as the motion platform with user's plantar contact always, ball
Body has N weft and M warp, and spherome surface is divided into 2M (N+1) a frame by weft and warp, with the warp at the center of each frame
Latitude represents the longitude and latitude of the frame, wherein M, N are natural number；
Supporting mechanism includes roller, fixing axle and bracket, and fixing axle passes through among roller, and the both ends of fixing axle are fixed
On bracket, roller and movement mechanism surface contact with each other and rotate with movement mechanism and rotate around fixing axle；
For determining that user movement is displaced and the system of movement velocity includes:
The camera of at least one face movement mechanism and there is a camera face movement mechanism lowest order；
Latitude indicator and eight latitude signal lamps on each frame, in two rows of rows on eight latitude signal lamp longitudinal directions
Column, latitude indicator light yellow indicate north latitude, are denoted as positive number, and the extinguishing of latitude indicator then indicates south latitude, is denoted as negative；Latitude signal
Lamp uses binary coding, and lamp is bright to indicate 1, and lamp is put out, and indicates 0, wherein four signal lamps are binary low level, four additional
For a binary high position；
Longitudinal lamp and 12 longitude signal lamps on each frame, in 12 longitude signal lamp transverse directions
It is arranged in three rows, longitudinal lamp light yellow indicates east longitude, is denoted as positive number, and the extinguishing of longitudinal lamp then indicates west longitude, is denoted as negative；
Longitude signal lamp uses binary coding, and lamp light yellow indicates 1, and lamp extinguishing then indicates 0, wherein four signal lamps are binary low
Position, in addition eight are a binary high position.
Wherein, data processing module calculates the moving displacement of user by formula (I):
In formula, A is the former frame of camera acquisition, longitude α1Latitude is β1；B is a later frame of camera acquisition,
Longitude is α2Latitude is β2；For the moving displacement of the arc length of A to B, that is, user；R is the radius of sphere；θ is the folder of AB
Angle；
Data processing module calculates the movement velocity of user by formula (II):
In formula, t is the time, and V is the movement velocity in the Subscriber Unit time.
In some embodiments, there are four roller is set, four sides of movement mechanism, and adjacent two are located at
It is mutually perpendicular between roller.The roller set on four sides of movement mechanism forms a square as a result, not only can be to movement
Mechanism plays a supportive role, and convenient in movement mechanism all-direction rotation with cylinder contact and roll roller therewith.
In some embodiments, the system for determining user movement displacement and movement velocity further includes that signal receives mould
Block and data processing module, signal receiving module is used to receive the light signal for the single frame that camera detection arrives, data as a result,
Processing module is for being converted into decimal system longitude and latitude, reconvert into corresponding coordinate information for the light signal received and calculating
The movement velocity of user, the displacement in the unit time and/or the direction of motion out.
In some embodiments, the movement mechanism of universal movement device is set to underground, and motion platform protrudes from ground.By
This, user, which contacts with movement mechanism by motion platform and acts on movement mechanism, makes its rolling, and there is saving interior to account for work
The effect of platform product, and the movement mechanism of universal movement device reduces environmental factor such as chemical mediator, light, temperature because being set to underground
The influence and loss of degree, humidity etc. and prolong the service life.
In some embodiments, further include safety device, be set to motion platform surrounding, safety device includes handrail and use
In the column of fixed handrail.Have the effect of ensureing user security as a result,.
In some embodiments, safety device side is equipped with the entrance entered and left convenient for user, and inlet is equipped with baffle
And the control switch of control baffle folding.Universal treadmill is managed convenient for user as a result,.
In some embodiments, latitude and longitude are covered on movement mechanism, determine 0 ° of warp and 0 ° of weft；It establishes three-dimensional
Rectangular coordinate system: using the centre of sphere as origin O, the increased direction of latitude is that Z axis is positive, and 0 ° of weft plane is that X-axis and Y-axis place are flat
Face, the earth's core to the direction of zero degree warp is X-axis positive direction on this plane, determines Y-axis positive direction according to the right-hand rule.As a result,
Convenient for establishing coordinate on movement mechanism, in order to which the coordinate to each frame center is quantified and is calculated.
In some embodiments, a height respectively can be set in the front of movement mechanism, front-left and underface respectively
Fast camera, if in the sufficiently high situation of camera sample frequency, mobile preceding each camera face in available each frame
When the longitude and latitude of the regional center of preceding camera face after the latitude and longitude coordinates and movement of regional center, then pass through following meter
Formula is calculated, the distance that each regional center is mobile under each camera is calculated, compares and takes its maximum value, show that people is flat in movement
The distance of platform movement, while its speed and direction can also be found out.
By taking the camera of front as an example, if it is (x that mobile forefoot area, which takes the three-dimensional coordinate of central point A,1, y1, z1), after mobile
The three-dimensional coordinate of regional center point B is (x2, y2, z2)。
Due to arcR is determining, as long as the angle theta for obtaining OA and OB is obtained withLength.
Angle θ can be acquired by vector form: vector OA ● vector OB=| OA | | OB | cos θ
Then
Again:
x1=Rcos β1cosα1, y1=Rcos β1cosα1, z1=Rsin β1
x2=Rcos β2cosα2, y2=Rcos β2sinα2, z2=Rsin β2
So:
Therefore, θ=arccos [cos β1cosβ2cos(α1-α2)+cosβ1cosβ2]
In formula, A is the former frame of camera acquisition, longitude α1Latitude is β1；B is a later frame of camera acquisition,
Longitude is α2Latitude is β2；For the moving displacement of the arc length of A to B, that is, user；R is the radius of sphere；θ is the folder of AB
The direction at angle, A to B can be indicated with directed line segment AB.
It can similarly obtain, the mobile distance in region, takes the maximum value between three of them under the camera of underface and front-left,
It is used as move distance.
SpeedWherein t is A to B the time it takes.
Detailed description of the invention
Fig. 1 is the universal movement apparatus structure schematic diagram of one embodiment of the utility model；
Fig. 2 is the main view of universal movement device shown in Fig. 1；
Fig. 3 is the safety apparatus structure schematic diagram of universal movement device shown in Fig. 1；
Fig. 4 is that LED light arranges schematic diagram in each frame；
Fig. 5 is that LED light shown in Fig. 4 calculates its region center latitude coordinates schematic illustration；
Fig. 6 is that LED light shown in Fig. 4 indicates binary system high-low-position schematic diagram；
Fig. 7 is the utility model treadmill speed and move distance schematic diagram calculation, wherein Fig. 7 a is before rolling member is mobile
Area coordinate display figure, Fig. 7 b are the mobile rear region coordinate display figure of rolling member；
Fig. 8 is the radius schematic diagram calculation of the movement mechanism sphere of universal treadmill described in Fig. 1.
Specific embodiment
The utility model is described in further detail with reference to the accompanying drawing.
Fig. 1-7 schematically shows a kind of universal movement device implemented according to the utility model, as shown, should
Device includes the movement mechanism 1 that can be rotated toward any direction, supporting mechanism, for determining user movement displacement and movement velocity
System, wherein
Movement mechanism 1 be sphere, sphere turn to top position be always with the motion platform 11 of user's plantar contact,
Spherome surface is equipped with N weft and M warp, weft and warp and spherome surface is divided into a frame 12 of 2M (N+1), with each frame
The longitude and latitude at 12 centers represents the longitude and latitude of the frame, wherein M, N are natural number；
Supporting mechanism includes four rollers, 3, four fixing axles 4 and bracket 5, and each roller 3 is located at a side of sphere 1
Face, and be mutually perpendicular between two adjacent rollers 3, each fixing axle 4 passes through among a roller 3, and the two of fixing axle 4
End is fixed on bracket 5, and surface and 3 surface of roller of sphere 1 contact with each other, and drives roller 3 around 4 turns of fixing axle when sphere rotates
It is dynamic；
As illustrated in figs. 7 a and 7b, the system for determining user movement displacement and movement velocity includes:
Three cameras 6, equal 1 centre of sphere of face sphere, are distributed in the underface, front and front-right of sphere 1 respectively,
As Figure 4-Figure 6, the latitude direction 83 on each frame 12 and eight latitude signal lamps 81, latitude signal lamp 81
It is used as and is indicated using red LED lamp, in two rows of arrangements on longitudinal direction, latitude indicator light yellow expression north latitude is denoted as positive number, latitude side
South latitude is then indicated to lamp extinguishing, is denoted as negative；Latitude signal lamp 81 uses binary coding, and lamp light yellow indicates 1, and lamp extinguishes then table
Show 0, wherein four signal lamps are binary low level, four additional is a binary high position；
As Figure 4-Figure 6,82,12, the longitudinal lamp 84 and 12 longitude signal lamp on each frame 12 warps
It spends signal lamp 82 and instruction is used as using blue LED lamp, arranged in transverse direction in three rows, longitudinal lamp light yellow indicates east longitude, is denoted as
Positive number, the extinguishing of longitudinal lamp then indicate west longitude, are denoted as negative；Longitude signal lamp 82 uses binary coding, and lamp light yellow indicates
1, lamp extinguishing then indicates 0, wherein four signal lamps are binary low level, in addition eight are a binary high position；
Signal receiving module, the LED light light on and off signal of the single frame 12 for receiving 6 faces of camera,
And data processing module, for the light signal received to be converted into metric longitude and latitude, reconvert at
Corresponding coordinate information, and calculate the movement velocity of user, the displacement in the unit time and/or the direction of motion.
As shown in figure 3, in the present embodiment, universal movement device further includes the safety dress set on 11 surrounding of motion platform
7 are set, safety device 7 includes handrail 71 and the column 74 for fixing handrail 73, and 7 side of safety device is equipped with to be entered and left convenient for user
Entrance, inlet be equipped with baffle 71 and control baffle 71 open and close control switch 72.
Universal movement device is set to ground 2 hereinafter, motion platform 11 protrudes from ground 2, as the fortune contacted with user
Dynamic face.
Wherein, data processing module calculates the moving displacement of user according to following methods:
In formula, A is the former frame of camera acquisition, longitude α1Latitude is β1；B is a later frame of camera acquisition,
Longitude is α2Latitude is β2；For the moving displacement of the arc length of A to B, that is, user；R is the radius of sphere；θ is the folder of AB
Angle.
Data processing module calculates the movement velocity V of user according to following methods:
In formula, t becomes mobile rear region central point B by moving forefoot area central point A by camera face region and spends
Time, V be the Subscriber Unit time in movement velocity.
Moving displacement and movement velocity side are determined specifically, realizing using system provided by the utility model and device
Formula is as follows:
Be covered with latitude and longitude on sphere 1, determine 0 ° of warp and 0 ° of weft, then known to where each 12 center of region
Latitude and longitude value is converted into binary number by longitude and latitude, with each regional center LED light light on and off situation to present, and is set in advance
LED light light on and off situation；Establish three-dimensional cartesian coordinate system: the centre of sphere is origin O, and the increased direction of latitude is that Z axis is positive, and 0 ° of weft is flat
Face is plane where X-axis and Y-axis, and the earth's core to the direction of zero degree warp is X-axis positive direction on this plane, true according to the right-hand rule
Determine Y-axis positive direction.
As shown in Figure 7a, a camera 6 is respectively set in the front of sphere 1, front-right and underface respectively.If camera
In the sufficiently high situation of 6 sample frequencys, in a short time, the region of mobile preceding each 6 face of camera in available each frame
Then the longitude and latitude in the region 12 of 12 latitude and longitude coordinates and mobile 6 face of rear camera passes through algorithm meter as shown in Figure 7b
It calculates, obtains the changing value of 6 12 distances of face region of each camera, compare and take its maximum value, obtain people in motion platform 11
The distance of movement, while its speed and direction can also be found out.
Wherein, the latitude and longitude coordinates in the region 1 of 6 face of camera are calculated using binary coding, wherein binary system
The light on and off situation according to LED light is encoded to determine, so that it is determined that the position coordinates in movement front and back face region.
As shown in Figure 4 and Figure 5, in order to determine the coordinate position at each 12 center of region on sphere 1, here using the red of L-type
Blue LED light light on and off carry out the latitude coordinates at 12 center of binary coding representation region, and lamp is bright to indicate 1, and lamp goes out, and 0 is indicated, with eight
Red LED light bright 81 goes out and indicates the latitude coordinate at its locating 12 center of region, and 12 blue LED light 82 indicate its institute
Locate the longitude coordinate at 12 center of region.
As shown in figure 5, redlight district domain representation binary number 0,001 1110, i.e., 0 × 20+1×21+1×22+1×23+1×24
+0×25+0×26+0×27=30, then it represents that the decimal system 30；Blue lamp region expression binary number 0,000 0,111 1000, i.e., ten
System number 120, therefore, the coordinate of camera institute face regional center is 30 ° of latitude at this time, 120 ° of longitude, so that it is determined that camera shooting
The coordinate position at 12 center of first 6 face frames.
By taking the camera of front as an example, if it is (x that mobile forefoot area, which takes the three-dimensional coordinate of central point A,1, y1, z1), after mobile
The three-dimensional coordinate of regional center point B is (x2, y2, z2)。
Due to arcR is determining, as long as the angle theta for obtaining OA and OB is obtained withLength.
Angle θ can be acquired by vector form: vector OA* vector OB=| OA | | OB | cos θ
Then
Latitude coordinates are converted into three-dimensional rectangular coordinate:
x1=Rcos β1cosα1, y1=Rcos β1cosα1, z1=Rsin β1
x2=Rcos β2cosα2, y2=Rcos β2sinα2, z2=Rsin β2
So:
Therefore, θ=arccos [cos β1cosβ2cos(α1-α2)+cosβ1cosβ2]
In formula, A is the former frame of camera acquisition, longitude α1Latitude is β1；B is a later frame of camera acquisition,
Longitude is α2Latitude is β2；For the moving displacement of the arc length of A to B, that is, user；R is the radius of sphere；θ is the folder of AB
The direction at angle, A to B can be indicated with directed line segment AB.
It can similarly obtain, the mobile distance in region, takes the maximum value between three of them under the camera of underface and front-left.
Movement velocity
In formula, t is the time, and V is the movement velocity in the Subscriber Unit time.
As shown in figure 8, movement mechanism radius R determines method, radius R is calculated, it is flat must first to know that sphere exposes work
The height h of platform, and by the radius r in the section (i.e. User Activity range) of the sphere of workbench interception.
Movement mechanism radius R is determined with the following method:
The scope of activities hypothesis of people is 1 square metre, thenThe part that ball exposes, works as the gradient
When less than 3%, people is above just as though walking upon flat ground, i.e.,Obtain h≤0.0168m, and R2=(R-h)2+r2, will
R=0.56m, h≤0.0168m substitute into above formula, obtain R >=9.34m.
I.e. when the scope of activities of people is 1 square metre, the radius of ball is not less than 9.34m.
It in other embodiments, can also be bright with setting signal lamp according to the on and off of binary coding modelled signal lamp
It is calculated as " 0 ", signal lamp, which goes out, is calculated as " 1 ", is converted to decimal system longitude and latitude after being encoded with this, also can achieve this practical new
The desired technical effect of type.
Universal treadmill provided by the utility model, it is of simple structure and low cost, easy to maintenance, and main part is split
In underground, can reduce external environment influences the damage of the present apparatus；Movement mechanism surface is marked into coordinate by longitude and latitude, utilizes letter
It ceases capture device and captures generated information when movement mechanism movement, use can not only be measured according to the situation of change of coordinate information
Family velocity and running direction, but also move distance can be measured, meet user's diversification requirement；It is tied up when use without waistband
Beam does not limit user's height and weight, and user directly moves on spherical surface, so that movement is freer, and use is easier.
Above-described is only some embodiments of the utility model.For those of ordinary skill in the art,
Without departing from the concept of the present invention, various modifications and improvements can be made, these belong to practical
Novel protection scope.
Claims (10)
1. universal movement device, which is characterized in that including can toward the movement mechanism of any direction rotation, supporting mechanism, for true
Determine the system of user movement displacement and movement velocity,
The movement mechanism is sphere, and the position that the sphere turns to top is flat with the movement of user's plantar contact always
Platform, the spherome surface are equipped with N weft and M warp, weft and warp and spherome surface are divided into 2M (N+1) a frame, with
The longitude and latitude of each frame center represents the longitude and latitude of the frame, wherein M, N are natural number；
The supporting mechanism includes roller, fixing axle and bracket, and the fixing axle passes through among roller, and the both ends of fixing axle
It is fixed on bracket, the roller and movement mechanism surface contact with each other and rotate with movement mechanism and rotate around fixing axle；
It is described to include: with the system of movement velocity for determining that user movement is displaced
The camera of at least one face movement mechanism and there is a camera face movement mechanism lowest order,
Latitude indicator and eight latitude signal lamps on each frame,
Longitudinal lamp and 12 longitude signal lamps on each frame.
2. universal movement device according to claim 1, which is characterized in that there are four the roller is set, be located at fortune
Four sides of motivation structure, and be mutually perpendicular between two adjacent rollers.
3. universal movement device according to claim 2, which is characterized in that described for determining user movement displacement and fortune
The system of dynamic speed further includes the signal receiving module for receiving the light signal for the single frame that camera detection arrives, and will
The light signal received is converted into decimal system longitude and latitude, reconvert into corresponding coordinate information and calculates the movement speed of user
The data processing module of degree, the displacement in the unit time and/or the direction of motion.
4. universal movement device according to claim 1, which is characterized in that the bright expression north latitude of latitude indicator, note
For positive number, latitude indicator goes out, and indicates south latitude, is denoted as negative；Latitude signal lamp uses binary coding, and lamp is bright to indicate 1, lamp
It goes out, indicates 0, wherein four signal lamps are binary low level, four additional is a binary high position.
5. universal movement device according to claim 4, which is characterized in that the longitudinal lamp light yellow indicates east longitude,
It is denoted as positive number, the extinguishing of longitudinal lamp then indicates west longitude, is denoted as negative；Longitude signal lamp uses binary coding, lamp light yellow table
Show 1, lamp extinguishing then indicates 0, wherein four signal lamps are binary low level, in addition eight are a binary high position.
6. universal movement device according to claim 1, which is characterized in that the data processing module is counted by formula (I)
Calculate the moving displacement of user:
Wherein, A is the former frame of camera acquisition, longitude α1Latitude is β1；B is a later frame of camera acquisition, longitude
For α2Latitude is β2；For the moving displacement of the arc length of A to B, that is, user；R is the radius of sphere；θ is the angle of AB.
7. universal movement device according to claim 6, which is characterized in that the data processing module is counted by formula (II)
Calculate the movement velocity of user:
In formula, t is the time, and V is the movement velocity in the Subscriber Unit time.
8. universal movement device according to claim 1-7, which is characterized in that further include safety device, be set to
Motion platform surrounding, the safety device include handrail and the column for fixing handrail.
9. universal movement device according to claim 8, which is characterized in that the safety device side, which is equipped with, is convenient for user
The entrance of discrepancy, and inlet is equipped with baffle and controls the control switch of baffle folding.
10. universal movement device according to claim 8, which is characterized in that described to be able to achieve universal movement mechanism and set
In underground, the motion platform protrudes from ground.
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| CN201820630829.3U CN208176823U (en) | 2018-04-28 | 2018-04-28 | universal movement device |
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| CN201820630829.3U CN208176823U (en) | 2018-04-28 | 2018-04-28 | universal movement device |
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