CN1327920C - Apparatus and method for stimulating bicycle motion - Google Patents

Abstract

The present invention relates to equipment for imitating the movement of a bicycle, which comprises a mechanical device, a chassis, a control device, a displaying device and a wind speed generator, wherein the mechanical device comprises a data acquisition unit, a loading device, a vibration device, a luffing device, a tilting device and an inertia device besides the basic bicycle components of a bicycle frame, a handle bar, a seat and pedals. A method for imitating the movement of a bicycle by the equipment comprises the following steps: the control device receives starting signals for initialization; the data acquisition unit collects signals of the current movement state of the bicycle and sends the signals to the control device; the control device establishes a mathematical model of the movement of the bicycle and does a calculation; the control device outputs the calculation result; the mechanical device, the displaying device and the wind speed generator carry out operation according to the received result; and if end signals are received, the operation is stopped, and otherwise, the steps are repeated. The equipment for imitating the movement of a bicycle and the method for imitating the movement of a bicycle by the equipment can imitate various postures and kinds of moving information so as to achieve a personal experiencing feeling.

Description

Bicycle simulated equipment and method

Technical field

The present invention relates to virtual technology, especially design a kind of bicycle simulated equipment and method.

Background technology

Cycling, especially Mountain bike motion are very attractive motions, but due to limited conditions, a lot of people this motion that can't undergo.The appearance of virtual technology has solved this problem, and virtual technology can be simulated various scenes, thereby satisfies people's hope.

Summary of the invention

The purpose of this invention is to provide a kind of bicycle simulated equipment, the participant can be felt when riding jolt, climb and fall, the variation of resistance and wind-force, and can see the image of variation.

Another object of the present invention provides a kind of bicycle simulated method, is used for the said equipment, makes the participant can feel above-mentioned various sensation.

In order to achieve the above object, the present invention adopts following technical scheme:

A kind of bicycle simulated equipment comprises the mechanical device with bicycle profile, chassis, control device and the display unit of placing mechanical device, it is characterized in that,

Also comprise the wind speed generator, link to each other with described control device;

Described mechanical device with bicycle profile except that basic bicycle assembly parts vehicle frame, handlebar, seat and step, also comprises

Data acquisition unit is connected on handlebar, step and the seat of described basic bicycle assembly parts, also links to each other with described control device;

Charger is connected in the step of described basic bicycle assembly parts, also links to each other with described control device;

Shaking device is connected on the vehicle frame and seat of described basic bicycle assembly parts, also links to each other with described control device;

Elevation mount is connected on the vehicle frame and seat of described basic bicycle assembly parts, also links to each other with described control device;

Tilting gearing is connected on the vehicle frame and seat of described basic bicycle assembly parts, also links to each other with described control device;

Inertial device is connected in the step of described basic bicycle assembly parts, also links to each other with described control device.

A kind of bicycle simulated method of using the said equipment may further comprise the steps:

Described control device receives commencing signal, the described control device of initialization, described display unit and described mechanical device;

Described data acquisition unit is gathered the current bicycle motion state signal, and sends to described control device;

Described control device is set up the cycling Mathematical Modeling, the described current bicycle motion state signal that receives is input in the described cycling Mathematical Modeling calculates;

Described control device outputs to described mechanical device, described display unit and described wind speed generator with described result of calculation;

Described mechanical device, described display unit and described wind speed generator are operated according to the result who receives;

If described control device receives end signal, just stop, otherwise get back to described acquisition step.

Owing to adopted technique scheme, jolting and various states such as leaping fast the time when preshoot when bicycle simulated equipment of the present invention and method can be simulated brake, the pitching when broken up and down, tilting when turning, Uneven road, and generation and reponse system by installing various kinds of sensors, power additional, on virtual road surface, simulate various attitudes and movable information, thereby reach sensation on the spot in person for the cyclist.

Description of drawings

Fig. 1 is the structural representation of bicycle simulated equipment of the present invention;

Fig. 2 is the schematic diagram with mechanical device of bicycle profile of the present invention;

Fig. 3 is the flow chart of bicycle simulated method of the present invention;

The specific embodiment

Further specify technical scheme of the present invention below in conjunction with drawings and Examples.

Fig. 1 is the structural representation of bicycle simulated equipment of the present invention, as shown in Figure 1, this equipment comprises the mechanical device 1 with bicycle profile, places the chassis 2 of mechanical device, control device (not drawing among Fig. 1), display unit 3 and wind speed generator (Fig. 1 meta draws).In one embodiment, control device is that computer, display unit are screen and the wind speed generator is a fan.Fig. 2 is this schematic appearance with mechanical device of bicycle profile.

Characteristics of the present invention are in above-mentioned mechanical device 1, except that basic bicycle assembly parts vehicle frame, handlebar, seat and step, also comprise

Data acquisition unit is connected on handlebar, step and the seat of basic bicycle assembly parts, also links to each other with control device.Wherein being connected on the handlebar is angular displacement sensor, and being connected in the step is velometer.

Charger is connected in the step of basic bicycle assembly parts, also links to each other with control device.Charger comprises and loads servomotor, tachometer generator, torque sensor, speed increasing mechanism and ratchet mechanism, is used to provide to the bicycle sensation of power by bike time the in all cases.

Shaking device is connected on the vehicle frame and seat of basic bicycle assembly parts, also links to each other with control device.Shaking device comprises two cylinders, is used for simulating the leap of speed of a motor vehicle bicycle when higher and jolts.

Elevation mount is connected on the vehicle frame and seat of basic bicycle assembly parts, also links to each other with control device.Elevation mount comprises pitching servomotor, reducer of turbodrill, crank mechanism and angular displacement sensor, the swing when being used for the analog bicycle climb and fall, and wherein angular displacement sensor is used to control luffing angle.

Tilting gearing is connected on the vehicle frame and seat of basic bicycle assembly parts, also links to each other with control device.Tilting gearing comprises oblique servo motor, high speed ratio speed reducer, bevel gear, turbine, scroll bar and angular displacement sensor, the centripetal acceleration when being used to simulate turning and the balance angle of cyclist's gravity, and wherein angular displacement sensor is used to control luffing angle.

Inertial device is connected in the step of basic bicycle assembly parts, also links to each other with control device.Inertial device comprises cylinder, brake weight controlling organization, recovers valve, dolly and magnetic valve at a slow speed, cyclist's preshoot when being used for the analog bicycle brake.

The present invention also provides a kind of bicycle simulated method of using the said equipment, may further comprise the steps, as shown in Figure 3:

Step S31, control device receives commencing signal, initialization control device, display unit and mechanical device.During initialization, control device can be selected a virtual projected route for bicycle, and original position and the starting velocity and the prime direction of bicycle are set, and display unit shows initial image.

Step S32, data acquisition unit is gathered the current bicycle motion state signal, and sends to control device.The current bicycle motion state signal of data acquisition unit collection comprises: gather the present speed signal from step, gather from the current direction signal (angle of handlebar is provided by the angular displacement sensor on the handlebar) of handlebar and current brake weight signal (being provided by the power inductor on the handlebar), the collection current gradient signal from vehicle frame.

Step S33 control device is set up the cycling Mathematical Modeling, the current bicycle motion state signal that receives is input in the cycling Mathematical Modeling calculates.Mathematical Modeling is set up by following formula, and the meaning of the symbol that uses in the formula once at first is described:

L: the vehicle commander of bicycle;

L: seat is to the distance of the tailstock;

S: the stroke of bicycle is in preset time Δ t;

K: the rotation ratio of bicycle;

D: road surface " ditch " spacing;

h ₀: the height in the last place of bicycle; h ₁: the height of this moment is; h ₂: the height in next place;

(x ₀, y ₀): the coordinate in the last place of bicycle; (x ₁, y ₁): the location coordinates of this moment; (x ₂, y ₂): the coordinate in next place;

v ₀: bicycle speed at this moment; v ₁: the speed in next place;

θ ₀: the angle in the direction of bicycle running and positive east; θ ₁: the angle in the direction of next place bicycle running and positive east;

φ: the drift angle of the front-wheel and the direction of motion;

f ₁And f ₂: the brake weight of front and back wheel is respectively; k _s: the coefficient of friction between steel ring and the brake rubber block.

The formula of setting up Mathematical Modeling is as follows:

For bottom surface by the gradient, angle of gradient computing formula: $\mathrm{\α}=t{g}^{-1}\left(\frac{h_1-h_0}{\sqrt{{(x_0-x_1)}^2+{(y_0-y_1)}^2}}\right);$

The speed computing formula:

When $\frac{s}{\mathrm{\Δt}}\≥v_0$ The time: thus the speed of pedal greater than the speed of bicycle, the power of pedal has been added on the bicycle, at this moment $v_1=\frac{s}{\mathrm{\Δt}}.$

When $\frac{s}{\mathrm{\&Delta;t}}<v_0$ The time, thus the speed of pedal less than the speed of bicycle, the power of pedal is not added on the bicycle, separates following differential equation group:

So the real stroke of bicycle of this moment is the s that separates of the differential equation ₁, note s=s ₁, then $v_1=\frac{s}{\mathrm{\&Delta;t}};$ Calculate the position coordinates in next place: $\left\{\begin{array}{cc}{x}_2=x_1+s\&times;\sin \left(\mathrm{\&alpha;}\right)\&times;(1-l\&times;\mathrm{tg}\left(\mathrm{\&phi;}\right)\&divide;L)& \\ y_2=y_1+s\&times;\cos \left(\mathrm{\&alpha;}\right)(1+l\&times;\mathrm{tg}\left(\mathrm{\&phi;}\right)\&divide;L)& \end{array}\right.$

Calculate the direction of traffic in next place: ${\mathrm{\&theta;}}_1={\mathrm{\&theta;}}_0+2\&times;{\mathrm{tg}}^{-1}\left(\frac{\mathrm{tg}\left(\mathrm{\&phi;}\right)\&times;l}{L}\right)$

The calculating of pedal feedback force:

$\frac{s}{\mathrm{\&Delta;t}}\&GreaterEqual;v_0$ In time, be:

$\frac{s}{\mathrm{\&Delta;t}}<v_0$ The time be: 0;

The calculating of car body obliqueness: ${\mathrm{tg}}^{-1}\left(\frac{2\&times;\sin \left({\mathrm{tg}}^{-1}(\mathrm{tg}\left(\mathrm{\&phi;}\right)\&times;\frac{l}{L})\right)\&times;s}{{\left(\mathrm{\&Delta;t}\right)}^2\&times;g\&times;\sqrt{1+{\mathrm{tg}}^2\mathrm{\&phi;}\&times;\frac{l^2}{L^2}}}\right)$

The calculating of the air quantity of air blast: can be according to v ₁-v _z* sin (+θ ₁-θ ₀) and v _z* cos (+θ ₁-θ ₀) value determine the direction of ahead running son and the air quantity of vertical car direction; Concrete numerical value can be tabled look-up.Whether the unlatching of brake impulse interference wave switch is according to having brake weight to exist and system's acceleration Size decide; See that whether this amount determines whether opening impulse interference wave switch less than the negative constant of certain appointment.

Irregular for some, " ditch " exists on the ground, and hypothesis " ditch " is equally spaced herein, and its degree of depth can put next wheel, and bounce frequency is v on the road surface of Che Zaiyou " ditch " ₁/ d;

The upwards calculating of the power of bump on the road surface that " ditch " arranged: Size its Stage Value of decision of tabling look-up, wherein t is the time (as playing the required time of a frame picture) of impact effect, concrete numerical value will test comparison and obtain (scope that estimation is 0.01 second the order of magnitude), ρ in experiment ₁Be the cushioning coefficient of rubber tyre, concrete numerical value also is will test relatively to obtain (estimation is the order of magnitude scope 0.1) in experiment.

Step S34, control device will output to mechanical device, display unit and wind speed generator by aforementioned calculation model result calculated.Because the hypothesis cycling is on a route of being scheduled to, the resistance situation of everywhere, wind speed, road surface gradient and pavement behavior all are predefined on this route.So can calculate the current location of bicycle on projected route according to present speed signal and current direction signal.Compare the predefined parameter value of this position on current parameters (comprising resistance, brake weight, wind speed etc.) of bicycle and the projected route then, calculate the difference between them.Again difference is converted into corresponding output signal.Output to mechanical device, display unit and wind speed generator.

Step S35, mechanical device, display unit and wind speed generator are operated according to the result who receives.Describe the mode of operation of each parts in the mechanical device below in detail:

The mode of operation of charger: as cyclist by bike the time, speed increasing mechanism will be ridden speed and improve tens times, and the rotating speed that has improved drives torque sensor, tachometer generator, the rotation of loading servomotor simultaneously.Tachometer generator produces rate signal, asks monovalence to become acceleration signal in the rate signal input control device.

Pavement state signal and speed with current bicycle present position in the projected route, three signals of acceleration are sent into Mathematical Modeling in the control device as boundary condition, calculating by computer, resulting power output signal is as the command signal of system, be input in the charger, the positive and negative rotating speed and the torque of charger output current signal control servomotor, the rotation that loads servomotor generates moment, be applied to by torque sensor in cyclist's the step, the torque signals of torque sensor output is sent into charger simultaneously and is compared with above-mentioned force signal, the conclusion control that draws loads the servomotor torque, rotating speed, direction of rotation, thus realized the closed loop automatic control process of a power.So, during the cyclist, the sensation of foot-operated power has just been arranged.This loading method adopts the principle of leading rate signal 90 degree of acceleration signal, power is preceding, speed after, and make the loading method of the imperceptible front and back of cyclist, because load the servomotor rotation direction with direction is opposite by bike, so adopt this way to need more powerful loading servomotor, and load servomotor and under the situation of stall, work for a long time, burn servomotor easily.And powerful servomotor is once out of controlly can damage the cyclist.Therefore, in one embodiment, adopt the method for off-load.In system, add a constantly acting load in advance, identical and to go part preload, remaining load be cyclist's foot-operated power by bike with loading the servomotor rotation direction.

Because adopt the fast mechanism of tens multiplications, be that foot-operated speed makes loading servomotor rotating speed improve tens times under the inactive state, that is to say that the frictional force with servomotor has improved tens times.So with this masterpiece for adding a constantly acting load in advance.

When car during at level road:

Foot-operated power=pre-applied force-loading force

When car is going up a slope:

Foot-operated power=pre-applied force+loading force (when the gradient increased, loading force increased)

When car during at descending:

Foot-operated power=pre-applied force-loading force (when the gradient increased, loading force increased)

This loading method can make the smaller of load and execution mechanism manufacturing, with the moment of loading servomotor output also smaller, the range ability that torque sensor is selected for use is smaller, improved precision and response speed in proper order, the inertia of load maintainer itself, gap and frictional force are all little and the power scope of foot-operated feedback is bigger.And under runaway condition, can not work the mischief to the cyclist.

The mode of operation of tilting gearing: in identical handlebar angle, when turning with the different speed of a motor vehicle, the turning gradient of bicycle is different.When the cyclist turns by bike, data acquisition unit is current tilt signals and present speed signal input control device, computer calculates the control circuit that back output tilt signals is given tilting gearing, and control circuit control oblique servo motor begins rotation tilts " bicycle ".Simultaneously, angular displacement sensor outputs signal to the control circuit of tilting gearing, and two signal-balanced backs " bicycle " stop to tilt, and have reached required angle.

The method of operating of elevation mount: luffing mechanism is controlled by control device fully.As cyclist by bike the time, the gradient appears in the projected route, and the Mathematical Modeling of predetermined climb and fall signal input computer outputs to the control circuit of elevation mount behind the computer-solution, and control circuit pitching servomotor begins rotation makes " bicycle " pitching.Simultaneously, angular displacement sensor outputs signal to control circuit, and two signal-balanced backs " bicycle " stop pitching, to reach required angle.

The operating principle of vibrating device: vibrating device is controlled by control device fully.As cyclist by bike the time, uneven road surface appears in the projected route, it is the road surface that " ditch " arranged, in the Mathematical Modeling of Uneven road signal (being exactly the spacing of " ditch ") input computer, after calculating, computer outputs signal to the control valve of vibrating device, cylinder action before and after the control valve control, " bicycle " vibration that begins to jolt.When the speed of a motor vehicle was higher, the front and back cylinder moved simultaneously and makes " bicycle " leap.When the speed of a motor vehicle was low, the front and back cylinder successively moved " bicycle " is jolted.

The current location of the bicycle that display unit then calculates according to control device shows on the predetermined route to comprise pavement behavior, background image and weather condition etc. corresponding to the image of this position.These images all be in advance with projected route on each position one to one.

The wind speed generator obtains wind speed and direction herein on the projected route earlier according to the bicycle current location that control device calculates, and then in conjunction with current vehicle speed, direction, use foregoing formula to calculate, obtain current wind speed and direction, and the drive fan blowing.

Step S35 if control device receives end signal, just stops, otherwise gets back to step S32.

Owing to adopted technique scheme, jolting and various states such as leaping fast the time when preshoot when bicycle simulated equipment of the present invention and method can be simulated brake, the pitching when broken up and down, tilting when turning, Uneven road, and generation and reponse system by installing various kinds of sensors, power additional, on virtual road surface, simulate various attitudes and movable information, thereby reach sensation on the spot in person for the cyclist.

The embodiment of above-mentioned detailed description provides to being familiar with the person in the art and realizes or use of the present invention; those skilled in the art can be under the situation that does not break away from invention thought of the present invention; the foregoing description is made various modifications or variation; thereby protection scope of the present invention do not limit by the foregoing description, and should be the maximum magnitude that meets the inventive features that claims mention.

Claims (9)

1. a bicycle simulated equipment comprises the mechanical device with bicycle profile, chassis, control device and the display unit of placing mechanical device, it is characterized in that,

Also comprise the wind speed generator, link to each other with described control device;

Described mechanical device with bicycle profile except that basic bicycle assembly parts vehicle frame, handlebar, seat and step, also comprises

Data acquisition unit is connected on handlebar, step and the seat of described basic bicycle assembly parts,

Also link to each other with described control device;

Charger is connected in the step of described basic bicycle assembly parts, also links to each other with described control device;

Shaking device is connected on the vehicle frame and seat of described basic bicycle assembly parts, also links to each other with described control device;

Elevation mount is connected on the vehicle frame and seat of described basic bicycle assembly parts, also links to each other with described control device;

Tilting gearing is connected on the vehicle frame and seat of described basic bicycle assembly parts, also links to each other with described control device;

Inertial device is connected in the step of described basic bicycle assembly parts, also links to each other with described control device.

2. bicycle simulated equipment as claimed in claim 1 is characterized in that,

Described charger comprises loading servomotor, tachometer generator, torque sensor, speed increasing mechanism and ratchet mechanism;

Described shaking device comprises two cylinders;

Described elevation mount comprises pitching servomotor, reducer of turbodrill, crank mechanism and angular displacement sensor;

Described tilting gearing comprises oblique servo motor, high speed ratio speed reducer, bevel gear, turbine, scroll bar and angular displacement sensor;

Described inertial device comprises cylinder, brake weight controlling organization, recovers valve, dolly and magnetic valve at a slow speed.

3. bicycle simulated equipment as claimed in claim 1 is characterized in that, described control device is a computer, and described display unit is a screen.

4. bicycle simulated equipment as claimed in claim 1 is characterized in that, described wind speed generator is a fan.

5. bicycle simulated method of using the described equipment of claim 1 may further comprise the steps:

Described control device receives commencing signal, the described control device of initialization, described display unit and described mechanical device;

Described data acquisition unit is gathered the current bicycle motion state signal, and sends to described control device;

Described control device is set up the cycling Mathematical Modeling, the described current bicycle motion state signal that receives is input in the described cycling Mathematical Modeling calculates;

Described control device outputs to described mechanical device, described display unit and described wind speed generator with described result of calculation;

Described mechanical device, described display unit and described wind speed generator are operated according to the result who receives;

If described control device receives end signal, just stop, otherwise get back to described acquisition step.

6. method as claimed in claim 5, it is characterized in that the current bicycle motion state signal of described data acquisition unit collection comprises: the current gradient signal of the current direction signal of the present speed signal of described step, described handlebar and current brake weight signal, described vehicle frame.

7. method as claimed in claim 6 is characterized in that, described cycling Mathematical Modeling is cycling on a predetermined route, and the resistance situation of everywhere, wind speed, road surface gradient and pavement behavior all are predefined on this route;

Calculate the current location of described bicycle on described projected route according to described present speed signal and current direction signal;

The predefined parameter value of this position is calculated the difference between them on parameter that more described bicycle is current and the described projected route;

Difference is converted into corresponding output signal.

8. method as claimed in claim 7 is characterized in that, described parameter is calculated by following formula, and letter definition is as follows in the formula:

L: the vehicle commander of bicycle;

1: seat is to the distance of the tailstock;

S: the stroke of bicycle is in preset time Δ t;

K: the rotation ratio of bicycle;

D: road surface " ditch " spacing;

h ₀: the height in the last place of bicycle; h ₁: the height of this moment is; h ₂: the height in next place;

(x ₀, y ₀): the coordinate in the last place of bicycle; (x ₁, y ₁): the location coordinates of this moment; (x ₂, y ₂): the coordinate in next place;

v ₀: bicycle speed at this moment; v ₁: the speed in next place;

θ ₀: the angle in the direction of bicycle running and positive east; θ ₁: the angle in the direction of next place bicycle running and positive east;

φ: the drift angle of the front-wheel and the direction of motion;

f ₁And f ₂: the brake weight of front and back wheel is respectively; k _s: the coefficient of friction between steel ring and the brake rubber block; Angle of gradient computing formula: $\mathrm{\&alpha;}={\mathrm{tg}}^{-1}\left(\frac{h_1-h_0}{\sqrt{{(x_0-x_1)}^2+{(y_0-y_1)}^2}}\right);$

The speed computing formula:

When $\frac{s}{\mathrm{\&Delta;t}}\&GreaterEqual;v_0$ The time: the speed of pedal is greater than the speed of bicycle, so the power of pedal be added on the bicycle, at this moment $v_1=\frac{s}{\mathrm{\&Delta;t}};$

When $\frac{s}{\mathrm{\&Delta;t}}<v_0$ The time, the speed of pedal so the power of pedal is not added on the bicycle, is separated following differential equation group less than the speed of bicycle:

The institute

The real stroke of bicycle with this moment is the s that separates of the differential equation ₁, note s=s ₁, then $v_1=\frac{s}{\mathrm{\&Delta;t}};$

Calculate the position coordinates in next place: $\left\{\begin{array}{c}{x}_2=x_1+s\&times;\sin \left(\mathrm{\&alpha;}\right)\&times;(1-l\&times;\lg \left(\mathrm{\&phi;}\right)\&divide;L)\\ y_2=y_1+s\&times;\cos \left(\mathrm{\&alpha;}\right)(1+l\&times;\lg \left(\mathrm{\&phi;}\right)\&divide;L)\end{array}\right.$

Calculate the direction of traffic in next place: ${\mathrm{\&theta;}}_1={\mathrm{\&theta;}}_0+2\&times;{\mathrm{tg}}^{-1}\left(\frac{\mathrm{tg}\left(\mathrm{\&phi;}\right)\&times;l}{L}\right)$

The calculating of pedal feedback force:

$\frac{s}{\mathrm{\&Delta;t}}\&GreaterEqual;v_0$ In time, be:

$\frac{s}{\mathrm{\&Delta;t}}<v_0$ The time be: 0;

The calculating of car body obliqueness: ${\mathrm{tg}}^{-1}\left(\frac{2\&times;\sin \left({\mathrm{tg}}^{-1}(\mathrm{tg}\left(\mathrm{\&phi;}\right)\&times;\frac{l}{L})\right)\&times;s}{{\left(\mathrm{\&Delta;t}\right)}^2\&times;g\&times;\sqrt{1+{\mathrm{tg}}^2\mathrm{\&phi;}\&times;\frac{l^2}{L^2}}}\right)$

The calculating of the air quantity of air blast: can be according to v ₁-v _z* sin (+θ ₁-θ ₀) and v _z* cos (+θ ₁-θ ₀) value determine the direction of ahead running son and the air quantity of vertical car direction;

Whether the unlatching of brake impulse interference wave switch is according to having brake weight to exist and system's acceleration

Size decide;

Bounce frequency is v on the road surface that " ditch " arranged ₁/ d;

The upwards calculating of the power of bump on the road surface that " ditch " arranged: Wherein t is the time of impact effect, ρ ₁Cushioning coefficient for rubber tyre; This bump will make the certain speed of whole system forfeiture, so behind bump, the speed that system keeps is: $v_1\&times;(1-\frac{d^2}{4\&times;R^2})$ 。

9. method as claimed in claim 5 is characterized in that described image display device shows the respective image on the projected route.

Images