CN116139470A

CN116139470A - A bat for virtual reality training

Info

Publication number: CN116139470A
Application number: CN202211736965.8A
Authority: CN
Inventors: 赵延治; 亓焊同; 刘大伟; 葛涛; 孙韬
Original assignee: Yanshan University
Current assignee: Yanshan University
Priority date: 2022-12-30
Filing date: 2022-12-30
Publication date: 2023-05-23

Abstract

The invention provides a bat for virtual reality training, which comprises a shell, a pneumatic component, a vibration component and a pose sensing component, wherein the pneumatic component, the vibration component and the pose sensing component are arranged in the shell. The shell is long and has the same shape and size as the real bat. The side facing forward to hit the cricket when the bat is swung is a striking plate, and a plurality of vent holes are arranged on the surface of the striking plate. When a collision event of the billiard ball and the bat occurs in the virtual reality system, air in the pneumatic component passes through the air vent on the surface of the striking plate and is discharged, and the acting force effect generated during the ball striking is simulated through the injection of the air; meanwhile, a vibration part arranged in the shell is electrified to generate vibration, so that the vibration effect when the cricket is impacted on the cricket is simulated; a pose sensing part built in the housing senses the position and pose of the bat and the pose of the trainer holding the bat, and transmits the sensed data to the virtual reality system in real time. The invention can help the cricket beginner understand the technical action of batting and plays an auxiliary role in the daily training of cricket.

Description

A bat for virtual reality training

Technical Field

The invention relates to equipment applied to a virtual reality training system, in particular to a bat for virtual reality training, which simulates the training of a bat ball by using the virtual reality training system. The invention belongs to the technical field of exercise training.

Background

As the second most popular game worldwide, cricket games have 25 billions of fans and more than 1 billion players. However, the development of cricket sports in China is still in the primary stage, cricket education resources are scarce, the popularization rate is low, and learning interests of students cannot be fully stimulated and mobilized, so that the cricket sports in China are hindered by the factors related to the traditional training teaching mode.

With the development of virtual reality technology, at present, there are multiple virtual reality training systems/devices in China to assist people in training, for example: the invention patent application with publication number of CN108926828A discloses a team sport virtual reality training system, which is functionally characterized in that the effectiveness of tactical training is improved by using a virtual reality technology. However, the invention has no external equipment, and cannot give real feedback to training personnel on the actual situation in the virtual reality system.

The invention patent application publication No. CN112973084A discloses a golf swing analyzing device and a simulation system for practicing golf using the same, which are functionally characterized in that the speed and trajectory of a golf swing can be analyzed by a sensor mounted on a golf club and the trajectory of a golf ball at the time of a virtual hit can be deduced more accurately based on swing information. However, the device is not suitable for paddle ball movement, and cannot feed back the real ball striking vibration feeling and the ball-to-ball force effect when striking a ball according to the state of the ball at the virtual ball striking time.

The invention patent application with the publication number of CN109865271A discloses a baseball VR training device, which is characterized in that a vibration motor is additionally arranged on a baseball bat, a virtual scene close to reality brought by the VR technology replaces a real training field by virtue of a VR technology, the virtual scene is communicated with the baseball bat in real time, and the vibration sensation brought when hitting a ball is simulated by the vibration motor, so that the real feeling of baseball exercise is brought to experimenters. But the device cannot simulate the effect of a ball on the club force when striking a ball in a virtual reality system.

The invention patent application with publication number of CN113617002A discloses an improved paddle racket with enlarged dessert, which has the mechanical and functional characteristics of solving a plurality of problems or limitations of the traditional paddle racket and is suitable for all ages. However, the racket cannot be combined with virtual reality equipment to help beginners understand and learn the technical actions of batting in sports, so that the technical level of training staff is improved.

At present, virtual reality training system software aiming at cricket sports exists, however, no equipment can be connected with the virtual reality system software, the batting vibration feeling and the acting force effect during batting in the cricket training process cannot be truly reproduced/fed back, the cricket player and cricket beginner are helped to understand the technical action of batting, the cricket technical level is improved, and the aim of assisting training is fulfilled.

Disclosure of Invention

In view of the foregoing, it is an object of the present invention to provide a cricket for cricket virtual reality training. The paddle can be connected with a paddle virtual reality training system, truly reproduces the vibration sense of batting and the acting force effect during batting in the training process, helps students to quickly put on the paddle for movement, improves batting level, and enables training not to be limited by time and space.

In order to achieve the above purpose, the present invention adopts the following technical scheme: a bat for virtual reality training comprises a shell, a pneumatic component, a vibration component, a pose sensing component and a control module, wherein the pneumatic component, the vibration component, the pose sensing component and the control module are arranged in the shell;

the shell is strip-shaped and has the same shape and size as the real bat, and is formed by encircling a base and a striking plate; the striking plate is arranged on one side of the front face for striking the cricket when the bat is swung; a handle is fixedly connected to one end of the shell, and a plurality of vent holes for simulating resistance during ball striking are formed in the surface of the striking plate at one end far away from the handle;

the pneumatic component comprises an air pipe, a reducing joint and a right-angle pneumatic component; the right-angle pneumatic component is positioned below the air vent of the striking plate and is connected with an air source through the reducer union and the air pipe; when a collision event of a ball and a bat occurs in a virtual reality system, air passes through the right-angle pneumatic component and is discharged from the vent hole on the surface of the striking plate, and the acting force effect generated when the ball is struck is simulated through the injection of the air;

a vibration part is arranged in the shell and close to the grip, and when a mutual collision event of the cricket and the bat occurs in the virtual reality system, the vibration part is electrified to generate vibration so as to simulate the vibration effect when the cricket impacts the bat;

the pose sensing component comprises an acceleration sensor, a gyroscope and a magnetometer, and senses the position and the pose of the bat and the pose of a trainer holding the bat.

The control module comprises a data processing and control unit and a data transmission unit; the control signal output end of the data processing and controlling unit is respectively connected with the control end of the vibration part and the control end of the pneumatic part; the data input/output end of the data processing and control unit is connected with the data output end of the pose sensing component; and the serial port of the data processing and control unit is connected with the virtual reality system through the data transmission unit to perform data transmission.

Preferably, the vibration component is a miniature vibration motor.

Preferably, the right-angle pneumatic component consists of a plurality of electromagnetic valves, a confluence plate, right-angle connectors and plugs; one end of the confluence plate is a plug, the other end of the confluence plate is connected with an air source through the right-angle joint, the air pipe and the reducing joint, and the electromagnetic valve is connected with the confluence plate; when a collision event of the cricket and the bat occurs in the virtual reality system, the electromagnetic valve is quickly opened, compressed gas is discharged from the vent hole on the striking plate through the air pipe, the reducer union, the right-angle joint, the confluence plate and the electromagnetic valve, and the acting force effect when the cricket is impacted on the bat is simulated through the force generated by instantaneous ejection of the gas.

Preferably, the data transmission unit is a bluetooth communication module.

Preferably, an electronic proportional valve is connected in series in the air pipe connected with the air source output end, and the control signal output end of the data processing and control unit is connected with the control end of the electronic proportional valve through a wire to control the opening and closing of the electronic proportional valve.

Compared with the prior art, the invention has the beneficial effects that: 1. the training system is connected with the cricket virtual reality training system to simulate the batting vibration feeling when the cricket impacts the cricket and the acting force effect when the cricket impacts the cricket, so that cricket sportsmen and cricket beginners are helped to understand the technical actions of batting, and the aim of assisting training is achieved; 2. the interaction is strong, the experience is real, the carrying is convenient, the student can be helped to quickly put on the palm ball for movement, and the batting level is improved; 3. the special cricket field is not required to be built in a large range, the training is not limited by time and space, and the popularization of cricket sports in China is facilitated.

Drawings

FIG. 1 is a front view of a bat for virtual reality training in accordance with the present invention;

FIG. 2 is a schematic view showing the internal structure of an open base of a bat for virtual reality training according to the present invention;

FIG. 3 is a left side view of a bat for virtual reality training according to the present invention;

FIG. 4 is a schematic view of the pneumatic components of a bat for virtual reality training according to the present invention;

FIG. 5 is a schematic block diagram of a portion of a control section of a bat for virtual reality training in accordance with the present invention;

wherein, 1, the shell, 11, the base, 12, the striking plate, 13, the handle, 14 and the vent hole; 2. pneumatic components 21, ventilation pipelines 22, reducing joints 23, right-angle pneumatic components 231, electromagnetic valves 232, bus plates 233, right-angle joints 234 and plugs; 3. a vibrating member; 4. a pose sensing part; 5. a data processing and control unit; 6. and a data transmission unit.

Detailed Description

The structure and features of the present invention will be described in detail below with reference to the accompanying drawings and examples. It should be noted that various modifications can be made to the embodiments disclosed herein. Therefore, the embodiments disclosed in the specification should not be taken as limiting the invention, but merely as exemplifications of embodiments, which are intended to make the features of the invention apparent.

As shown in fig. 1 to 4, a bat for virtual reality training according to the present invention is composed of a housing 1, a pneumatic part 2 built in the housing, a vibration part 3, and a pose sensing part 4.

The shell 1 is strip-shaped, has the same shape and size as a real bat, and is formed by encircling a base 11 and a striking plate 12, wherein the striking plate 12 is one side facing forward to hit a bat when the bat is swung. One end of the shell 1 is fixedly connected with a grip 13 for holding a ball rod; at the end of the striking plate 12 remote from the grip 13, a plurality of ventilation holes 14 are formed on the surface thereof for simulating the effect of the force applied during the striking.

The pneumatic component 2 built in the housing comprises an air pipe 21, a reducer union 22 and a right-angle pneumatic component 23. The right-angle pneumatic component 23 is positioned below the striking plate ventilation hole 14, and the right-angle pneumatic component 23 is connected with an air source through a reducer union 22 and an air pipe 21. During the virtual reality training, when the impact event of the billiard ball and the bat occurs in the virtual reality system, the right-angle pneumatic component 23 is provided with air passing through, and is discharged from the vent hole 14 on the surface of the striking plate 12, and the action effect generated during the ball striking is simulated through the injection of the air.

In the housing, close to the grip 13, a vibrating member 3, i.e. a miniature vibrating motor, is provided. In the virtual reality training process, when a cricket and a bat collide with each other in a virtual reality system, the vibration component 3 is electrified to generate vibration, and the vibration effect when the cricket collides with the bat is simulated.

The shell is also internally provided with a pose sensing part 4, and the pose sensing part 4 is an IMU inertial measurement unit and comprises an acceleration sensor, a gyroscope and a magnetometer. The acceleration sensor is used for capturing acceleration information of the bat, the gyroscope is used for obtaining angular velocity information of the bat, and the magnetometer is used for obtaining the magnetic field intensity and direction of the current position of the bat. When training personnel holds the bat to train, the position and posture of the bat can be detected at any time by the position and posture sensing component 4, such as: defensive front-span batting, defensive rear-span batting, straight batting, oblique front batting, front batting, oblique rear batting, front batting, rear batting, late cutting, ball pulling, hooking, ball sweeping, ball hiding, and high batting; in addition, the position sensing part 4 may also detect the posture of the trainer holding the ball stick.

In the preferred embodiment of the present invention, the bat case 1 is 3D printed of a resin material, and the overall weight and center of gravity of the internal components are set to be identical to those of a conventional bat, so that the feel and experience of the user are ensured to be identical to those of the conventional bat.

In the preferred embodiment of the present invention, as shown in fig. 4, the right-angle pneumatic component 23 is composed of a plurality of electromagnetic valves 231, a manifold plate 232, right-angle connectors 233 and plugs 234, wherein one end of the manifold plate 232 is a plug 234, and the other end is connected with an air source through the right-angle connectors 233, the air pipe 21 and the reducer union 22, and the electromagnetic valves 231 are connected with the manifold plate 232. In the virtual reality system, when a cricket and a bat collide with each other, the solenoid valve 231 is rapidly opened, compressed gas is discharged from the vent hole 14 on the striking plate 12 through the gas pipe 21, the reducer union 22, the right-angle union 233, the confluence plate 232, and the solenoid valve 231, and the force generated by instantaneous ejection of gas simulates the acting force effect when the cricket collides with the bat.

As shown in fig. 5, the present invention further includes a control module including a data processing and control unit 5 and a data transmission unit 6. In the virtual reality training process, a trainer waves a plate ball bat to hit the plate ball, and when a collision event occurs between the plate ball and the plate ball bat in a virtual reality system, the data processing and control unit 5 sends out a control signal to enable the vibration part 3, namely the miniature vibration motor to vibrate; at the same time, the output control signal opens the solenoid valve 231 in the right-angle pneumatic member 23 to discharge the compressed gas from the vent hole 14 on the striking plate 12; meanwhile, the data processing and control unit 5 detects the position and the gesture of the bat in real time through the gesture sensing part 4, and transmits the detected data to the virtual reality system in real time through the data transmission unit 6 such as a Bluetooth communication module, so that the effect that the real action is consistent with the human action in the virtual reality system is achieved.

In the preferred embodiment of the present invention, the data processing and control unit 5 is designed by a single chip microcomputer with a chip model of STM32F103C8T 6. In order to achieve the purpose of the invention, the data output/input ports of USART1, USART2, TIM1, TIM2 and RCC, SDA, SCL of the singlechip are needed, wherein a USART1 pin is used for communicating with a data transmission unit 6, a USART2 pin is used for communicating with a pose sensing component 4, RCC is used for starting an internal clock, a GPIO A0 pin of the TIM2 is used for controlling the vibration time length, the vibration frequency and the vibration intensity of a vibration motor, a GPIO B7 pin of the TIM1 is used for controlling the closing and opening of a normally open electromagnetic relay, a GPIO A1 pin of the TIM2 is used for controlling the flow and the air pressure of an input air flow, SDA is used for mutually transmitting data between the singlechip and a virtual reality system, and SCL is used for providing a time signal for a module needing to pass through an I2C communication protocol.

The function of the data transmission unit 6 is to transmit the data collected by the pose sensing component 4 to the virtual reality system, and transmit the data downloaded by the virtual reality system to the data processing and control unit 5, so as to realize the bidirectional communication between the virtual reality system and the data processing and control unit 5.

In order to control the flow of compressed gas in the air pipe 21 and further control the amount of the gas discharged through the right-angle pneumatic component 23 and the vent hole 14, an electronic proportional valve is connected in series in the air pipe 21 connected with the output end of the air source, and the data processing and control unit 5 outputs a control signal to control the opening angle of the electronic proportional valve and further control the flow rate and the air pressure of the air flow in the air pipe 21.

The working process and control principle of the present invention are further described below.

In the training system for virtual reality of cricket connected with cricket according to the present invention, the data processing and controlling unit 5 receives the position and posture of the bat detected by the posture sensing part 4 in real time, and processes the received data, and the data processing and calculating method is as follows:

up-down roll angle (X axis): ud= ((UDxH < < 8) |udxl)/32768 x 2000;

front-rear rotation angle (Y axis): qh= ((QHyH < < 8) |qhyl)/32768 x 2000;

left-right rotation angle (Z axis): lr= ((LRzH < 8) |lrzl)/32768 x 2000;

acceleration (x axis): a, a _x ＝((AxH<<8)|AxL)/32768*32；

Acceleration (y axis): a, a _y ＝((AyH<<8)|AyL)/32768*32；

Acceleration (z axis): a, a _z ＝((AzH<<8)|AzL)/32768*32；

Wherein UDxH is the high 8-bit data of the X axis of the gyroscope register read by the data processing and control unit, and UDxL is the low 8-bit data of the X axis of the gyroscope register read by the data processing and control unit; QHyH is the high 8-bit data of the Y axis of the gyroscope register read by the data processing and control unit, and QHyL is the low 8-bit data of the Y axis of the gyroscope register read by the data processing and control unit; LRzH is the data processing and control unit to read the high 8-bit data of the Z axis of the gyroscope register, LRzL is the data processing and control unit to read the low 8-bit data of the Z axis of the gyroscope register;

AxH the data processing and control unit reads the upper 8 bits of data of the x axis of the acceleration register, axL the data processing and control unit reads the lower 8 bits of data of the x axis of the acceleration register; ayH the data processing and control unit reads the upper 8 bits of data of the y axis of the acceleration register, ayL the data processing and control unit reads the lower 8 bits of data of the y axis of the acceleration register; azH the data processing and control unit reads the upper 8 bits of the z-axis of the acceleration register, azL the data processing and control unit reads the lower 8 bits of the z-axis of the acceleration register.

After the data processing, the data processing and controlling unit 5 transmits the processed data to the virtual reality system through the data transmitting unit 6 such as a bluetooth transmitting module, the system displays the bat holding action and the virtual bat movement consistent with the real world according to the data, and meanwhile, the virtual reality system can compare and identify the pose data uploaded by the bat with the pre-collected cricket batting standard action.

The comparative recognition algorithm is as follows:

input: the pose information measured by the pose recognition measuring device comprises the overturning angles and the acceleration of the x, y and z three axes.

Initializing: x is X _n ^m The gesture information is the gesture information of a standard action database, wherein n represents an nth gesture information data point in the database, and m represents an mth standard action; x is the attitude information of the current moment.

μ _n ＝|(X _n ^m -x)/X _n ^m |-0.3

φ ₁ ＝a/n

Wherein mu _n A single data point coincidence degree value, wherein the data point is qualified if the value is negative; a is mu as above _n The number of negative values in (a); the process is carried out for a plurality of times along with the continuous change of the action, so as to obtain an a value; phi (phi) ₁ The coincidence degree value of the action compared with a certain action is obtained. If phi ₁ If the value is greater than 0.75, the measured motion is used as a comparison standard motion, and if the measured motion is not met, the measured motion is compared with other motions in the standard motion library.

Through comparison and recognition, the virtual reality system displays the action name of the current user on a user interface, and judges whether the action gesture is standard or not.

The judgment method is as follows:

based on the action comparison, the difference between each data point and the standard action data point is further compared.

Input: the pose information measured by the pose recognition measuring device comprises the overturning angles of the x, y and z three axes.

Initializing: x is X _n ^m Is the gesture information of a standard action database, wherein n represents dataAn nth gesture information data point in the library, m representing an mth standard action; x is the attitude information at the current moment, x ₁ Is the gesture information of the far hand end of the bat at the current moment, x ₂ The information is the gesture information of the proximal end of the bat at the current moment.

μ _n ＝|(X _n ^m -x)/X _n ^m |-0.15

φ ₁ ＝a/n

φ ₂ ＝(x ₁ -x ₂ )/(X ₁ ^m -X _n ^m )

Wherein mu _n A single data point coincidence degree value, wherein the data point is qualified if the value is negative; a is mu as above _n The number of negative values in (a); the process is carried out for a plurality of times along with the continuous change of the action, so as to obtain an a value; phi (phi) ₁ A coincidence degree value of the action compared with a certain action; phi (phi) ₂ The corresponding degree value is obtained by comparing the pose state of the motion under the relative coordinate system with the pose state of a certain standard motion under the relative coordinate system. If phi ₁ A value greater than 0.85 and phi ₂ A value greater than 0.7, the measure action criteria.

When a collision event between a ball and a bat occurs in a virtual reality system, the system transmits an instruction to a control module in the bat through a Bluetooth communication module, the control module changes the high level of a corresponding control pin PB7 into the low level after receiving the instruction, triggers and turns on an electromagnetic relay, the electromagnetic relay turns on an electromagnetic valve 231 circuit, the electromagnetic valve 231 is quickly opened, compressed gas sequentially passes through a ventilation pipeline 21, a reducer union 22, a ventilation channel 21, a right-angle joint 233 and a confluence plate 232, and finally is sprayed out through a ventilation hole 14 on a striking plate 12, and the acting force effect when the ball is impacted on the bat is achieved through the force generated by instantaneous spraying of the gas; meanwhile, the system detects the force of the virtual ball contacting the virtual bat, then sends related data to a control module in the bat through a Bluetooth communication module, and after the control module receives the data, the control module respectively controls the duty ratio of PWM of the output pins PA0 and PA1 and the like according to the data, thereby controlling the vibration intensity, the frequency, the time and the opening time of the airflow controller of the vibration part 3, and controlling the flow and the pressure of the input airflow. The PWM correlation calculation is as follows:

Freq＝CK_PSC/(PSC+1)/(ARR+1)

Duty＝CCR/(ARR+1)

Reso＝1/(ARR+1)

wherein, reso is the resolution of PWM; ARR is a count value; duty is the Duty cycle of PWM; CCR is a critical value; freq is the frequency of PWM; ck_psc is the update frequency of the counter, in this embodiment 72M; PSC is a prescaled coefficient that determines the time of a count. When the device needs to output a certain value of PWM frequency, PWM duty cycle and PWM resolution, the virtual reality system now solves ARR, PSC and CCR according to the above formula and the preface output value, then transmits the above three values to the data processing and control unit, and the data processing and control unit solves the PWM frequency, duty cycle and resolution according to the above three values and transmits them to the vibration component and the pneumatic component.

According to the invention, the vibration effect of the cricket is simulated by the vibration part 3 when the cricket is impacted to the cricket, the acting force effect generated by the impact of the cricket to the cricket is simulated by the pneumatic part 2, so that cricket players and cricket beginners are helped to understand the technical actions of learning the batting in the cricket sports.

Finally, it should be noted that: the embodiments described above are only for illustrating the technical solution of the present invention, and are not limiting; although the invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some or all of the technical features thereof can be replaced with equivalents; such modifications and substitutions do not depart from the spirit of the invention.

Claims

1. A bat for virtual reality training, characterized by: the device comprises a shell, a pneumatic component, a vibration component, a pose sensing component and a control module, wherein the pneumatic component, the vibration component, the pose sensing component and the control module are arranged in the shell;

2. A bat for virtual reality training as defined in claim 1, wherein: the control module comprises a data processing and control unit and a data transmission unit;

the control signal output end of the data processing and controlling unit is respectively connected with the control end of the vibration part and the control end of the pneumatic part;

the data input/output end of the data processing and control unit is connected with the data output end of the pose sensing component;

and the serial port of the data processing and control unit is connected with the virtual reality system through the data transmission unit to perform data transmission.

3. A bat for virtual reality training as defined in claim 2, wherein: the vibration part is a miniature vibration motor.

4. A bat for virtual reality training according to claim 3, wherein: the right-angle pneumatic component consists of a plurality of electromagnetic valves, a confluence plate, right-angle connectors and plugs;

one end of the confluence plate is a plug, the other end of the confluence plate is connected with an air source through the right-angle joint, the air pipe and the reducing joint, and the electromagnetic valve is connected with the confluence plate;

when a collision event of the cricket and the bat occurs in the virtual reality system, the electromagnetic valve is quickly opened, compressed gas is discharged from the vent hole on the striking plate through the air pipe, the reducer union, the right-angle joint, the confluence plate and the electromagnetic valve, and the acting force effect when the cricket is impacted on the bat is simulated through the force generated by instantaneous ejection of the gas.

5. A bat for virtual reality training according to claim 4, wherein: the data transmission unit is a Bluetooth communication module.

6. A bat for virtual reality training as defined in claim 5, wherein: an electronic proportional valve is connected in series in the air pipe connected with the air source output end, and the data processing and control unit controls the signal output end to be connected with the control end of the electronic proportional valve through a lead so as to control the opening and closing of the electronic proportional valve.