A ski simulator and a simulation method

Abstract

The present invention discloses a ski simulator, which includes a mounting seat and a control device. The mounting seat is provided with a slide rail device, an armrest device, a pedal assembly and a driving device. The extension direction of the slide rail device is arranged along the lateral direction of the mounting seat. The pedal assembly is slidably matched with the slide rail device. The driving end of the driving device acts on the pedal assembly to slide on the slide rail device. The pedal assembly includes a buffer device, a limit device, a sliding base and a pedal device. The sliding base is slidably matched with the slide rail device, and the pedal device is rotationally matched with the sliding base. The limit device is used to limit the rotation angle of the pedal device. The buffer device is arranged between the pedal device and the sliding base. The control device is electrically connected to the driving device. Compared with the curved arc structure, the slide rail device has a simpler mechanical structure, is more in line with the horizontal left and right sliding movement habits, and has a more realistic experience.

Description

Technical Field

[0001] The invention belongs to the technical field of ski simulation equipment, and in particular relates to a ski simulator and a simulation method. Background Art

[0002] The current ski simulators in the fitness and VR fields have the following problems:

[0003] 1. Adopt elastic rubber and mechanical structure, without sensor input;

[0004] 2. The mechanical structure uses an upward curved track instead of a horizontal track, which makes the sense of reality poor;

[0005] 3. There is a large rebound force and friction resistance during sliding, and it feels not smooth;

[0006] 4. The left and right skiing movements are not synchronized with the skiing images. Summary of the invention

[0007] In order to overcome the above-mentioned shortcomings of the prior art, the object of the present invention is to provide a ski simulator, aiming to solve the problems existing in the prior art.

[0008] In order to achieve the purpose, the technical solution adopted by the present invention is as follows:

[0009] A ski simulator comprises a mounting seat and a control device, wherein the mounting seat is provided with a slide rail device, a handrail device, a pedal assembly and a driving device;

[0010] The slide rail of the slide rail device is extended in a direction along the transverse direction of the mounting seat body;

[0011] The footrest assembly is slidably matched with the slide rail device;

[0012] The driving end of the driving device drives the pedal assembly to slide on the slide rail device;

[0013] The pedal assembly includes a buffer device, a limit device, a sliding base and a pedal device, the sliding base is slidably matched with the slide rail device, the pedal device is rotatably matched with the sliding base, the limit device is used to limit the rotation angle of the pedal device, and the buffer device is arranged between the pedal device and the sliding base;

[0014] The control device is electrically connected to the driving device.

[0015] Preferably, the slide rail device includes a slide rail body and a rack, the slide rail body is provided with a slide groove for sliding cooperation with the sliding base, the bottom of the sliding base is provided with a gear that cooperates with the rack, and the driving end of the driving device is connected to the gear.

[0016] Preferably, the upper end surface of the sliding base is provided with two rotating seats arranged opposite to each other, and the pedal device is arranged between the two rotating seats and rotates with them.

[0017] Preferably, the limiting device includes limiting columns arranged on both sides of the pedal device, for limiting the rotation angle of the pedal device relative to the sliding base.

[0018] Preferably, the buffer device comprises a buffer spring arranged corresponding to the position of the limiting column, and the length of the buffer spring in a natural state is greater than the length of the limiting column.

[0019] Preferably, the footrest device includes a footrest base rotatably matched with the sliding base, a footrest for the user's feet to be placed on the footrest base, a footrest strap for the user to adjust the tightness and an ankle support for fixing the user's ankle are provided on the footrest.

[0020] Preferably, the control device includes a computer and a servo motor driver, the computer is electrically connected to the servo motor driver, the drive device includes a servo motor, the servo motor includes a drive motor, a sensor and a controller, and the controller is electrically connected to the servo motor driver, the sensor and the drive motor respectively.

[0021] Preferably, the armrest device includes a handrail rod and a connecting rod with adjustable length, the connecting rods are two in number and are respectively arranged on both sides of the mounting seat body, the two ends of the handrail rod are respectively connected to the two connecting rods, and an anti-slip sleeve is provided on the handrail rod.

[0022] Preferably, the connecting rod includes a first connecting rod and a second connecting rod, wherein the bottom end of the second connecting rod is connected to the mounting seat body, the top end of the first connecting rod is connected to the handrail rod, the second connecting rod is hollow, the bottom end of the first connecting rod extends into the second connecting rod and slides with the second connecting rod, and a fixing bolt member is also provided on the second connecting rod, one end of the fixing bolt member extends into the second connecting rod and acts on the outer wall surface of the first connecting rod.

[0023] The present invention includes a simulation method of a ski simulator, comprising the following steps:

[0024] S1, the control device is turned on, and the control device puts the drive device in position mode: the pedal assembly is moved to any end of the slide rail device by finding the origin through torque, and then moved in the reverse direction to the center position of the slide rail device after it cannot be moved. The center position of the slide rail device is the origin, and the pedal assembly is in a reset state on the slide rail device at this time;

[0025] S2, the control device puts the driving device in the torque mode: when the pedal assembly is stationary, the user slides and applies a little bit to make the pedal assembly move on the slide rail device. If the control device reads the actual driving speed absolute value of the driving device and if it is greater than 0, the driving device outputs a fixed torque. The torque output by the driving device is less than the static friction between the pedal assembly and the slide rail device, which is insufficient to push the pedal assembly to move, but overcomes and offsets most of the friction, and provides assistance in the corresponding direction according to the direction in which the user moves the pedal assembly. At this time, the user starts to simulate skiing;

[0026] S3. During skiing, the control device is connected to the VR device, and the position information of the pedal assembly moved by the user is synchronized with the screen information of the VR device in real time.

[0027] Compared with the prior art, the present invention has the following beneficial effects:

[0028] The ski simulator proposed by the present invention has a simpler mechanical structure than the curved arc structure, which is more in line with the horizontal left and right sliding movement habits and provides a more realistic experience. Compared with the use of rubber as an elastic material, the use of a drive device as a stroke adjustment and buffer adjustment structure is more durable, adjustable and accurate. The traditional device has no signal output, while the control device of the present device provides accurate sliding position information output to the VR device, which is synchronized with the content of the VR device, providing a more immersive and enjoyable skiing experience. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other accompanying drawings can be obtained based on these accompanying drawings without paying any creative work.

[0030] Figure 1 is a schematic diagram of an embodiment of the present invention;

[0031] Figure 2 is a side view of an embodiment of the present invention;

[0032] Figure 3 1 is a top view of an embodiment of the present invention

[0033] Description of reference numerals:

[0034] 1-mounting seat body, 2-sliding base, 3-slide rail body, 4-rack, 5-gear, 6-rotating seat, 7-limiting column, 8-buffer spring, 9-computer, 10-servo motor driver, 11-driving device, 12-armrest device, 13-pedal base plate, 14-pedal belt, 15-ankle bracket, 16-limiting seat, 17-sliding balance wheel. DETAILED DESCRIPTION

[0035] In order to more clearly understand the above-mentioned objects, features and advantages of the present invention, the present invention is described in detail below in conjunction with the accompanying drawings and specific embodiments. It should be noted that, in the absence of conflict, the embodiments of the present invention and the features in the embodiments can be combined with each other. In the following description, many specific details are set forth in order to fully understand the present invention, and the embodiments described are only part of the embodiments of the present invention, rather than all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in the field without making creative work are within the scope of protection of the present invention.

[0036] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those commonly understood by those skilled in the art of the present invention. The terms used in the specification of the present invention herein are only for the purpose of describing specific embodiments and are not intended to limit the present invention.

[0037] Reference Figures 1 to 3 , an embodiment of the present invention provides a ski simulator, comprising a mounting seat body 1 and a control device, wherein the mounting seat body 1 is provided with a slide rail device, a handrail device 12, a pedal assembly and a driving device 11;

[0038] The slide rail of the slide rail device is extended in a direction along the transverse direction of the mounting seat body 1;

[0039] The footrest assembly is slidably matched with the slide rail device;

[0040] The driving end of the driving device 11 drives the pedal assembly to slide on the slide rail device;

[0041] The pedal assembly includes a buffer device, a limit device, a sliding base 2 and a pedal device, the sliding base 2 is slidably matched with the slide rail device, the pedal device is rotatably matched with the sliding base 2, the limit device is used to limit the rotation angle of the pedal device, and the buffer device is arranged between the pedal device and the sliding base 2;

[0042] The control device is electrically connected to the driving device 11 .

[0043] As a further description of this solution, the slide rail device includes a slide rail body 3 and a rack 4, the slide rail body 3 is provided with a slide groove for slidingly matching the slide base 2, the bottom of the slide base 2 is provided with a gear 5 matching the rack 4, and the driving end of the driving device 11 is connected to the gear 5. The drive structure of the gear 5 and the rack 4 is adopted to ensure that the pedal device can slide on the slide rail device more stably, and it is also convenient to stably and accurately adjust the sliding position of the pedal device on the slide rail device.

[0044] As a specific improvement, the upper end surface of the sliding base 2 is provided with two rotating seats 6 which are arranged opposite to each other, and the pedal device is arranged between the two rotating seats 6 and rotates with them.

[0045] As a specific improvement, the limiting device includes limiting columns 7 arranged on both sides of the pedal device, which are used to limit the rotation angle of the pedal device relative to the sliding base 2.

[0046] As a specific improvement, the buffer device comprises a buffer spring 8 arranged corresponding to the position of the limiting column 7 , and the length of the buffer spring 8 in a natural state is greater than the length of the limiting column 7 .

[0047] With the above structure, the pedal device can rotate relative to the rotating seat 6, and the limit column 7 limits the rotation angle of the pedal device relative to the sliding base 2, and the buffer spring 8 is provided to ensure the stability of the pedal device during the rotation process, better simulate the changes in terrain when the user is skiing, and enhance the simulation experience. The limit column 7 also improves safety and prevents the pedal device from rotating too much and causing the user's ankle sprain. At the same time, a limit seat 16 is provided at both ends of the mounting seat body 1 and the slide rail body 3 to prevent the user from sliding out when the pedal device slides on the slide rail body 3, thereby improving the safety of product use. A sliding balance wheel 17 is provided at the bottom of the sliding base 2, and the sliding balance wheel 17 is slidably matched with the mounting seat body 1. The sliding balance wheel 17 further ensures the stability of the sliding process of the sliding base 2 relative to the mounting seat body 1, thereby improving the user's experience.

[0048] Specifically, the foot pedal device includes a foot pedal base 13 rotatably matched with the sliding base 2, a foot pedal for the user's feet to be placed on the foot pedal base 13, a foot strap 14 for the user to adjust the tightness and an ankle bracket 15 for fixing the user's ankle are provided on the foot pedal.

[0049] By adopting the above structure, the user's feet can be better fixed on the foot pedal, thereby improving the product usage experience.

[0050] Specifically, the control device includes a computer 9 and a servo motor driver 10, the computer 9 is electrically connected to the servo motor driver 10, the drive device 11 includes a servo motor, the servo motor includes a drive motor, a sensor and a controller, and the controller is electrically connected to the servo motor driver 10, the sensor and the drive motor respectively.

[0051] With the above structure, the sliding drive reducer is a transmission mechanism between the servo motor and the sliding base 2. The middle section of the slide rail device is provided with a free sliding section, and the two sides of the free sliding section are rebound sections. When the player slides in the free sliding section, the sliding base 2 actively drives the servo motor to rotate. When it is in the rebound section at both ends, the servo motor drives the sliding base 2 to rebound. The sliding base 2 drives the servo motor to rotate, and the rotation is detected by the speed. The servo motor outputs power assistance, and the mechanical position of the sliding base 2 is located by the servo position information; the above requires the participation of sensors and controllers.

[0052] A specific improvement is that the handrail device 12 includes a handrail rod and a connecting rod with adjustable length. The number of the connecting rods is two and they are respectively arranged on both sides of the mounting seat body 1. The two ends of the handrail rod are respectively connected to the two connecting rods, and an anti-slip sleeve is provided on the handrail rod.

[0053] A specific improvement is that the connecting rod includes a first connecting rod and a second connecting rod, wherein the bottom end of the second connecting rod is connected to the mounting seat body 1, the top end of the first connecting rod is connected to the handrail rod, the second connecting rod is hollow, the bottom end of the first connecting rod extends into the second connecting rod and slides with it, and a fixing bolt is also provided on the second connecting rod, one end of the fixing bolt extends into the second connecting rod and acts on the outer wall surface of the first connecting rod.

[0054] With the above structure, the height of the handrail can be easily adjusted to meet the usage requirements of different users. At the same time, the anti-slip cover can also improve the safety of the product.

[0055] The working principle of the present invention is as follows:

[0056] The slide rail body is divided into three sections with a length ratio of approximately 1:2:1. The middle section is a free sliding section and the two ends are rebound sections. When the user slides on the slide rail device, when sliding in the middle section, the driving device assists the user's sliding process to be smoother. When sliding to the left or right end of the slide rail device, the driving device applies a rebound force to make the pedal assembly rebound to the middle section, similar to a spring with adjustable elastic force.

[0057] Power-assisting principle:

[0058] During the free sliding section, the driving device operation mode is set to the torque mode. When the slide is stationary, the user slides a little bit to move the pedal assembly on the slide rail device. If the control device reads the actual driving speed absolute value of the driving device and if it is greater than 0, the driving device outputs a fixed torque. The torque output by the driving device is smaller than the static friction between the pedal assembly and the slide rail device, which is insufficient to push the pedal assembly to move, but overcomes and offsets most of the friction and provides assistance in the corresponding direction according to the direction in which the user moves the pedal assembly.

[0059] Spring-like principle:

[0060] In the rebound section at the left or right end of the slide rail body, for example, when entering the rebound section at the right end, the more you slide to the right, the greater the rebound force. This design has two advantages: 1) The user does not need to apply force to return to the middle position, because it is difficult for the user to apply force. 2) Prevent the pedal assembly from violently colliding with the mechanical limit of the slide rail device. The spring force formula is F = K*X, where X is the displacement of the pedal assembly. Similarly, according to the position of the actual encoder feedback of the servo motor, the greater the displacement from the dividing point between the sliding section and the rebound, the greater the output reverse torque, which is a linear relationship. The value of K can be set to change the spring stiffness coefficient. This is an adjustable spring device based on a servo motor.

[0061] Device input method:

[0062] Take the midpoint of the slide body as the origin, set the leftmost end of the slide body to -1.0, the rightmost end of the slide body to 1.0, [-1.0, 1.0] as the input position range, and use the encoder of the servo motor as the measurement position sensor. When the device is turned on, the pedal assembly is reset to the center position of the slide body. The encoding value of the servo motor at this position is 0, and the data fed back by the encoder corresponds to the range of [-1.0, 1.0] from left to right.

[0063] The present invention includes a simulation method of a ski simulator, comprising the following steps:

[0064] S1, the control device is turned on, and the control device puts the drive device in position mode: the pedal assembly is moved to any end of the slide rail device by finding the origin through torque, and then moved in the reverse direction to the center position of the slide rail device after it cannot be moved. The center position of the slide rail device is the origin, and the pedal assembly is in a reset state on the slide rail device at this time;

[0065] S2, the control device puts the driving device in the torque mode: when the pedal assembly is stationary, the user slides and applies a little bit to make the pedal assembly move on the slide rail device. If the control device reads the actual driving speed absolute value of the driving device and if it is greater than 0, the driving device outputs a fixed torque. The torque output by the driving device is less than the static friction between the pedal assembly and the slide rail device, which is insufficient to push the pedal assembly to move, but overcomes and offsets most of the friction, and provides assistance in the corresponding direction according to the direction in which the user moves the pedal assembly. At this time, the user starts to simulate skiing;

[0066] S3. During skiing, the control device is connected to the VR device, and the position information of the user's moving pedal assembly is synchronized with the screen information of the VR device in real time. The specific servo motor sends the servo motor encoder position to the computer through the intercat protocol, and the VR device reads the input data through the SDK to synchronize the screen.

[0067] Compared with the prior art, the present invention has the following beneficial effects:

[0068] The ski simulator proposed by the present invention has a simpler mechanical structure than the curved arc structure, which is more in line with the horizontal left and right sliding movement habits and provides a more realistic experience. Compared with the use of rubber as an elastic material, the use of a drive device as a stroke adjustment and buffer adjustment structure is more durable, adjustable and accurate. The traditional device has no signal output, while the control device of the present device provides accurate sliding position information output to the VR device, which is synchronized with the content of the VR device, providing a more immersive and enjoyable skiing experience.

[0069] It should be noted that other contents of the ski simulator disclosed in the present invention can be found in the prior art and will not be described in detail here.

[0070] The above description is only a preferred embodiment of the present invention and does not limit the present invention in any form. Therefore, any modification, equivalent change and modification made to the above embodiment according to the technical essence of the present invention without departing from the technical solution of the present invention shall still fall within the scope of the technical solution of the present invention.

Claims

1. A simulation method for a ski simulator, characterized in that: The ski simulator comprises a mounting seat and a control device, wherein the mounting seat is provided with a slide rail device, a handrail device, a pedal assembly and a driving device; The slide rail of the slide rail device is extended in a direction along the transverse direction of the mounting seat body; The footrest assembly is slidably matched with the slide rail device; The driving end of the driving device drives the pedal assembly to slide on the slide rail device; The pedal assembly includes a buffer device, a limit device, a sliding base and a pedal device, the sliding base is slidably matched with the slide rail device, the pedal device is rotatably matched with the sliding base, the limit device is used to limit the rotation angle of the pedal device, and the buffer device is arranged between the pedal device and the sliding base; The control device is electrically connected to the driving device; The slide rail device comprises a slide rail body and a rack, the slide rail body is provided with a slide groove for the slide base to slide with, the bottom of the slide base is provided with a gear that matches with the rack, and the driving end of the driving device is connected to the gear; The limiting device includes limiting columns arranged on both sides of the pedal device, and is used to limit the rotation angle of the pedal device relative to the sliding base; The buffer device comprises a buffer spring arranged corresponding to the position of the limiting column, and the length of the buffer spring in a natural state is greater than the length of the limiting column; The simulation method comprises the following steps: S1, the control device is turned on, and the control device puts the drive device in position mode: the pedal assembly is moved to any end of the slide rail device by finding the origin through torque, and then moved in the reverse direction to the center position of the slide rail device after it cannot be moved. The center position of the slide rail device is the origin, and the pedal assembly is in a reset state on the slide rail device at this time; S2, the control device puts the driving device in the torque mode: when the pedal assembly is stationary, the user slides and applies a little force to move the pedal assembly on the slide rail device. If the control device reads the actual driving speed absolute value of the driving device and is greater than 0, the driving device outputs a fixed torque. The torque output by the driving device is less than the static friction between the pedal assembly and the slide rail device, which is insufficient to push the pedal assembly to move, but overcomes and offsets most of the friction, and provides assistance in the corresponding direction according to the direction in which the user moves the pedal assembly. At this time, the user starts to simulate skiing; The slide rail body is divided into three sections, the middle section is a free sliding section, and the two ends are rebound sections. When the user slides on the slide rail device, when sliding in the middle section, the user's sliding process is smoother through the assistance of the driving device. When sliding to the left or right end of the slide rail device, a rebound force is applied by the driving device to make the pedal assembly rebound to the middle section, the rebound section at the left or right end of the slide rail body, and enter the rebound section at the right end. The more you slide to the right, the greater the rebound force. The elastic force formula is F=K*X, X is the displacement of the pedal assembly. When the displacement from the dividing point between the sliding section and the rebound is greater, the output reverse torque is greater, which is a linear relationship. The value of K can be set to change the stiffness coefficient of the spring; S3. During skiing, the control device is connected to the VR device, and the position information of the pedal assembly moved by the user is synchronized with the screen information of the VR device in real time.

2. The simulation method of a ski simulator according to claim 1, characterized in that: The upper end surface of the sliding base is provided with two rotating seats arranged opposite to each other, and the pedal device is arranged between the two rotating seats and rotates with them.

3. The simulation method of a ski simulator according to claim 1, characterized in that: The pedal device comprises a pedal base plate rotatably matched with the sliding base, a foot pedal for the user's feet to be placed on the pedal base plate, a pedal belt for the user to adjust the tightness and an ankle bracket for fixing the user's ankle are provided on the foot pedal.

4. The simulation method of a ski simulator according to claim 1, characterized in that: The control device includes a computer and a servo motor driver, the computer is electrically connected to the servo motor driver, the drive device includes a servo motor, the servo motor includes a drive motor, a sensor and a controller, and the controller is electrically connected to the servo motor driver, the sensor and the drive motor respectively.

5. The simulation method of a ski simulator according to claim 1, characterized in that: The handrail device comprises a handrail rod and a connecting rod with adjustable length. The connecting rods are two in number and are respectively arranged on both sides of the mounting seat body. The two ends of the handrail rod are respectively connected to the two connecting rods. An anti-slip sleeve is arranged on the handrail rod.

6. The simulation method of a ski simulator according to claim 5, characterized in that: The connecting rod includes a first connecting rod and a second connecting rod, wherein the bottom end of the second connecting rod is connected to the mounting seat body, the top end of the first connecting rod is connected to the handrail rod, the second connecting rod is hollow, the bottom end of the first connecting rod extends into the second connecting rod and slides with it, and a fixing bolt is also provided on the second connecting rod, one end of the fixing bolt extends into the second connecting rod and acts on the outer wall surface of the first connecting rod.

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