CN107029409A - A kind of running training system based on virtual reality technology - Google Patents

Abstract

The invention relates to a running training system based on virtual reality technology, which is characterized in that the system includes: a treadmill, a speed measuring component, a computer equipped with signal processing and control programs and video images, a receiving end Bluetooth and VR glasses equipped with a mobile phone The speed measurement component is worn on the runner's single leg or arm, including a gyroscope accelerometer, a three-terminal voltage regulator chip, a transmitter Bluetooth, a battery and a power switch, all integrated on a circuit board; the speed measurement component passes through the transmitter Bluetooth, Bluetooth on the receiving end and the computer for Bluetooth communication, the Bluetooth on the receiving end is plugged into the computer, and the computer is connected to the mobile phone on the VR glasses equipped with the mobile phone through WiFi wirelessly at the same time, and the mobile phone and the computer are equipped with multi-screen interaction The client side of the software; VR glasses equipped with mobile phones are worn on the runner's head.

Description

A running training system based on virtual reality technology

technical field

The invention relates to a running training system based on virtual reality technology, relates to sports fitness and medical rehabilitation, and belongs to the field of biomedical engineering.

Background technique

Virtual reality (Virtual Reality, VR) technology has the characteristics of immersion, multi-sensing, interactivity, imagination, etc., and has broad application prospects in medical, education, entertainment and other fields. Traditional treadmills are placed indoors, making people feel boring when running and exercising. Applying virtual reality technology to people's training on a treadmill is a realistic and feasible technical approach to solve this problem. Qian Kechong et al. (Qian Kechong, Hu Weihua. Design and Implementation of Virtual Reality Technology in Treadmill [J]. Computer Simulation, 2009,26(5):259-261.) Constructed 3D Scene, the motion recognition of the human body is made into a simulated 3D motion image of the human body, which constitutes a large-scale three-dimensional running scene that integrates virtual avatars, and realizes dynamic and real-time interaction between the bodybuilder and the virtual scene. Li Chunli et al. (Li Chunli, Dou Shaobing, Yang Xianjun, et al. Design and implementation of virtual scenes on intelligent treadmills [J]. Instrument Technology, 2012(9): 46-48.) use computer simulated artificial environment to create virtual scenes and extract running Various motion parameters (speed, mileage, heart rate, etc.)

The above studies have well integrated the runner's movement with the virtual image, achieving the purpose of human-computer interaction. But there are still many inconveniences in actual use, such as: 1. It is necessary to use various sensors to measure the various motion states of runners, and there are many wires that make runners inconvenient; 2. Construct a virtual 3D scene to realize human-computer interaction. Finally, what is presented to the runners is still a 2D image, which lacks a sense of immersion; 3. It is necessary to use a special treadmill and a special video playback device. The venue and special equipment are fixed, which is inconvenient to use and has a high cost of use.

Contents of the invention

Aiming at the deficiencies of the prior art, the technical problem to be solved by the present invention is to provide a running training system based on virtual reality technology. The system uses a gyro accelerometer to collect the angle signal of the runner's single leg change, and transmits the signal to the computer. The computer converts the angle signal into a running speed change signal, and then converts it into the number of playback frames that control the change of the video image. The computer calculates and controls the video playback speed, and the computer is connected to the mobile phone on the VR glasses, so that the VR glasses equipped with the mobile phone and the computer play video images synchronously. The system can apply VR glasses equipped with mobile phones to traditional treadmills. It is not limited to venues, flexible equipment, and easy to operate. It realizes the perfect combination of virtual and reality, making runners feel in the natural environment and enhancing the fun of running.

The technical solution adopted by the present invention to solve the technical problem is to provide a running training system based on virtual reality technology, which is characterized in that the system includes: a treadmill, a speed measuring component, a computer equipped with signal processing and control programs and video images , Bluetooth on the receiving end, and VR glasses equipped with a mobile phone. The speed measurement component is worn on the runner's single leg or arm, and includes a gyroscope accelerometer, a three-terminal voltage regulator chip, a sending end Bluetooth, a battery and a power switch. The serial data output terminal TX of the gyroscope accelerometer is connected to the receiving data terminal RXD of the transmitting end Bluetooth, the serial data input terminal RX of the gyroscope accelerometer is connected to the transmitting data terminal TXD of the transmitting end Bluetooth, and the transmitting end Bluetooth is connected to the receiving end Bluetooth for Bluetooth wireless communication; the positive pole of the battery is connected to the input terminal Input of the three-terminal voltage regulator chip through the power switch, and the output terminal Output of the three-terminal voltage regulator chip is connected to the VCC terminal of the gyroscope accelerometer and the power input of the Bluetooth transmitter at the same time Terminal +5V, the GND terminal of the gyroscope accelerometer, the Bluetooth transmitter and the three-terminal voltage regulator chip are all connected to the negative pole of the battery; On one circuit board; the speed measuring component communicates with the computer through the bluetooth at the sending end and the bluetooth at the receiving end, and the bluetooth at the receiving end is plugged into the computer, and the computer is wirelessly connected to the mobile phone on the VR glasses equipped with the mobile phone through WiFi at the same time. Both the mobile phone and the computer are installed with a multi-screen interactive software client; the VR glasses equipped with the mobile phone are worn on the runner's head.

Compared with prior art, the beneficial effect of a kind of running training system based on virtual reality technology of the present invention is:

Applying virtual reality technology (VR) to traditional treadmill training enables indoor exercisers to blend into the virtual natural environment, enhances the sense of reality of outdoor sports, and realizes the intuitive and natural interaction between people and the virtual environment. When runners run on the treadmill, the scenery passing by before them is the same as when they are running outside. As the running speed of the runner changes, the moving speed of the scenery seen will also change with the running speed. The system of the present invention is compact and practical, flexible and light, and will not cause unnecessary burden to runners.

The prominent substantive features of a kind of running training system based on virtual reality technology of the present invention are:

1) In the use of the sensor, a gyroscope accelerometer is used to collect the angle signal of the runner's leg change to control the playback speed of the video image. The speed measurement component is small and light, simple and practical, easy to carry, and will not increase the burden on the runner.

2) During running training, the runner uses the head-mounted VR glasses 4 equipped with a mobile phone as an image player to generate 3D images. The change signal of the running speed is processed by the computer 3, and then the number of frames played per second of the image is changed to change the video playback speed, so that people who use the treadmill indoors have the feeling of running in an outdoor environment.

3) Signals are transmitted wirelessly between devices, and the computer 3 can be placed flexibly within the range covered by the signals. Not limited to a certain treadmill, it can be used in a wider range. Since runners wear VR glasses equipped with mobile phones when running, it is better to use a treadmill with handrails for safety reasons.

Description of drawings

Fig. 1 the present invention a kind of hardware structure block diagram based on the running training system of virtual reality technology;

Fig. 2 is a circuit connection diagram of the speed measuring assembly of a running training system example based on virtual reality technology of the present invention;

Fig. 3 the program flowchart of the signal processing and control program of a kind of running training system based on virtual reality technology of the present invention;

In the figure, 1 treadmill, 2 speed measuring component, 3 computer, 4 VR glasses with mobile phone, 5 gyroscope accelerometer, 6 sending end Bluetooth, 7 battery, 8 three-terminal voltage regulator chip, 9 power switch, 10 receiving end Bluetooth.

detailed description

The present invention will be further described below in conjunction with examples and accompanying drawings, but it is not used as a limitation to the protection scope of the claims of the present application.

A kind of running training system based on virtual reality technology of the present invention (abbreviation system, referring to Fig. 1-3) comprises: treadmill 1, speed measuring assembly 2, the computer 3 that signal processing and control program and video image are housed, receiver bluetooth 10 And VR glasses 4 equipped with mobile phones. The speed measurement assembly 2 (see FIG. 2 ) is worn on the runner's single leg or arm, and includes a gyroscope accelerometer 5, a three-terminal voltage regulator chip 8, a sending end Bluetooth 6, a battery 7 and a power switch 9. Its circuit connection: the serial data output terminal TX of the gyroscope accelerometer 5 is connected to the receiving data terminal RXD of the transmitting terminal Bluetooth 6, the serial data input terminal RX of the gyroscope accelerometer 5 is connected to the transmitting data terminal TXD of the transmitting terminal Bluetooth 6 connection, Bluetooth 6 at the sending end and Bluetooth 10 at the receiving end for Bluetooth wireless communication; the positive pole of the battery 7 is connected to the input terminal Input of the three-terminal voltage regulator chip 8 through the power switch 9, and the output terminal Output of the three-terminal voltage regulator chip 8 is connected to the The VCC terminal of the gyroscope accelerometer 5 and the power input terminal of the Bluetooth 6 at the transmitting end are +5V, and the GND terminals of the gyroscope accelerometer 5, the Bluetooth 6 at the transmitting end and the three-terminal voltage regulator chip 8 are all connected to the negative pole of the battery 7; The accelerometer 5, the three-terminal voltage regulator chip 8, the Bluetooth transmitter 6, the battery 7 and the power switch 9 are all integrated on one circuit board. The speed measurement component 2 communicates with the computer 3 through the bluetooth 6 at the sending end and the bluetooth 10 at the receiving end, and the bluetooth 10 at the receiving end is inserted into the usb interface of the computer 3 . Described computer 3 is connected with the mobile phone on the VR glasses 4 equipped with mobile phone through WIFI wirelessly at the same time, and the client terminal of multi-screen interactive software is all installed on mobile phone and computer 3, mobile phone and computer 3 open multi-screen interactive software, just can See the same image on the screen of the mobile phone as displayed on the screen of the computer 3 .

The gyroscope accelerometer 5 in the speed measurement component 2 collects the angle signal of the runner's single leg change, and sends a signal to the computer 3 through the Bluetooth 6 at the sending end every 10 ms, and the computer 3 receives the signal through the Bluetooth 10 at the receiving end. After calculation and processing, the angle signal is converted into the number of playing frames of video image changes, and the video playing speed is controlled. The computer 3 and the mobile phone on the VR glasses 4 are connected wirelessly through WIFI to realize synchronous playing of video images.

A further feature of the system of the present invention is that the speed measuring component also includes a box, and the circuit board integrated with the gyroscope accelerometer 5, the three-terminal voltage regulator chip 8, the sending end Bluetooth 6, the battery 7 and the power switch 9 is fixed in the packaging inside the box. The battery 7 is a 12-volt rechargeable battery, the model of the gyroscope accelerometer 5 is MPU-6050, and the model of the Bluetooth 6 at the sending end is HC-05.

The treadmill 1 described in the system of the present invention, the computer 3, and the VR glasses 4 equipped with a mobile phone are all existing equipment. The treadmill 1, the speed measuring component 2, the computer 3, and the VR glasses equipped with a mobile phone 4, these four major hardware devices all operate independently without interfering with each other, and the signal transmission between them is all wireless transmission. The size of the speed measuring component 2 is about the same as that of the palm, and the weight is about 200 grams, which can be tied to limbs such as ankles or arms without hindering movement.

A running training system based on virtual reality technology of the present invention needs to run in an environment with WIFI, and the program flow of the specific signal processing and control program is:

Step 1: Clear historical data and preset parameters, which include the runner's leg length and number of cycles n;

Step 2: drive the opening program of the computer usb interface plugged in by the receiving end Bluetooth 10, the computer 3 receives the angle signal collected by the gyroscope accelerometer 5 when the runner wears the speed measuring component upright, the angle signal is input into the computer in the form of a binary signal, After computer receives this angle signal, calculate initial angle according to the angle calculation formula of gyroscope accelerometer 5 (this formula is clearly recorded on the instruction manual of gyroscope accelerometer 5);

Step 3: The runner starts exercising, the computer 3 receives the angle signal collected by the gyroscope accelerometer 5 every Δt ms, and the computer 3 will continue to receive the signals provided by the gyroscope accelerometer 5 for n times, and obtain n sets of data in total; then according to The angle calculation formula of the gyroscope accelerometer 5 finds the angle at the current moment, obtains the discrete angle value that changes at a fixed interval, has a period, and has a peak value, and the time for recording and collecting n groups of data is t, t=Δt*n, The unit is ms; the Δt is related to the model of the specific gyroscope accelerometer used;

Step 4: Calculate the stride length and the number of forward steps:

Subtract the initial angle obtained in step 2 from all the current angles obtained in step 3 to obtain a set of relative angles. Select the maximum value θ in the relative angle, the unit of θ is degree, and then combine the known runner's leg Long, through the calculation of trigonometric functions and the Pythagorean theorem, the maximum step length corresponding to the maximum value can be obtained;

Set the angle deviation range to [θ-10,θ], when the relative angle recorded at the current moment within the time t is within this angle deviation range, it is recorded as the human leg has taken a step forward, and within this angle deviation range within the statistical time t The number of relative angles within , the number of relative angles is the number of times the human leg steps forward;

Step 5: Calculate running speed:

Divide the step length calculated in step 4 by the time t of collecting n times of data, and then multiply by the number of steps forward to get the running speed of the runner;

Step Six: Speed Limit:

Set the speed limit to 0.5-1.5m/s; when the speed change, that is, the difference between the two running speeds obtained in step 5, exceeds the speed limit, convert the running speed into a new number of playback frames, and control the computer 3 For medium video playback speed, perform step 7; when the speed change does not exceed the speed limit, still play the video at the original frame number, and return to step 3; set the speed limit to 0.5-1.5m/s to have an elastic range, so The speed of video playback will not be changed due to the short-term sudden acceleration or deceleration of the runner; in the actual experiment, the selected speed is limited to 1m/s;

Step 7: When the speed limit is exceeded, a new video playback window will pop up on the phone, click the play button to play the video at the new playback speed, and return to step 3.

In the system of the present invention, n is set to 15-30, and the more the number of cycles, the longer the running time.

A method for using the running training system based on virtual reality technology of the present invention is as follows: in the WIFI environment, first, the runner fixes the speed measurement assembly 2 on one side of the calf, and wears the VR glasses 4 with a mobile phone on the head, and turns on the speed measurement The power switch 9 on the component 2 turns on the computer 3 used for signal processing and control and equipped with video images at the same time, and stands on the spot for 3 seconds so as to read the initial angle value; then, the runner starts running on the treadmill 1 After the gyroscope accelerometer 5 collects the angle signal of the runner's single leg movement, it is wirelessly transmitted to the computer 3 for data processing through Bluetooth, and the number of playback frames per second is obtained to control the playback video speed; Interactively play video images synchronously, and the runner sees the 3D "scenery along the way" image played corresponding to the running speed on the VR glasses 4 equipped with the mobile phone; after running, turn off the power switch 9 on the speed measuring component 2, and turn off the computer 3. Unlock the speed measuring component 2. When you use it again, opening the program will automatically clear the historical data.

The video playback of a running training system based on virtual reality technology of the present invention uses multi-screen interactive software (the interaction between the mobile phone screen and the computer screen makes the computer screen image projected on the mobile phone screen. The application of the multi-screen interactive software needs to be in the environment of WIFI Use.) technology to control the mobile phone and the computer 3 to play video images synchronously. Put the mobile phone into the VR glasses, and through optical conversion, the flat video will become 3D. The multi-screen interactive software described here is existing software.

When the system of the present invention collects angle signals, the speed measurement assembly 2 can be worn on any position of a single leg or arm, and the difference in each step of the runner is considered, and the range of 10 degrees less than the maximum value is selected as the angle deviation range. The angle deviation range is regarded as the maximum relative angle of the human leg moving forward, and the number of relative angles within this angle deviation range is counted. When n=20, connecting the collected 20 relative angle value points into a line will form a sinusoidal waveform, the highest peak is the maximum value in this set of data, and use this maximum value to obtain the step length. The value of each peak is different, so set an angle deviation range, and reach this angle deviation range as one step, so that you can find the number of times you reach the peak within the collection time, and the number of peaks is the number of steps.

The components and parts involved in the present invention can be obtained commercially, and the parts not mentioned are applicable to the prior art.

Claims (4)

1. A running training system based on virtual reality technology, characterized in that the system includes: treadmill, speed measuring assembly, signal processing and control program and video image computer, receiver bluetooth and VR glasses equipped with mobile phone; The speed measurement component is worn on the runner's single leg or arm, and includes a gyroscope accelerometer, a three-terminal voltage regulator chip, a transmitter bluetooth, a battery and a power switch; the serial data output terminal TX of the gyroscope accelerometer and the transmitter terminal The receiving data terminal RXD of Bluetooth is connected, the serial data input terminal RX of the gyroscope accelerometer is connected with the transmitting data terminal TXD of the transmitting terminal Bluetooth, and the transmitting terminal Bluetooth and the receiving terminal Bluetooth perform Bluetooth wireless communication; the positive electrode of the battery is connected to the three terminals through the power switch. The input terminal Input of the terminal voltage regulator chip is connected, and the output terminal Output of the three-terminal voltage regulator chip is connected to the VCC terminal of the gyroscope accelerometer and the power input terminal +5V of the Bluetooth transmitter at the same time. The GND terminal of the terminal voltage regulator chip is connected to the negative pole of the battery; the gyroscope accelerometer, the three-terminal voltage regulator chip, the Bluetooth transmitter, the battery and the power switch are all integrated on one circuit board; Bluetooth communicates with the computer through Bluetooth, and the receiving end Bluetooth is plugged into the computer, and the computer is wirelessly connected to the mobile phone on the VR glasses equipped with the mobile phone through WiFi, and the mobile phone and the computer are installed with a multi-screen interactive software client ; VR glasses equipped with a mobile phone are worn on the runner's head. 2. The running training system based on virtual reality technology according to claim 1, characterized in that the speed measuring component also includes a box, which is integrated with a gyroscope accelerometer, a three-terminal voltage regulator chip, a sending end Bluetooth, a battery and a power supply The switch's circuit board is secured inside this box. 3. The running training system based on virtual reality technology according to claim 1, wherein the battery is a 12-volt rechargeable battery, the model of the gyroscope accelerometer is MPU-6050, and the model of the bluetooth at the sending end is HC- 05. 4. the running training system based on virtual reality technology according to claim 1, characterized in that the signal processing in the computer and the program flow of the control program are: Step 1: Clear historical data and preset parameters, which include the runner's leg length and number of cycles n; Step 2: Drive the opening program of the computer usb interface plugged into the receiving end Bluetooth, the computer receives the angle signal collected by the gyroscope accelerometer when the runner wears the speed measuring component upright, after the computer receives the angle signal, according to the gyroscope accelerometer Angle calculation formula to find the initial angle; Step 3: The runner starts exercising, and the computer receives the angle signal collected by the gyroscope accelerometer every Δt ms, and collects n sets of data in total; then calculates the angle at the current moment according to the angle calculation formula of the gyroscope accelerometer, and obtains a fixed interval change The discrete angle value with a period and a peak value, and the time for recording and collecting n sets of data is t, t=Δt*n; Step 4: Calculate the stride length and the number of forward steps: Subtract the initial angle obtained in step 2 from all the current angles obtained in step 3 to obtain a set of relative angles. Select the maximum value θ in the relative angle, the unit of θ is degree, and then combine the known runner's leg Long, through the calculation of trigonometric functions and the Pythagorean theorem, the maximum step length corresponding to the maximum value can be obtained; Set the angle deviation range to [θ-10,θ], when the relative angle recorded at the current moment within the time t is within this angle deviation range, it is recorded as the human leg has taken a step forward, and within this angle deviation range within the statistical time t The number of relative angles within , the number of relative angles is the number of times the human leg steps forward; Step 5: Calculate running speed: Divide the step length calculated in step 4 by the time t of collecting n times of data, and then multiply by the number of steps forward to get the running speed of the runner; Step Six: Speed Limit: Set the speed limit to 0.5-1.5m/s; when the speed change exceeds the speed limit, convert the running speed into a new playback frame number, control the video playback speed in the computer, and perform step 7; when the speed change does not exceed When the speed is limited, the video will still be played at the original frame rate, and return to step 3; Step 7: When the speed limit is exceeded, a new video playback window will pop up on the phone, click the play button to play the video at the new playback speed, and return to step 3.