CN208865110U - The intelligent VR platform of human body attitude can be servo-actuated - Google Patents
The intelligent VR platform of human body attitude can be servo-actuated Download PDFInfo
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- CN208865110U CN208865110U CN201821271908.6U CN201821271908U CN208865110U CN 208865110 U CN208865110 U CN 208865110U CN 201821271908 U CN201821271908 U CN 201821271908U CN 208865110 U CN208865110 U CN 208865110U
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Abstract
The utility model provides a kind of intelligent VR platform that can be servo-actuated human body attitude, including running machine structure body, Rotatable base and VR aobvious equipment.Running machine structure body includes running plate, treadmill bracket, electric cabinet, support frame, treadbelt, front roll, back roll, master controller and frequency converter electric system.The electric vortex type displacement sensor of face front roll or so shaft end is equipped at left and right sides of treadmill bracket, electric vortex type displacement sensor is able to detect left and right displacement of the shaft end in treadmill bracket, and generates electric signal and be sent to master controller；Master controller judges deflection direction according to gained electric signal, and carries out analytical calculation, displacement value data signal is obtained, to generate shift value order；Shift value order is sent Rotatable base by master controller, rotates Rotatable base, and Rotatable base can drive when rotating is secured to connected treadmill bracket rotation, to realize that treadmill bracket follows the deflection direction of user movement posture to automatically adjust direction.
Description
Technical field
The utility model relates to the technical field of VR treadmill, especially a kind of intelligent VR that can be servo-actuated human body attitude is flat
Platform.
Background technique
In the prior art, currently on the market there are two types of treadmill is most, one is single direction running, another kind is round
Ring type fixed structure, the motionless VR treadmill of pedestal have stretching structure on user's body, rotate above body but foot is last
Disc centre all is shifted to, user can generate drag force when rotated, be unfavorable for VR experience, and experience sense is not strong, therefore needs to existing
There is technology to improve.
It is proposed in patent of invention " a kind of universal treadmill of VR and related system and methods for using them " (CN107854806A): VR
It universal treadmill chassis and is set between the turntable on pedestal and is equipped with locking mechanism, locking mechanism locks according to electrical control
When principle rotates turntable, at the uniform velocity it can only rotate a circle or set all numbers and then lock, the motion conditions of user can not be followed
Synchronize adjustment.
To sum up, it needs to improve the prior art.
Pertinent literature:
1, Liu Yang, Zhou Xu, Sun Yining wait treadmill speed tracking control method [J] the sensing technology of based on footwork
Report, 2015 (2): 217-220.
Utility model content
The technical problem to be solved by the present invention is to provide one kind can enhance VR experience, improves the feeling of immersion of user
The intelligent VR platform of human body attitude can be servo-actuated.
In order to solve the above-mentioned technical problem, the utility model provides a kind of intelligent VR platform that can be servo-actuated human body attitude, packet
Include running machine structure body and VR aobvious equipment；The running machine structure body include run plate, treadmill bracket, electric cabinet and support frame,
Treadbelt, master controller and frequency converter electric system；It is equipped with front roll on front side of the race plate, runs and is equipped with back roll on rear side of plate；
It is characterized by:
The intelligent VR platform for being servo-actuated human body attitude further includes Rotatable base；
The treadmill bracket is fixedly linked with Rotatable base upper surface；
The front roll and back roll is connected with treadmill bracket, and the shaft end of the drum shaft of front roll and back roll can be
Left and right displacement in treadmill bracket (note, the displacement being displaced herein are small)；
The drum shaft both ends of the front roll are respectively equipped with spring；
Each spring pocket is mounted in the outer surface of front roll respective rollers axis, and one end and the front roll outer surface of spring offset
It connects, the other end is abutted against with treadmill rack outer surface；
Electric vortex type displacement sensor is equipped at left and right sides of the treadmill bracket；
Treadmill bracket, the axis of the face side front roll drum shaft are protruded into the test side of each electric vortex type displacement sensor
End；
Note: the utility model uses electric vortex type displacement sensor, can generate to the shaft end of roller drum shaft small
Displacement measures.
The VR aobvious equipment, electric vortex type displacement sensor and Rotatable base respectively with master controller signal phase
Even.
The improvement of the intelligent VR platform of human body attitude can be servo-actuated as the utility model:
The race plate upper surface is respectively arranged on the left side and the right side at least two force plate/platform sensor；
Support frame as described above is equipped with electronic display；
The electronic display and each force plate/platform sensor are connected with master controller signal respectively.
The further improvement of the intelligent VR platform of human body attitude can be servo-actuated as the utility model:
The Rotatable base by rotating base body, gear I, gear II, the driving device equipped with drive shaft, rotary shaft,
Rotating disk and shell are constituted；
The shell is mounted on rotating base body upper surface, and the inner wall of shell and rotating base body upper surface are enclosed and put
Empty chamber；The gear I, gear II, the driving device equipped with drive shaft, rotary shaft and rotating disk, which are respectively positioned on, places in cavity；
The rotary shaft is vertically mounted at rotating base body center；
The lower end of the rotary shaft is flexibly connected with rotating base body by bearing, upper end and rotating disk lower surface stationary phase
Even, gear II is sleeved on rotary shaft outer surface, and gear II is fixedly connected with rotary shaft outer surface；
The driving device is mounted on rotating base body upper surface, and gear I is sleeved on the drive shaft outer surface of driving device,
Gear I and the drive shaft of driving device are fixedly linked；
The gear I and II external toothing of gear；
The rotating disk upper surface is fixedly connected with treadmill bracket；
The driving device is connected with master controller signal.
The further improvement of the intelligent VR platform of human body attitude can be servo-actuated as the utility model:
Signal receiver module, signal processing module, CPU module and the letter that the master controller is connected by successively signal
Number transmitter module is constituted；
The signal receiver module respectively with electronic display, force plate/platform sensor and electric vortex type displacement sensor
Signal is connected；
The signal projector module is aobvious with electronic display, frequency converter electric system, driving device and VR respectively
Device signal is connected；
The signal receiver module is used to receive the testing number of force plate/platform sensor and electric vortex type displacement sensor
According to, and received detection data is sent to signal processing module；
The signal receiver module is also used to receive user using kinematic parameter set by electronic display, and will connect
The kinematic parameter of receipts is sent to signal processing module；
The signal processing module is for receiving and handling detection data transmitted by signal receiver module and movement ginseng
Number, and be processed to rear data-signal obtained and be sent to CPU module；
The CPU module is used to receive the data-signal of signal processing module transmission, and is generated and ordered according to the data-signal
It enables, which is also sent to electronic display, frequency converter electric system, driving dress by signal projector module by CPU module
It sets and/or VR aobvious equipment.
Note: mentioned order is speed command or shift value order.
The utility model compared with prior art, has following technical advantage:
1, the utility model acquires the pressure value of treadbelt everywhere by force plate/platform sensor in real time, also utilizes electric vortex type
The electric signal conversion that displacement sensor acquires in real time obtains the displacement value data signal of front roll (drum shaft), and uses CPU mould
Block is analyzed and processed the pressure value and displacement value data signal that acquire in real time, obtains corresponding speed command and shift value
Order, is sent to corresponding driving device for speed command and shift value order by signal projector module, follows to realize
User movement speed and direction of motion synchronous adjustment.
2, the utility model can arbitrarily replace running direction, to improve use without dressing special installation in treadbelt
Family feeling of immersion and experience sense.
Detailed description of the invention
Specific embodiment of the present utility model is described in further detail with reference to the accompanying drawing.
Fig. 1 is the intelligent VR platform structure schematic diagram that the utility model can be servo-actuated human body attitude；
Fig. 2 is the overall structure diagram of Rotatable base 8 in Fig. 1；
Fig. 3 is the schematic diagram of internal structure of Rotatable base 8 in Fig. 2；
Fig. 4 is each module connection diagram in Fig. 1；
Fig. 5 is the assembling schematic diagram between front roll 4 in Fig. 2, force plate/platform sensor 11, race plate 1 and treadmill bracket 20；
Fig. 6 is the enlarged diagram of A in Fig. 5；
Fig. 7 is the tension stress map analysis in embodiment 1 in treadbelt 3.
In figure: race plate 1, treadmill bracket 20, electric cabinet 21, support frame 22, treadbelt 3, front roll 4, electronic display 5, in
Heart controller 6, frequency converter electric system 7, Rotatable base 8, screw hole 9, VR aobvious equipment 10, force plate/platform sensor 11,
Electric vortex type displacement sensor 12, rotating base body 13, gear I 140, gear II 141, driving device 15, rotary shaft 16, rotation
Turntable 17, shell 18, spring 19.
Specific embodiment
The utility model is described further combined with specific embodiments below, but the protection scope of the utility model is simultaneously
It is not limited only to this.
Embodiment 1, the intelligent VR platform that human body attitude can be servo-actuated, as shown in Fig. 1~7, comprising: VR aobvious equipment 10 is run
Step machine structural body and Rotatable base 8.Running machine structure body is fixedly mounted on 8 upper surface of Rotatable base, Rotatable base 8
When rotation, running machine structure body is driven to rotate together with.
Running machine structure body includes running plate 1, treadmill bracket 20, electric cabinet 21, support frame 22, treadbelt 3, front roll 4, rear rolling
Cylinder, master controller 6 and frequency converter electric system 7.
It runs plate 1 to be fixedly linked with treadmill bracket 20, runs and be equipped with front roll 4 on front side of plate 1, run and be equipped with back roll on rear side of plate 1；It runs
The outside for being sleeved on front roll 4 and back roll with 3 (treadbelt 3 is annular treadbelt, is set in and runs 1 outer surface of plate).
Front roll 4 and back roll are connected by bearing with treadmill bracket 20, that is, are equipped in treadmill bracket 20 and are secured to phase
In the drum shaft insertion bearing of bearing even, front roll 4 and back roll, front roll 4 and back roll is made to be installed on treadmill bracket 20
On.
Electric cabinet 21 is mounted on 20 front side of treadmill bracket, and 22 bottom of support frame is fixedly linked with electric cabinet 21.
Master controller 6 and frequency converter electric system 7 are installed in electric cabinet 21.
Frequency converter electric system 7 is for driving front roll 4 to rotate, and front roll 4 drives back roll rotation at this time.
Master controller 6 is connected with frequency converter electric system 7 and VR aobvious 10 signal of equipment.
Note: above-mentioned running machine structure body and VR aobvious equipment 10 are the prior art, technology of the present embodiment in existing structure
On improve, thus realize follow user movement speed and the direction of motion to synchronize the speed and direction of treadbelt 3
Adjustment.
As shown in Figure 1, treadmill bracket 20 is equipped with screw hole 9, treadmill bracket 20 passes through table on screw and Rotatable base 8
Face is fixedly linked.Support frame 22 is equipped with electronic display 5, for carrying out information exchange with user；
As shown in Figure 5 and Figure 6, front roll 4 and back roll are connected by bearing with treadmill bracket 20 in the present embodiment, at this time
The shaft end of the drum shaft of front roll 4 and back roll can in treadmill bracket 20 (bearing) left and right displacement (displacement is small).
Note: bearing is only used for reducing coefficient of friction herein, and bearing is fixedly linked with treadmill bracket 20, it is believed that bearing and
Treadmill bracket 20 is integrated, therefore bearing is omitted in fig. 5 and fig..Shaft (drum shaft) is reduced using bearing to produce during exercise
Raw coefficient of friction is the prior art, even if being omitted in the accompanying drawings, those skilled in the relevant art are also able to achieve preceding rolling
Cylinder 4 and back roll are mounted on treadmill bracket 20 by bearing.
In the utility model the shaft end of the drum shaft of front roll 4 and back roll can in treadmill bracket 20 (bearing) left and right position
It moves, the displacement is very small, therefore the utility model detects the displacement using electric vortex type displacement sensor 12.
The drum shaft both ends of front roll 4 are respectively equipped with spring 19；Each spring 19 is sleeved on 4 respective rollers axis of front roll
Outer surface, one end and 4 outer surface of front roll of spring 19 abut against, and one end is abutted against with 20 outer surface of treadmill bracket.
When current roller 4 is subjected to displacement to left/right, the spring 19 of respective side will be squeezed, and spring 19 allows displacement at this time
With the external force linearization relationship being subject to, while when people is converted to front-rear direction by the deflection direction of motion, spring 19
Elastic force is conducive to that front roll 4 is helped to restore to normal condition.
Electric vortex type displacement sensor 12 is additionally provided at left and right sides of treadmill bracket 20；Each electric vortex type displacement sensor 12
Test side protrude into treadmill bracket 20, the shaft end of face 4 drum shaft of side front roll, to detect corresponding 4 drum shaft of front roll
Shaft end distance, generate electric signal.
When default front roll 4 is in normal condition, the electric vortex type displacement sensor 12 of 20 two sides of treadmill bracket is generated
Axial displacement value D corresponding to electric signal is 0.Current roller 4 is to right avertence, that is, the right side shaft end of 4 drum shaft of front roll it is close with
Its corresponding electric vortex type displacement sensor 12, at this time axis corresponding to the generated electric signal of electric vortex type displacement sensor 12
It is greater than 0 to shift value D.
It runs 1 upper surface of plate and is respectively arranged on the left side and the right side at least two force plate/platform sensor 11；The present embodiment uses 6 altogether
Force plate/platform sensor 11 (that is, pressure sensor) is sequentially distributed and is running at left and right sides of 1 upper surface of plate (before race 1 front and back side of plate is
Roller 4 and back roll) before, neutralize rear portion, as shown in Figure 5.
Note: the pressure value in 1 all directions of plate is being run when force plate/platform sensor 11 is used to detect user movement.
Electronic display 5 is connect for presetting and showing movement ginseng with signal projector module and signal receiving module signal
Number.
As shown in Figures 2 and 3, Rotatable base 8 by rotating base body 13, gear I 140, gear II 141, be equipped with drive
Driving device 15, rotary shaft 16, rotating disk 17 and the shell 18 of moving axis are constituted.
Shell 18 is mounted on 13 upper surface of rotating base body, and the inner wall of shell 18 and 13 upper surface of rotating base body enclose shape
At placement cavity.Gear I 140, gear II 141, the driving device 15 equipped with drive shaft, rotary shaft 16 and the equal position of rotating disk 17
In placement cavity.
Rotary shaft 16 is vertically mounted at 13 center of rotating base body；The lower end of rotary shaft 16 passes through with rotating base body 13
Bearing is movably connected, and upper end is fixedly linked with 17 lower surface of rotating disk, and gear II 141 is sleeved on 16 outer surface of rotary shaft, gear
II 141 are fixedly connected with 16 outer surface of rotary shaft.
17 upper surface of rotating disk is fixedly connected with treadmill bracket 20, that is, and screw passes through the screw hole 9 on treadmill bracket 20,
Treadmill bracket 20 is set to be fixedly linked with rotating disk 17.
Driving device 15 is mounted on 13 upper surface of rotating base body, and driving device 15 uses motor in the present embodiment.Gear I
140 are sleeved on the drive shaft outer surface of driving device 15, and gear I 140 and the drive shaft of driving device 15 are fixedly linked, and tooth
Take turns I 140 and II 141 external toothing of gear.
Note: gear I 140, gear II 141, the driving device 15 equipped with drive shaft and rotary shaft 16 are respectively positioned on rotating disk
17 lower sections.
When driving device 15 start to work when, driving shaft driven gear I 140 rotate, thus make gear II 141 with
The rotation of gear I 140 and rotate；The drive of gear II 141 is secured to connected rotary shaft 16 and is rotated, to drive rotation
It turntable 17 and is secured to connected running machine structure body and is rotated.
As shown in figure 4, master controller 6 is connected with 7 signal of frequency converter electric system and (is connected by data line).In
Heart controller 6 also with electronic display 5, VR aobvious equipment 10, force plate/platform sensor 11, electric vortex type displacement sensor 12 and
(Rotatable base 8) signal of driving device 15 is connected.
Note: above-mentioned electronic display 5, master controller 6, frequency converter electric system 7, VR aobvious equipment 10, force plate/platform
Sensor 11, electric vortex type displacement sensor 12 and driving device 15 are connected with power supply (or internal equipped with independent current source), give
Each electrical module energization makes its work prior art, therefore is no longer informed in detail in specification, and carry out in attached drawing
It omits.
Signal receiver module, signal processing module, CPU module and the signal that master controller 6 is connected by successively signal
(signal processing module, signal receiver module, signal projector module and CPU module are electric with power supply for transmitter module composition
Connection).
Signal receiver module respectively with electronic display 5, force plate/platform sensor 11 and electric vortex type displacement sensor
12 signals are connected and (are connected by data line), and for receiving the preset kinematic parameter of electronic display 5, and it is flat to receive dynamometry
The detection data of platform sensor 11 and electric vortex type displacement sensor 12.Signal receiver module sends received detection data
To signal processing module.
Signal processing module is sent to after being processed to for receiving the data-signal that signal receiver module is sent
CPU module；
Note: above-mentioned data-signal includes the detected pressure value data signal of force plate/platform sensor 11 and electric vortex type
The detected electric signal of displacement sensor 12 (such as voltage signal or current signal) and the preset movement of electronic display 5
Parameter.
The above-mentioned processing to data-signal includes but is not limited to filtering, amplification, A/D conversion and digital filtering processing；According to
It is the prior art that actual needs, which carries out respective handling to data, therefore is not repeated in detail here.
CPU module treated for receiving signal processing module data-signal, and generated and corresponded to according to the data-signal
Order, is sent to electronic display 5, frequency converter electric system 7, driving device 15 by signal projector module for the order
And/or VR aobvious equipment 10.
Specific works content is as follows:
1., after CPU module receives treated kinematic parameter, analyze it processing, be converted into speed command and feed back
Give signal projector module.
Note: kinematic parameter includes minimum movement speed, maximum movement speed and run duration.
When can be servo-actuated the intelligent VR platform of human body attitude and just starting to work, movement velocity need to be enabled to accelerate to minimum movement by 0
Speed, then as the real-time speed of user adjusts accordingly.
Maximum movement speed is the maximum value that can be adjusted accordingly with the real-time speed of user, prevents excessively violent fortune
It is dynamic that user's body is caused to damage.
2., after CPU module receives treated pressure value data signal, which is carried out at analysis
Reason calculates Center of Pressure COP and real-time speed, to differentiate acceleration and deceleration trend, and converts thereof into speed command and be transferred to letter
Number transmitter module.
Note: it is above-mentioned that Center of Pressure COP and real-time speed are calculated according to pressure value data signal, differentiate acceleration and deceleration trend, and
Converting thereof into speed command is the prior art, can refer to paper " the treadmill speed tracking control method based on footwork ".
3., after CPU module receives treated electric signal, convert to obtain axial displacement according to displacement and the relationship of electric signal
Value D, then yaw motion direction is judged by gained axial displacement value D, and calculate yaw motion angle θ.
Judge yaw motion direction: converting axial displacement value D's according to 12 electric signal of two sides electric vortex type displacement sensor
Size judges yaw motion direction, that is, axial position corresponding to the generated electric signal of electric vortex type displacement sensor 12 on right side
Shifting value D is larger, then yaw motion direction is right side.
Conversion handles to obtain axial displacement value D and yaw motion angle θ principle is as follows:
The impedance Z of electric vortex type displacement sensor 12 mainly with the electricalresistivityρ of metallic conductor, magnetic permeability μ, base rate voltage f
And the relating to parameters such as distance d；Electric vortex type displacement sensor 12 passes through the processing of fore-lying device electronic circuit, by coil impedance Z
Variation, that is, the head volume coils (test side) of electric vortex type displacement sensor 12 to metallic conductor (4 drum shaft of front roll
Shaft end) the variation of distance d be converted to the variation of voltage or electric current, the size of output signal is with test side to measured body surface
The variation of distance d and change；The present embodiment is realized according to the above-mentioned working principle of electric vortex type displacement sensor 12 to front roll 4
The measurement of the shaft end displacement parameter of drum shaft.
The electric signal that electric vortex type displacement sensor 12 measures is passed to master controller 6 and is handled, and is controlled by center
The signal processing module of device 6 carries out isolation amplification conversion and transmission, is finally sent into CPU module and is handled, according to voltage or electricity
Stream and the relationship of displacement obtain displacement variable, obtain axial displacement value D (that is, being converted into displacement Value Data letter by electric signal
Number).
Note: the axial shift value D spindle end shift value mobile to electric vortex type displacement sensor 12 in the present embodiment.
When default front roll 4 is in normal condition, the electric vortex type displacement sensor 12 of 20 two sides of treadmill bracket is generated
Axial displacement value D corresponding to electric signal is 0, only the generated electric signal institute when shaft end is close to electric vortex type displacement sensor 12
Corresponding axial displacement value D is greater than 0.
For people when moving in treadbelt 3, treadbelt 3 generates tension, when people moves forward and backward, before and after 3 generations of treadbelt
The tension in direction, the at this time not no left and right axial displacement of front roll 4.
When carrying out yaw motion to left/right in treadbelt 3, the tension value F of treadbelt 3 can generate front roll 4 certain people
Active force, as shown in fig. 7, tension value F can be analyzed to the positive pressure F1 of vertical front roll 4, the level of parallel front roll 4 is lateral
Power F2.Wherein horizontal lateral force F2 be cause front roll 4 that the principal element of axial displacement occurs (vertical front roll 4 is being just herein
Sliding friction can be generated to shaft to pressure F1, static friction etc., because not being principal element that axial displacement occurs therefore not detailed
Analysis).
As shown in Figure 7, the value of horizontal lateral force F2 is related to yaw motion angle θ (θ value range is 0~90 °), works as deflection
Moving angle θ is 0, i.e., do not deflect movement, and axial displacement value D is 0, when yaw motion angle θ is bigger at this time, horizontal lateral force F2
Value it is bigger.Equally, when horizontal lateral force F2 value is bigger, corresponding axial displacement value D is bigger, such as D1, D2, Dn institute in Fig. 7
Show.
The utility model makes 19 one end of spring and 4 phase of front roll by the both ends pocketed springs 19 in 4 drum shaft of front roll
It abuts, the other end is abutted against with treadmill bracket 20；
When current roller 4 is subjected to displacement to left/right, the spring 19 of corresponding side is squeezed, and spring 19 allows measured axis
To shift value D with the external force linearization relationship that is subject to, while when people is converted to front-rear direction by the deflection direction of motion,
The elastic force of spring 19 is conducive to the normal condition for helping to restore shaft.
19 elastic force F of springBulletWith the linear relationship formula of axial displacement value D:
FBullet=k*D
Wherein, FBulletIndicate the elastic force of spring 19, unit N；
K indicates empirical coefficient, and unit N/mm, which can be as obtained by survey calculation.
When user to the left/right yaw motion when, axial displacement value D and tension value F relationship are as follows:
F2=F sin θ
FBullet=F2=k*D=F sin θ
Therefore obtain D=(F sin θ)/k
Wherein, F2 indicates horizontal lateral force, unit N；
F indicates tension value, and unit is N (value of F is given by outside)；
θ is yaw motion angle.
D indicates axial displacement value, and unit mm is detected by electric vortex type displacement sensor 12 and obtained.
Formula D=(F sin θ)/k transformation can be obtained:
θ=arc sin (D*k/F).
In actual operation, master controller 6 will be according to the electric signal of received electric vortex type displacement sensor 12, conversion
Processing obtains corresponding axial displacement value D, judges yaw motion direction according to axial displacement value D, and calculate acquisition yaw motion
Angle θ finally generates corresponding operation control according to above-mentioned resulting yaw motion direction, axial displacement value D and yaw motion angle θ
Signal, i.e. shift value order；Shift value order generated is issued driving device 15 by master controller 6, to control driving
Device 15 carries out spinning movement by the requirement of shift value order, until the axial displacement value D of 4 two sides of front roll is zero, reaching can
Rotating base 8 drives running machine structure body synchronous rotary.
Note: there can be active force to front roll 4 and back roll when people moves in treadbelt 3, therefore electric vortex type displacement senses
Device 12 can detect front roll 4, back roll or the electric signal for detecting front roll 4 and back roll simultaneously；Using gained electric signal according to
Aforesaid way can get corresponding axial displacement value D and yaw motion angle θ, therefore the electricity of detection back roll is omitted in this specification
Signal or the electric signal for detecting front roll 4 and back roll simultaneously, to realize that control Rotatable base 8 drives running machine structure
Body synchronous rotary method is not described in detail.
Signal projector module is aobvious with electronic display 5, frequency converter electric system 7, driving device 15 and VR respectively
10 signal of equipment is connected.
The received speed command of institute is sent respectively to frequency converter electric system 7, electronic display 5 by signal projector module
With VR aobvious equipment 10, and then adjust frequency control motor speed, make the speed sync of treadbelt 3 Yu user.
The received shift value order of institute is also sent to Rotatable base 8 and VR aobvious equipment 10 by signal projector module,
Enable Rotatable base 8 that top treadmill bracket 20 (and running plate 1 and treadbelt 3) is driven to synchronize rotation with the deflection of user movement posture
Turn.
It is above-mentioned:
Frequency converter electric system 7 controls movement velocity according to the received speed command of institute；
Electronic display 5 shows velocity information according to the received speed command of institute；
Driving device 15 controls direction of rotation according to the received shift value order of institute.
VR aobvious equipment 10 is synchronous with shift value order progress virtual scene according to the received speed command of institute.
As user to the left yaw motion when, front roll 4 is by by horizontal lateral force F2 to the left at this time, and front roll 4 will
To left dislocation；Electric vortex type displacement sensor 12 corresponding with the left axle end of 4 drum shaft of front roll detects that displacement becomes at this time
Change information, generate electric signal and sends it to master controller 6.Master controller 6 receives the electric signal and converts and handles
To corresponding axial displacement value D, yaw motion direction is judged according to axial displacement value D, and calculates and obtains yaw motion angle θ；Most
Rear center's controller 6 generates shift value life according to the yaw motion direction of above-mentioned acquisition, axial displacement value D and yaw motion angle θ
It enables.Master controller 6 issues shift value order to Rotatable base 8, and Rotatable base 8 will be revolved to the left with setting speed at this time
Turn to follow, until 4 two sides shift value of front roll is zero, synchronizes Rotatable base 8 and follow, drives top treadmill bracket 20
Rotation is synchronized with the deflection of user's posture, it is consistent with the direction of motion of user always, make user in 3 direction of motion of treadbelt
It is front-rear direction, that is, there was only tension value in the front-back direction in treadbelt 3, the shift value of 4 left and right sides of front roll is zero.
During above-mentioned direction adjusts, shift value order is also sent to VR aobvious equipment 10 by master controller 6, i.e.,
Deflection angle of the user in treadbelt 3 can be passed to VR aobvious head and show equipment 10, realize the synchronization of virtual scene.
Note: Rotatable base 8 constantly follows shift value order to be rotated, as long as front roll 4 or so has shift value,
Rotatable base 8, which will rotate always, follows running machine structure body, until reaching consistent with the direction of motion of user.
The utility model is handled by the data that CPU module carrys out transmission, CPU module arithmetic speed height, amount of storage
Greatly, have the function of display, storage, readback, transmission order etc., processing information is rapid, therefore can quickly transmit commands to signal
Transmitter module, delay error is few, fabulous to ensure that the moving synchronously of Rotatable base 8, synchronize and follow, and prevents from dropping.
VR aobvious equipment 10 provides synchronous virtual scene for user for acquiring user movement information, carries out VR body
It tests.VR aobvious equipment 10 is equipped with gyro sensor, is additionally provided with display module and signal input module, gyro sensor and
Signal input module is connected with display module signal.Display module is used to provide a user the display of virtual scene；Gyroscope
Sensor obtains the posture of user's head, then according to head for the detection of head position as a kind of servomechanism in real time
Gesture data adjusts virtual scene, and wherein the signal input module of VR aobvious equipment 10 passes through wireless transmission and master controller
The shift value of 6 signal projector module connection, acquisition speed data and front roll 4 (can calculate yaw motion by shift value
Angle θ), that is, the sole yaw motion directional information of user realizes that the information in VR aobvious equipment 10 follows, and scene is synchronous.VR head
Aobvious equipment 10 belongs to the prior art according to user movement information realization virtual scene is servo-actuated, therefore without informing in detail.
Above-mentioned the used electrical module of the utility model to purchase mode as follows:
The ML33 series current vortex of Shenzhen's Tyson sensor apparatus production for example can be used in electric vortex type displacement sensor 12
Displacement sensor；
The CPU module 6ES72111AE310XB0 of this scientific & technical corporation, Shanghai city production for example can be used in CPU module；
The SCSR118-315 reception mould that Shenzhen creates Science and Technology Ltd.'s production for example can be used in signal receiver module
Block；
The UD LAN-401 signal processing mould of Chengdu You Shuo Science and Technology Ltd. production for example can be used in signal processing module
Block；
The transmitting of the ZF-7 model of intelligence AMP Electronics Co., Ltd., Shenzhen production for example can be used in signal projector module
Device module；
The excellent VR wear-type all-in-one machine with the production of wisdom Science and Technology Ltd. in Shenzhen for example can be used in VR aobvious equipment 10
Intelligent VR aobvious equipment.
In actual use, the specific works content of the utility model is as follows:
1. the initial stage: subscriber station selects kinematic parameter (such as: initial running above treadbelt 3, through electronic display 5
Speed 1km/h, maximum velocity 8km/h, run duration 30min) after, VR aobvious equipment 10 is put on, virtual scene is loaded.
Gyro sensor in VR aobvious equipment 10 obtains the posture of user's head in real time, then according to head pose number
According to adjusting virtual scene.
Wherein VR aobvious equipment 10 is connect by wireless transmission with the signal projector module of master controller 6, obtains speed
It drags out a miserable existence and enables (that is, motion velocity information of user) and shift value order (that is, sole yaw motion directional information of user), realize
Information in VR aobvious equipment 10 follows, and scene is synchronous.
Set kinematic parameter is sent to signal receiver module, signal receiver by initial stage, electronic display 5
Module receives and sends it to signal processing module and handled.By treated, kinematic parameter is sent to signal processing module
The speed command is sent to signal projector according to its minimum movement speed formation speed order by CPU module, CPU module
Speed command is finally sent to frequency converter electric system 7 by data line by signal projector module by module, until real
Border movement velocity reaches set initial motion speed, can start to adjust the speed according to the real time kinematics speed of user later.
2, adjust automatically speed:
When user moves in treadbelt 3, pressure value signal collected is sent to by force plate/platform sensor 11 in real time
Master controller 6 carries out analytical calculation by the CPU module of master controller 6；Particular content is as follows:
When user moves in treadbelt 3, signal processing module receives and processes the pressure that signal receiver module is sent
Force value data-signal (i.e. the pressure value signal of the induction of force plate/platform sensor 11), is sent to master controller 6 after being handled
CPU module, CPU module generates corresponding speed command, which is sent to signal projector module, finally by believing
Speed command is sent to frequency converter electric system 7 by number transmitter module, realizes automatic speed regulation.The signal of master controller 6 is sent out
Velocity information is also sent to electronic display 5 and VR aobvious equipment 10 simultaneously by emitter module, and electronic display 5 shows speed
Information, VR aobvious equipment 10 carry out scene according to speed command and synchronize.
3, direction is automatically adjusted:
When user moves in treadbelt 3, electric signal collected is sent to by electric vortex type displacement sensor 12 in real time
Master controller 6 judges yaw motion direction by the CPU module of master controller 6, and carries out analytical calculation, converts in place
Value data signal is moved, to generate shift value order；Particular content is as follows:
When user's adjustment direction in treadbelt 3, the data-signal that electric vortex type displacement sensor 12 measures is by center
The CPU module of controller 6 is analyzed and processed, and is converted to axial displacement value D, judges deflection fortune further according to axial displacement value D
Dynamic direction, and calculate and obtain yaw motion angle θ；CPU module is according to resulting yaw motion direction, axial displacement value D and deflection
Movement angle θ generates shift value order and generates shift value order, which is sent to signal projector module, most
Eventually, shift value order is sent to the driving device 15 of Rotatable base 8 by signal projector module by data line.
Driving device 15 makes rotating disk 17 to user's yaw motion direction according to shift value order, using gear drive principle
Rotation, and then top treadmill bracket 20 is driven to rotate, to make the support frame 22 being fixedly linked with treadmill bracket 20, electric cabinet 21
And 1 synchronous rotary of plate is run, until 4 left and right sides shift value of front roll is zero, that is, the side that user moves in treadbelt 3 at this time
To for front-rear direction, realizing automatic adjustment direction.
Shift value order (i.e. the sole yaw motion directional information of user) is also sent to VR head by signal projector module
Aobvious equipment 10, VR aobvious equipment 10 carry out scene according to shift value order and synchronize.
4, terminate running: user reduces running speed to stop motion, and user removes VR aobvious equipment 10, closes power supply,
The intelligent VR platform that human body attitude can be servo-actuated stops working.
To sum up, the utility model is equipped with face front roll 4 (drum shaft) left and right shaft end at left and right sides of treadmill bracket 20
Electric vortex type displacement sensor 12, electric vortex type displacement sensor 12 are able to detect left and right displacement of the shaft end in treadmill bracket 20
(displacement is small), and generate electric signal and be sent to master controller 6；Master controller 6 receives the electric signal and the processing that converts
Corresponding axial displacement value D is obtained, yaw motion direction is judged according to axial displacement value D, and calculates and obtains yaw motion angle θ,
To generate shift value order；Shift value order is sent Rotatable base 8 by master controller 6, revolves Rotatable base 8
Turn；Rotatable base 8 can drive when rotating is secured to the connected rotation of treadmill bracket 2, realizes Rotatable base 8 and treadmill branch
Frame 2 follows the deflection of user movement posture to synchronize rotation.VR aobvious equipment 10 passes through radio transceiver master controller 6
The command information that signal projector module issues realizes that the information in VR aobvious equipment 10 follows, and the scene for improving user is immersed
Sense.
Finally, it should also be noted that it is listed above be only the utility model several specific embodiments.Obviously,
The utility model is not limited to above embodiments, and acceptable there are many deformations.The ordinary skill user person of this field can be practical from this
All deformations that novel disclosure is directly exported or associated, are considered as the protection scope of the utility model.
Claims (4)
1. the intelligent VR platform of human body attitude can be servo-actuated, including running machine structure body and VR aobvious equipment (10)；The treadmill
Structural body include run plate (1), treadmill bracket (20), electric cabinet (21) and support frame (22), treadbelt (3), master controller (6) and
Frequency converter electric system (7)；Front roll (4) are equipped on front side of the race plate (1), runs and is equipped with back roll on rear side of plate (1)；
It is characterized by:
The intelligent VR platform for being servo-actuated human body attitude further includes Rotatable base (8)；
The treadmill bracket (20) is fixedly linked with Rotatable base (8) upper surface；
The front roll (4) and back roll is connected with treadmill bracket (20), and the axis of the drum shaft of front roll (4) and back roll
End can in treadmill bracket (20) left and right displacement；
The drum shaft both ends of the front roll (4) are respectively equipped with spring (19)；
Each spring (19) is sleeved on the outer surface of front roll (4) respective rollers axis, and one end and front roll (4) of spring (19) are outside
Surface abuts against, and the other end is abutted against with treadmill bracket (20) outer surface；
Electric vortex type displacement sensor (12) are equipped at left and right sides of the treadmill bracket (20)；
The test side of each electric vortex type displacement sensor (12) is protruded into treadmill bracket (20), face side front roll (4) roller
The shaft end of axis；
The VR aobvious equipment (10), electric vortex type displacement sensor (12) and Rotatable base (8) respectively with master controller
(6) signal is connected.
2. the intelligent VR platform according to claim 1 for being servo-actuated human body attitude, it is characterised in that:
Described race plate (1) upper surface is respectively arranged on the left side and the right side at least two force plate/platform sensor (11)；
Support frame as described above (22) is equipped with electronic display (5)；
The electronic display (5) and each force plate/platform sensor (11) are connected with master controller (6) signal respectively.
3. the intelligent VR platform according to claim 2 for being servo-actuated human body attitude, it is characterised in that:
The Rotatable base (8) by rotating base body (13), gear I (140), gear II (141), equipped with the driving of drive shaft
Device (15), rotary shaft (16), rotating disk (17) and shell (18) are constituted；
The shell (18) is mounted on rotating base body (13) upper surface, table on the inner wall and rotating base body (13) of shell (18)
Face is enclosed placement cavity；The gear I (140), gear II (141), driving device (15), rotary shaft equipped with drive shaft
(16) it is respectively positioned on and places in cavity with rotating disk (17)；
The rotary shaft (16) is vertically mounted at rotating base body (13) center；
The lower end of the rotary shaft (16) is flexibly connected with rotating base body (13) by bearing, upper end and rotating disk (17) following table
Face is fixedly linked, and gear II (141) is sleeved on rotary shaft (16) outer surface, and gear II (141) and rotary shaft (16) outer surface are solid
Fixed connection；
The driving device (15) is mounted on rotating base body (13) upper surface, and gear I (140) is sleeved on driving device (15)
Drive shaft outer surface, gear I (140) and the drive shaft of driving device (15) are fixedly linked；
The gear I (140) and gear II (141) external toothing；
Rotating disk (17) upper surface is fixedly connected with treadmill bracket (20)；
The driving device (15) is connected with master controller (6) signal.
4. any intelligent VR platform for being servo-actuated human body attitude according to claim 1~3, it is characterised in that:
Signal receiver module, signal processing module, CPU module and the letter that the master controller (6) is connected by successively signal
Number transmitter module is constituted；
The signal receiver module is passed with electronic display (5), force plate/platform sensor (11) and electric vortex type displacement respectively
Sensor (12) signal is connected；
The signal projector module respectively with electronic display (5), frequency converter electric system (7), driving device (15) and
VR aobvious equipment (10) signal is connected；
The signal receiver module is used to receive the inspection of force plate/platform sensor (11) and electric vortex type displacement sensor (12)
Measured data, and received detection data is sent to signal processing module；
The signal receiver module is also used to receive user using kinematic parameter set by electronic display (5), and will connect
The kinematic parameter of receipts is sent to signal processing module；
The signal processing module is used to receiving and handling detection data transmitted by signal receiver module and kinematic parameter, and
It is processed to rear data-signal obtained and is sent to CPU module；
The CPU module is used to receive the data-signal of signal processing module transmission, and is generated and ordered according to the data-signal,
The order is also sent to electronic display (5), frequency converter electric system (7), driving by signal projector module by CPU module
Device (15) and/or VR aobvious equipment (10).
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109091802A (en) * | 2018-08-08 | 2018-12-28 | 浙江理工大学 | The intelligent VR platform and its control method of human body attitude can be servo-actuated |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109091802A (en) * | 2018-08-08 | 2018-12-28 | 浙江理工大学 | The intelligent VR platform and its control method of human body attitude can be servo-actuated |
| CN109091802B (en) * | 2018-08-08 | 2023-11-03 | 浙江理工大学 | Intelligent VR platform capable of following human body posture and control method thereof |
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