CN111025946B - Step condition simulator assembly, step condition simulator and control system - Google Patents
Step condition simulator assembly, step condition simulator and control system Download PDFInfo
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- CN111025946B CN111025946B CN201911345496.5A CN201911345496A CN111025946B CN 111025946 B CN111025946 B CN 111025946B CN 201911345496 A CN201911345496 A CN 201911345496A CN 111025946 B CN111025946 B CN 111025946B
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- 230000005540 biological transmission Effects 0.000 claims abstract description 100
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- 238000004891 communication Methods 0.000 claims abstract description 8
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B22/00—Exercising apparatus specially adapted for conditioning the cardio-vascular system, for training agility or co-ordination of movements
- A63B22/02—Exercising apparatus specially adapted for conditioning the cardio-vascular system, for training agility or co-ordination of movements with movable endless bands, e.g. treadmills
- A63B22/0235—Exercising apparatus specially adapted for conditioning the cardio-vascular system, for training agility or co-ordination of movements with movable endless bands, e.g. treadmills driven by a motor
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B22/00—Exercising apparatus specially adapted for conditioning the cardio-vascular system, for training agility or co-ordination of movements
- A63B22/02—Exercising apparatus specially adapted for conditioning the cardio-vascular system, for training agility or co-ordination of movements with movable endless bands, e.g. treadmills
- A63B2022/0271—Exercising apparatus specially adapted for conditioning the cardio-vascular system, for training agility or co-ordination of movements with movable endless bands, e.g. treadmills omnidirectional
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Abstract
The invention provides a step condition simulator assembly, a step condition simulator and a control system, and belongs to the field of sports equipment. The invention provides a step condition simulator assembly which comprises a base, a lifting device, a steering device and a transmission ball. The step condition simulator provided by the invention is provided with the step condition simulator assembly and the connecting piece for connecting the two step condition simulator assemblies. The control system provided by the invention comprises a human body monitoring part, a mechanical sensing part, a signal processing part, a driving part and a communication part. The step condition simulator component provided by the invention can realize universal movement, can realize movement modes including running, jumping, sideslip and the like, and can simulate various environments. The step condition simulator can be arranged according to a specific scene, the application range is wider, the installation and the disassembly are simpler, and the maintenance is easier. The control system not only greatly improves the accuracy of the equipment, but also increases the playability and the interestingness of the step simulator.
Description
Technical Field
The invention relates to a step condition simulator, in particular to a step condition simulator assembly, a step condition simulator and a control system, and belongs to the field of sports equipment.
Background
Virtual reality technology is an important direction of simulation technology, is a set of simulation technology and multiple technologies such as computer graphics, man-machine interface technology, multimedia technology, sensing technology, network technology and the like, and is a challenging crossover technology leading-edge subject and research field. Virtual reality technology (VR) mainly includes aspects of simulating environments, perception, natural skills, sensing devices, and the like. The simulated environment is a computer-generated, real-time, dynamic three-dimensional realistic image. Perception means that an ideal VR should have the perception of everyone. In addition to the visual perception generated by computer graphics technology, there are also auditory, tactile, force, motion, etc. sensations, even including olfactory and gustatory sensations, etc., also known as multi-sensations. Natural skills refer to human head rotation, eye, hand gestures, or other human behavioral actions, and data corresponding to the actions of the participants are processed by a computer, and are responded to user inputs in real time and fed back to the user's five sense organs, respectively.
The virtual reality running machine in the prior art changes human actions into simple data, transmits instructions to a computer, and does not achieve real simulation, and all instructions are only simple up and down, front and back, left and right. The displacement becomes eight-directional displacement with little complexity, and the universal standard is far from being reached. In addition, all man-machine interaction is simple vibration and simple dumping from front to back and from left to right at present, and the device is very widely used in automobile simulation and steamship and plane simulation. The simple dumping simulation can very truly transmit the running state of the automobile, the airplane and the ship to a user. However, this is far from ideal virtual reality. The ideal virtual reality is just like reality, so that not only can the motion displacement in reality be realized, but also the feeling of the motion done in the virtual reality can be fed back to the user, such as going upstairs, walking rough roads, stones at the roadside and steps in the virtual reality. All sensations are fed back to the user, and even subtle differences in movements of the user can be distinguished. Sideslip, jumping, running squats lying on the ground, etc. These are not possible in the prior art.
Disclosure of Invention
The invention is made to solve the above problems, and aims to provide a step condition simulator assembly, a step condition simulator and a control system which are applied to a more realistic simulation reality device to realize future network virtual reality interaction.
The invention provides a step simulator assembly, which is operated under the drive of a driving device, and has the characteristics that: the device comprises a base, a lifting device, a steering device and a transmission ball, wherein the lifting device is inlaid in the base or is arranged above the base and driven by a driving device, the lifting device is used for realizing lifting function so as to adjust the overall height of the step condition simulator assembly, the steering device is arranged above the lifting device and driven by the driving device and used for driving the transmission ball to steer, and the transmission ball is rotatably connected with the steering device and driven by the driving device to rotate along a specific direction.
In the step simulator assembly provided by the invention, the step simulator assembly can also have the following characteristics: wherein, the base is equilateral polygon or the irregular figure that can splice, and every angle department is provided with a arch, and two adjacent archs and the limit of base between two adjacent archs form a recess, and every arch all has at least one trompil towards the direction of adjacent limit.
In the step simulator assembly provided by the invention, the step simulator assembly can also have the following characteristics: wherein, elevating gear includes: the fixing piece is inlaid in the base or is arranged above the base; and at least one lifting piece driven by the driving device to lift or descend relative to the fixing piece.
In the step simulator assembly provided by the invention, the step simulator assembly can also have the following characteristics: wherein, the steering device includes: the steering wheel is arranged above the lifting device and is used for rotating in the horizontal direction relative to the lifting device under the drive of the driving device; and the transmission supporting rod is fixedly arranged on the steering wheel, the transmission ball is spherical or cylindrical, a slot is formed in the middle of the transmission ball, the transmission supporting rod is arranged in the slot, the transmission supporting rod is rotatably connected with the transmission ball, when the transmission ball is spherical, the transmission ball rotates by taking a line perpendicular to the transmission supporting rod and penetrating the center of the transmission ball as a rotating shaft when being driven by a driving device, and when the transmission ball is cylindrical, the transmission ball rotates by taking a line perpendicular to the transmission supporting rod and penetrating the center of the bottom surface of the transmission ball as the rotating shaft when being driven by the driving device.
In the step simulator assembly provided by the invention, the step simulator assembly can also have the following characteristics: wherein, transmission includes: the transmission steering gear is arranged above the lifting device and is provided with a cavity for rotating in the horizontal direction relative to the lifting device under the drive of the driving device; and the transmission rod is arranged in the cavity of the transmission steering gear, the transmission ball is in a spherical shape or a cylindrical shape, when the transmission ball is in a spherical shape, the transmission ball is rotatably connected with the transmission rod and points to the center of the transmission ball, when the transmission ball is driven by the driving device, the transmission ball rotates by taking a connecting line of the center of the transmission rod and the center of the transmission ball as a rotation axis, when the transmission ball is in a cylindrical shape, the transmission ball is rotatably connected with the transmission rod, the connecting point of the transmission ball and the transmission rod is positioned on the bottom surface of the transmission ball, and when the transmission ball is driven by the driving device, the transmission ball rotates by taking the extension line of the transmission rod as the rotation axis.
The invention also provides a step-condition simulator having the features that it comprises: at least one step simulator assembly of any of the above.
In the step condition simulator provided by the invention, the step condition simulator can also have the following characteristics: comprising the following steps: a plurality of above-mentioned step condition simulator assemblies and be used for connecting step condition simulator assembly's connecting piece, wherein, the connecting piece includes: the connecting piece main body is matched with the groove of the step condition simulator component, and a spring is arranged in the connecting piece main body; and one end of each connecting rod is connected with the spring arranged in the connecting piece main body, the size of each connecting rod is matched with the opening of the step condition simulator assembly, and the two connecting rods are used for being matched with the two step condition simulator assemblies respectively, so that the two step condition simulator assemblies are connected.
The invention also provides a control system having the features that includes: a virtual reality part for generating a virtual reality signal; the human body monitoring part is used for monitoring the actions of a user and generating a human body monitoring signal; the mechanical sensing part is used for detecting the position of the user on the step condition simulator and generating a mechanical sensing signal; a signal processing unit for receiving the virtual reality signal, the human body monitoring signal and the mechanical sensing signal and generating a composite signal; the driving part receives the composite signal and controls the step condition simulator component to operate; and a communication unit for realizing communication between the units.
Effects and effects of the invention
According to the step condition simulator assembly, the step condition simulator assembly can move universally and can realize running, jumping, traversing and other movement modes, and can simulate various environments including stairs, rugged roads, wall environments and the like because the step condition simulator assembly is provided with the base, the lifting device, the steering device and the transmission ball.
According to the step condition simulator, the step condition simulator assembly and the connecting piece for connecting the step condition simulator assembly are arranged according to a specific scene, so that the step condition simulator is wide in application range, simple in installation and disassembly and easy to maintain.
According to the control system, the virtual real part, the human body monitoring part, the mechanical sensing part and the signal processing part are provided, and the body position and the foot falling point of the foot are taken as reference basis, so that the control system provided by the invention not only greatly improves the accuracy of equipment, but also increases the playability and the interestingness of the step condition simulator component.
Drawings
FIG. 1 is a step simulator assembly of embodiment 1 of the present invention;
FIG. 2 is a step simulator assembly of embodiment 2 of the present invention;
FIG. 3 is a connection of the step simulator of examples 3-4 of the present invention;
FIG. 4 is a schematic diagram of the connection of a plurality of step simulator components of the step simulators of embodiments 3-4 of the present invention;
FIG. 5 is a schematic diagram of an overall simulation of a step simulator assembly of the step simulator of embodiment 3 of the present invention;
FIG. 6 is a schematic diagram of a step simulator assembly of the step simulator of embodiment 3 of the present invention simulating an obstacle;
FIG. 7 is a schematic diagram of a step simulator assembly of the step simulator of embodiment 3 of the invention simulating a slope;
FIG. 8 is a schematic diagram of a step simulator assembly of the step simulator of embodiment 3 of the present invention simulating a step;
FIG. 9 is a schematic diagram of an overall simulation of a step simulator assembly of the step simulator of embodiment 4 of the present invention;
FIG. 10 is a schematic diagram of a step simulator assembly of the step simulator of example 4 of the present invention simulating a slope;
FIG. 11 is a schematic diagram of a step simulator assembly of the step simulator of embodiment 4 of the present invention simulating a step; and
Fig. 12 is a schematic diagram of a control system in embodiment 5 of the present invention.
Detailed Description
In order to make the technical means, the creation features, the achievement of the purpose and the effect of the present invention easy to understand, the present invention is specifically described below with reference to the embodiments and the drawings.
Example 1]
FIG. 1 is a step simulator assembly of embodiment 1 of the present invention.
As shown in fig. 1, a step simulator assembly 100 includes a base 10, a lifting device 20, a steering device 30, and a drive ball 40.
The step simulator assembly 100 in this embodiment operates under the drive of a drive device.
The base 10 is hexagonal, each corner is provided with a protrusion, two adjacent protrusions and the edge of the base between the two adjacent protrusions form a groove, and each protrusion has an opening facing the direction of the adjacent edge.
The lifting device 20 includes a fixing member 21 and a lifting member 22.
The fixing piece 21 is in a ring shape and is fixedly arranged above the base.
A lifting member 22 is disc-shaped and is embedded in the fixing member 21, and is driven by a driving device to ascend or descend relative to the fixing member 21. In practical applications, there may be a plurality of lifters.
The steering device 30 includes a steering wheel 31 and a transmission support bar 32.
The steering wheel 31 is disc-shaped, is fixedly arranged above the lifting member 22, and is driven by a driving device to rotate 360 degrees.
The transmission support bar 32 is fixedly provided on the steering wheel 31, specifically, the transmission support bar 32 is provided across the center of the steering wheel 31.
The drive ball 40 includes a left hemisphere 41 and a right hemisphere 42.
The left hemisphere 41 and the right hemisphere 42 are rotatably connected with the transmission supporting rod 32, and the connection points are located on the centers of the left hemisphere 41 and the right hemisphere 42 and are driven by the driving device to rotate.
When the driving ball 40 is driven by the driving device, the driving ball 40 rotates about a line perpendicular to the driving support bar 32 and passing through the center of the driving ball 40.
In the actual use process, the lifting device 20 is driven by the driving device, the steering device 30 is rotated by 360 degrees, and the transmission ball 40 is driven by the driving device, so that various situations in the reality can be simulated in the whole.
Example 2]
Fig. 2 is a step simulator assembly in embodiment 2 of the present invention.
As shown in fig. 2, a step simulator assembly 200 includes a base 10, a lifting device 50, a transmission 60, and a transmission ball 70.
The base 10 in this embodiment is identical to the base 10 in embodiment 1.
The lifting device 50 includes a fixture 51 and a lifting assembly 52.
The fixing member 51 is in a ring shape and is fixedly disposed above the base.
The lift assembly 52 includes a first lift 521 and a second lift 522.
The first lifting member 521 is annular and is embedded in the fixing member 51, and is driven by the driving device to lift or descend relative to the fixing member 51.
The second lifter 522 has a disk shape, is fitted inside the second lifter 521, and is driven by the driving device to move up and down relative to the fixing member 51.
The two lifting pieces can synchronously lift or independently lift under the drive of the driving device. In practical application, there may be more lifting members or only one lifting member.
The transmission 60 includes a transmission diverter 61 and a transmission rod 62.
The transmission diverter 61 is a regular hexagon body with no upper surface and hollow inside, the lower surface is fixedly connected with the third lifting piece 523, and the transmission diverter is driven by the driving device to rotate 360 degrees in the horizontal direction relative to the lifting device.
Both ends of the transmission rod 62 are fixedly disposed inside the side surface of the transmission diverter. The projection of the transmission rod 62 in the vertical direction passes through the center of the bottom surface of the transmission diverter 61.
The driving ball 70 is spherical, is rotatably connected with the driving rod 62, is penetrated by the driving rod 62, and passes through the center of the sphere by the driving rod 62. The drive device rotates the transmission rod 62 about the rotation axis.
In the actual use process, the lifting device 50 is driven by the driving device, the steering device 60 is rotated by 360 degrees, and the transmission ball 70 is driven by the driving device, so that various situations in the actual situation can be simulated in the whole.
Example 3 ]
A step simulator assembly includes a step simulator motion 300, a connector 80, a driving device, and a virtual reality device.
The step simulator 300 is composed of a plurality of step simulator assemblies 100 as described in embodiment 1, each step simulator assembly 100 being connected to each other by a connector 80.
FIG. 3 is a connection of the step simulator of examples 3-4 of the present invention. FIG. 4 is a schematic diagram of the connection of a plurality of step simulator components of the step simulators of embodiments 3-4 of the present invention.
As shown in fig. 3-4, the connector 80 includes a connector body 81 and 4 connecting rods 82.
The connector body 81 is matched with the groove of the step simulator assembly 100 of embodiment 1, and has a partition plate at the inner center, and 4 springs are uniformly provided at both sides of the partition plate.
One end of each of the 4 connecting rods 82 is connected to a spring provided in the connector body 81, and is sized to fit in the convex opening of the base 10 of the step simulator assembly 100 of embodiment 1.
The two connecting rods 82 on the same side are connected to the base of the same step simulator assembly, and the two connecting rods 82 on the other side are connected to the other step simulator assembly, so that the connection of the two step simulator assemblies is realized.
Fig. 5 is a schematic diagram showing an overall simulation of a step simulator assembly of the step simulator in embodiment 3 of the present invention.
As shown in fig. 5, the step simulator components of the step simulator are arranged on a horizontal plane, and the number of the step simulator components in the horizontal direction is 20, and the number of the step simulator components in the vertical direction is not less than 6. In the actual use process, the number of the step condition simulator components can be determined according to the actual conditions of places, demands and the like. The step condition simulator components of the step condition simulator can be arranged in a rectangular shape or any shape determined according to the field or the requirement. The base of the step condition simulator assembly of the step condition simulator can be installed on a horizontal plane and can be installed on an arc-shaped surface.
The driving device comprises a step condition simulator driver and 3 servo motors, wherein the step condition simulator driver is electrically connected with the 3 servo motors, 1 of the 3 servo motors is used for driving a lifting device of the step condition simulator assembly, 1 is used for driving a steering device of the step condition simulator assembly, and 1 is used for driving a rotating ball of the step condition simulator assembly. In the actual use process, the number of the servo motors can be more.
The step condition simulator driver adopts a driver of a virtual reality running machine in the prior art and comprises a core processor, a gravity sensing sensor, a motion acceleration sensor, a three-axis gyroscope sensor group, a servo motor driver, an electronic compass sensor and the like. The connection mode of the components is the same as that in the prior art.
The virtual reality device also adopts the virtual reality helmet in the prior art, and comprises a display screen, a power amplifier earphone, a video transmission line, a triaxial gyroscope sensor group, a headgear fixing device and the like. The connection mode of the components is the same as that in the prior art.
The step condition simulator provided in the embodiment can simulate various situations.
Fig. 6 is a schematic diagram of a step simulator assembly of the step simulator in embodiment 3 of the present invention when simulating an obstacle.
As shown in fig. 6, when the step simulator needs to simulate an obstacle, a part of the step simulator assembly lifts itself up by the lifting device, thereby forming an obstacle in a specific area.
FIG. 7 is a schematic diagram of a step simulator component of the step simulator of embodiment 3 of the present invention simulating a slope.
As shown in FIG. 7, when the step simulator needs to simulate an upward slope, the step simulator assembly in front of the standing position of the user lifts the height of the step simulator assembly by the lifting device, and the further the step simulator assembly is from the user, the higher the lifting height is, so that an upward slope is formed, and the specific lifting height and gradient are determined by actual needs.
If a downward slope is desired, the step simulator assembly may be lifted at the user's standing position and then raised in sequence to a height in front of the user but no higher than the height of the step simulator assembly at the user's standing position, thereby forming a downward slope.
FIG. 8 is a schematic diagram of a step simulator assembly of the step simulator of embodiment 3 of the present invention simulating a step.
When the step simulator needs to simulate an upward step, as shown in fig. 8, the step simulator assembly in front of the user lifts itself by the lifting device, wherein the lifting heights of every 2-3 step simulator assemblies are the same, thereby forming an upward step.
If a downward step is to be simulated, the height of the step simulator assembly at which the user stands is first raised, and then the step simulator assembly height in front of the user is raised and is not higher than the step simulator assembly height at which the user stands, wherein the height of the rise of every 2-3 step simulator assemblies is the same, thereby forming a downward step.
When a user moves on the step condition simulator provided by the embodiment, in order to prevent the user from leaving the step condition simulator, the rotating ball can rotate towards the center of the step condition simulator according to the requirement, so that the user is kept on the step condition simulator without leaving the step condition simulator to cause poor experience.
Example 4 ]
A universal step simulator comprising a plurality of step simulator motions 300, a connector 80, a driving device, and a virtual reality device as described in embodiment 1.
The connector 80, the driving device and the virtual reality device are the same as those in embodiment 3.
The difference between this embodiment and embodiment 3 is the arrangement of the moving parts of the step simulator.
FIG. 9 is an overall schematic diagram of the step simulator assembly of the step simulator of embodiment 4 of the present invention.
As shown in fig. 9, in this embodiment, in addition to the first step simulator moving part 300a being provided on the horizontal plane, the second step simulator moving part 300b and the third step simulator moving part 300c, which are arc-shaped and are composed of a plurality of step simulator components, are provided on both front and rear sides of the step simulator.
The second step simulator movement part 302 and the third step simulator movement part 303 are arranged on the one hand to avoid that the user carelessly leaves the step simulator during the movement, and on the other hand to realize the climbing function.
FIG. 10 is a schematic diagram of a step simulator assembly of the step simulator of example 4 of the present invention simulating a slope.
As shown in fig. 10, the present embodiment may form a slope by cooperating the step simulator component of the first step simulator movement part 300a with the step simulator component of the second step simulator movement part 300b or the third step simulator movement part 300 c. In addition, the slope may be formed by the method in embodiment 3 using only the step simulator assembly in the first step simulator movement section 300 a.
FIG. 11 is a schematic diagram of a step simulator assembly of the step simulator of embodiment 4 of the present invention simulating a step.
As shown in fig. 11, the present embodiment may form a step by cooperating the step simulator component of the first step simulator movement part 300a with the step simulator component of the second step simulator movement part 300b or the third step simulator movement part 300 c. In addition, one or more steps may also be formed using the method in embodiment 3 using only the step simulator assembly in the first step simulator movement section 300 a.
Example 5 ]
Fig. 12 is a schematic diagram of a control system in embodiment 5 of the present invention.
As shown in fig. 12, a step condition simulator control system 90 for controlling the step condition simulator described in embodiments 3 to 4, includes: the virtual reality part 91, the human body monitoring part 92, the mechanical sensing part 93, the signal processing part 94, the driving part 95, the communication part 96, and the control part 97.
The virtual reality part 91 is used to play a screen of a virtual reality scene to a user, and to send a virtual reality signal or an end signal to the signal processing part 94 according to scene needs.
The human body monitor 92 collects and preprocesses signals detected by the user, generates human body monitor signals, and sends the human body monitor signals to the signal processor 94. Specifically, the signals collected by the human body monitoring section include: the front-back relationship of the two legs of the user (thereby preliminarily judging whether the direction of the person is forward or backward), the distance of the two legs of the user (thereby preliminarily judging whether the person intends to move leftwards or rightwards), and the swinging frequency of the two hands or the two legs of the user (thereby preliminarily judging the movement rate of the person).
The mechanical sensing unit 93 collects data of each sensor in the driving device and the virtual reality device on the step simulator by using a component (such as a gravity sensor) having mechanical sensing provided at the bottom of the step simulator, performs preprocessing, generates a mechanical sensing signal, and transmits the mechanical sensing signal to the signal processing unit 94. Specifically, the data collected by the mechanical sensing section 93 includes: whether the user touches the ground with one foot (thus primarily judging whether the human body starts to move), and the user step frequency (thus primarily judging the movement frequency of the human body).
The signal processing unit 94 receives the virtual reality signal, the human body monitoring signal and the mechanical sensing signal, and then combines the three signals, calculates a composite signal by a certain algorithm operation, and sends the composite signal to the driving unit 95.
The driving part 95 receives the composite signal, and adjusts and controls the movement states of the respective step simulator components in the step simulator movement part according to the composite signal.
The communication section 96 is for realizing communication between the sections.
The control section 97 controls the operations of the above sections.
The operation mode of the control system provided in this embodiment includes the following steps:
S1, a virtual reality part generates a virtual scene, sends out a virtual reality signal and enters S2;
S2, the human body monitoring part and the mechanical sensing part start to collect signals, respectively send out human body monitoring signals and mechanical sensing signals, and enter S3;
S3, the signal processing part receives the virtual reality signal, the human body monitoring signal and the mechanical induction signal, and then, the three signals are combined, a composite signal is obtained through calculation by a certain algorithm operation, and the S4 is entered;
S4, the driving part receives the composite signal, and regulates and controls the motion state of each step condition simulator component in the step condition simulator motion part, if a slope is required in a virtual scene, the slope is formed by regulating and controlling the height of the step condition simulator component; when the human body is far away from the central position, the human body returns to the central position and the like by regulating and controlling the rotation direction of the step condition simulator component, and S5 is entered;
s5, judging whether an end signal is received, entering an end state when the end signal is judged to be yes, and returning to S1 otherwise.
Effects and effects of the examples
According to the step simulator assembly of embodiments 1-2, since the step simulator assembly has the base, the lifting device, the steering device and the driving ball, the step simulator assembly of embodiments 1-2 can move in all directions, can perform running, jumping, traversing and other movement modes, and can simulate various environments including stairs, rugged roads, wall environments and the like.
According to the step simulator of embodiments 3 to 4, since the step simulator assembly and the connecting member for connecting the step simulator assembly are provided, the step simulators of embodiments 3 to 4 can be arranged according to specific scenes, and the step simulator has a wider application range, is easy to install and detach, and is easy to maintain.
According to the control system of embodiment 5, since the virtual real part, the human body monitoring part, the mechanical sensing part and the signal processing part are provided, and the body position and the foot drop point of the foot are used as reference bases, the control system of embodiment 5 not only greatly improves the accuracy of the device, but also increases the playability and the interest of the step simulator.
The above embodiments are preferred examples of the present invention, and are not intended to limit the scope of the present invention.
Claims (4)
1. A step-condition simulator, comprising:
A plurality of step simulator assemblies and connectors for connecting the step simulator assemblies,
Wherein, step condition simulator subassembly is operated under drive arrangement's drive, includes: a base, a lifting device, a steering device and a transmission ball,
The lifting device is embedded in the base or arranged above the base and driven by the driving device to realize the lifting function so as to adjust the overall height of the step simulator component,
The steering device is arranged above the lifting device and driven by the driving device for driving the transmission ball to steer,
The transmission ball is rotatably connected with the steering device and is driven by the driving device to rotate along a specific direction,
The base is regular polygon or spliced irregular graph, each corner is provided with a bulge, two adjacent bulges and the edge of the base between the two adjacent bulges form a groove, each bulge is provided with at least one opening in the direction facing the adjacent edge,
The lifting device includes:
the fixing piece is inlaid in the base or is arranged above the base; and
At least one lifting member driven by the driving device to lift or descend relative to the fixing member,
The connector includes:
The connecting piece main body is matched with the groove of the step condition simulator component, and a spring is arranged in the connecting piece main body; and
At least two connecting rods, one ends of which are connected with springs arranged in the connecting piece main body, the size of the connecting rods is matched with the opening of the step condition simulator component,
The two connecting rods are used for being matched with the two step condition simulator assemblies respectively so as to connect the two step condition simulator assemblies.
2. The step simulator of claim 1, wherein:
wherein, the steering device includes:
A steering wheel arranged above the lifting device and used for rotating in the horizontal direction relative to the lifting device under the drive of the driving device; and
The transmission supporting rod is fixedly arranged on the steering wheel,
The transmission ball is spherical or cylindrical, a slot is arranged in the middle of the transmission ball, a transmission supporting rod is arranged in the slot, the transmission supporting rod is rotatably connected with the transmission ball,
When the transmission ball is in a spherical shape and driven by the driving device, the transmission ball rotates by taking a line which is perpendicular to the transmission supporting rod and passes through the spherical center of the transmission ball as a rotation axis,
When the transmission ball is in a cylindrical shape and driven by the driving device, the transmission ball rotates by taking a line perpendicular to the transmission supporting rod and penetrating through the center of the bottom surface of the transmission ball as a rotating shaft.
3. The step simulator of claim 1, wherein:
wherein, transmission includes:
The transmission steering device is arranged above the lifting device and is provided with a cavity, and the transmission steering device is used for rotating in the horizontal direction relative to the lifting device under the drive of the driving device; and
The transmission rod is arranged in the cavity of the transmission steering gear,
The transmission ball is spherical or cylindrical,
When the transmission ball is spherical, the transmission ball is rotatably connected with the transmission rod and points to the spherical center of the transmission ball, when the transmission ball is driven by the driving device, the transmission ball rotates by taking the connecting line of the transmission rod and the spherical center of the transmission ball as a rotation shaft,
When the transmission ball is in a cylindrical shape, the transmission ball is rotatably connected with the transmission rod, the connection point of the transmission ball and the transmission rod is positioned on the bottom surface of the transmission ball, and when the transmission ball is driven by the driving device, the transmission ball rotates by taking the extension line of the transmission rod as a rotation shaft.
4. A control system for controlling the step simulator of any of claims 1-3, comprising:
a virtual reality part for generating a virtual reality signal;
the human body monitoring part is used for monitoring the actions of a user and generating a human body monitoring signal;
The mechanical sensing part is used for detecting the position of the user on the running machine and generating a mechanical sensing signal;
A signal processing unit configured to receive the virtual reality signal, the human body monitoring signal, and the mechanical sensing signal and generate a composite signal;
the driving part receives the composite signal and controls the step condition simulator component to operate; and
And a communication unit for realizing the communication between the units.
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| CN106267816A (en) * | 2016-09-19 | 2017-01-04 | 石斌 | Ball-type omnidirectional virtual reality experience system |
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