TWI698267B - A bicycle simulation reality training platform - Google Patents

Abstract

A bicycle simulation reality training platform can erect a bicycle and includes a front wheel lifting device, a wheel speed sensing device, a rear wheel resistance control device, and a virtual reality visual interface. The front wheel lifting device is detachably positioned for the front fork of the bicycle, and can drive the front fork to lift and lower, and detect the steering of the front fork. The wheel speed sensing device is detachably positioned for the rear wheel of the bicycle and detects the speed of the rear wheel. The rear wheel resistance control device can be used to provide different resistance to the rear wheel. The virtual reality visual interface is electrically connected to the front wheel lifting device, the rear wheel resistance control device, and the wheel speed sensing device, and the condition of each device corresponds to the road condition data.

Description

Bicycle simulation reality training platform

The invention relates to a training device, in particular to a bicycle simulation real-world training platform.

Most of the bicycle training platforms or flywheels currently on the market use straight forward training for pedaling muscle endurance. Placing a general bicycle on it for exercise, or directly locking it on the training platform as a fixed exercise platform (flywheel vehicle), is the current indoor cyclist to control the training environment and time, improve training efficiency, fitness, The best choice for simulating riding road conditions beforehand, and therefore has a year-on-year sales growth in the market.

The bicycle training platform is mostly integrated, and the control method can only adjust the resistance, which is less realistic in riding. If you want to simulate climbing and sprinting actions, you have to change your posture. On a fixed base, it cannot be as the natural rhythm of the car body when riding, and it is neither realistic nor easy to control.

Therefore, the purpose of the present invention is to provide a bicycle simulation reality training platform that simulates the riding state of an outdoor road.

The bicycle simulation reality training platform of the present invention can set up a bicycle. The bicycle includes a vehicle body, a steering handle set in front of the vehicle body, a front fork linked by the steering handle, and a pivoted on the vehicle body At the rear wheel, the bicycle simulation reality training platform includes a front wheel lifting device, a wheel speed sensing device, a rear wheel resistance control device, and a virtual reality visual interface. The front wheel lifting device is used for detachable positioning of the front fork of the bicycle, and can drive the front fork to lift and detect the steering of the front fork. The wheel speed sensing device is used for detachable positioning of the rear wheel of the bicycle and detecting the rotation speed of the rear wheel. The rear wheel resistance control device can be used to provide different resistance to the rear wheel. The virtual reality visual interface is electrically connected to the front wheel lifting device, the rear wheel resistance control device, and the wheel speed sensing device, and can make the state of the aforementioned devices correspond to the road condition data in the virtual reality visual interface. This road condition data corresponds to it.

Another technical means of the present invention is that the front wheel lifting device includes a microcontroller, a driving mechanism electrically connected to the microcontroller, a lifting mechanism driven by the driving mechanism, and a lifting mechanism arranged above the lifting mechanism The rotation angle detection mechanism is electrically connected to the microcontroller, and the rotation angle detection mechanism is used for detecting the left and right rotation angle of the front fork.

Another technical means of the present invention is that the front wheel lifting device further includes a limit mechanism electrically connected to the driving mechanism and used to prevent the lifting mechanism from over-lifting.

Another technical means of the present invention is that the front wheel lifting device further includes a PID controller electrically connected to the microcontroller, and an ultrasonic sensor electrically connected to the microcontroller.

Another technical means of the present invention is that the wheel speed sensing device includes an inertial wheel driven by the rear wheel and staggered with black and white lines, and a device for detecting the movement speed of the black and white lines on the inertial wheel Infrared tracking sensor.

Another technical means of the present invention is that the wheel speed sensing device further includes a support frame for positioning the rear wheel, and the rear wheel is detachably mounted on the support frame and can drive the inertial wheel.

Another technical means of the present invention is that the rear wheel resistance control device includes a servo motor and a reluctance mechanism controlled by the servo motor.

Another technical method of the present invention is that the ultrasonic sensor adopts a median filtering method for signal analysis.

Another technical means of the present invention is that the virtual reality visual interface communicates with the front lift device, the rear wheel resistance control device, and the wheel speed sensing device through the RS232/Modbus communication protocol.

Another technical method of the present invention is that the virtual reality visual interface includes at least a Unity 3D interface and a Google Street View interface, and the road gradient parameters corresponding to each interface are stored.

The effect of the present invention is that through the aforementioned architecture, combined with virtual reality software and dynamic somatosensory devices, it can simulate changes in vehicle body elevation angle and pedaling resistance when a road rises and falls, and it can also be used for outdoor riding conditions.

The features and technical content of the related patent applications of the present invention will be clearly presented in the following detailed description of the preferred embodiments with reference to the drawings. Before detailed description, it should be noted that similar components are represented by the same numbers.

1 and 2 are preferred embodiments of the bicycle simulation reality training platform of the present invention, including a front wheel lifting device 2, a wheel speed sensing device 3, a rear wheel resistance control device 4, and a virtual reality vision Interface 5. As shown in Figure 2, the preferred embodiment can be used to mount a bicycle, the bicycle includes a body 11, a steering handle 12 arranged in front of the body 11, a front fork 13 linked by the steering handle 12, a A rear wheel 14 pivoted at the rear of the vehicle body 11 and a pedaling mechanism 15 for driving the rear wheel 14.

1 and 3, the front wheel lifting device 2 includes a microcontroller 21, a driving mechanism 22 electrically connected to the microcontroller 21, a lifting mechanism 23 driven by the driving mechanism 22, and a lifting mechanism set on the lifting mechanism A rotation angle detection mechanism 24 above 23 and electrically connected to the microcontroller 21, a limit mechanism 25 electrically connected to the driving mechanism 22 and used to prevent the lifting mechanism 23 from over-lifting, and an electrically connected to the microcontroller 21 The PID controller 26 and an ultrasonic sensor 27 electrically connected to the microcontroller 21. As shown in Figure 4, the bicycle front fork 13 is detachably positioned on the front wheel lifting device 2. The lifting mechanism 23 can drive the front fork 13 to lift in the direction of arrow A in the figure. The rotation angle is detected The mechanism 24 is used to detect the left and right rotation angle of the front fork 13 in the direction of arrow B in the figure.

1 and 3 again, the wheel speed sensing device 3 includes a support frame 31 for positioning the rear wheel 14, an inertial wheel 32 driven by the rear wheel and staggered with black and white lines, and a The infrared tracking sensor 33 detects the moving speed of the black and white lines on the inertial wheel 32. The rear wheel 14 is detachably mounted on the support frame 31 and can drive the inertial wheel 32.

The rear wheel resistance control device 4 includes a servo motor 41 and a reluctance mechanism 42 controlled by the servo motor 41. The virtual reality visual interface 5 includes at least a Unity 3D interface 51 and a Google Street View interface 52, and stores the road gradient parameters corresponding to each interface, and communicates with the front lifting device and the rear wheel resistance through the RS232/Modbus communication protocol. The control device 4 communicates with the wheel speed sensing device 3.

The following content explains the use of this preferred embodiment. First, the user installs the bicycle on the bicycle simulation reality training platform of the present invention, that is, installs the front fork 13 of the bicycle on the front wheel lifting device 2 and the rear wheel 14 on the support frame 31, The rear wheel 14 is brought into contact with the axle of the flywheel 32.

The user first clicks on the real-world graphical interface to be used in the virtual reality visual interface 5. In this preferred embodiment, it can be either the Unity 3D interface 51 or the Google Street View interface 52. After selecting the real-world graphical interface, the user starts pedaling. At this time, the road simulation interface angle of view of the virtual reality visual interface 5 will start to advance with the user's pedaling action, and the front wheel lifting device 2 and the rear wheel resistance control device 4 will read the road gradient parameters, and the rear wheel The servo motor 41 of the resistance control device 4 pulls the reluctance mechanism 42 according to the road gradient parameter, so that the reluctance mechanism 42 generates a corresponding resistance to the inertial wheel 32 of the wheel speed sensing device 3 to change The force required for the rear wheel 14 to drive the inertial wheel 32 to rotate. In this embodiment, the reluctance mechanism 42 uses a motor with a fixed magnet to be erected on the side edge of the axle magnet of the flywheel 32, and then changes the reluctance mechanism 42 and the magnet by controlling its rotation angle to move the magnet from inside to outside. The degree of magnetic attraction between the flywheels 32 changes the resistance.

When the virtual reality visual interface 5 enters an uphill section, the gradient data in the screen will be sent to the microcontroller 21 to control the driving mechanism 22 to drive the lifting mechanism 23 to perform corresponding lifting actions, and then drive the front fork 13 And the steering handle 12 is raised and lowered, so that the user can generate a corresponding sense of body in response to the gradient in the screen. In this embodiment, the driving mechanism 22 is a motor, and the lifting mechanism 23 is a jack, but not limited to this. It should be particularly noted that the front wheel lifting device 2 is specially provided with the ultrasonic sensor 27 to sense the value of the distance between the lifting mechanism 23 and the ground, and the median filter method is used for signal analysis, and the vehicle After the noise such as the surge signal caused by the shaking of the body 11 is removed, the PID controller 26 adjusts the parameters of P, I, and D, and outputs the PWM signal so that the driving mechanism 22 can accurately drive the lifting mechanism 23 to the predetermined lifting position .

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再將排列後超音波的數值儲存於陣列當中。這些數值所儲存的筆數，會影響中值濾波後的變化量及特性曲線。在本說明文件內以七筆的陣列資料加以說明，將訊號計算後值數值代入以下的公式定義內運算。中值表式為

，其中算式定義為：

。均值表示為

，其中算式定義為：

。 Among them, this embodiment uses the HC-SR04 ultrasonic ranging module, and uses I/O to trigger the ranging, and calculates the signal into a centimeter distance. However, the sensor is sensitive to sensing, and the signal distance is likely to be different due to body shaking. stable. In order to separate the shaking signal for judgment, the ultrasonic sensing signal is analyzed by median filtering. First, the parameters measured by the ultrasonic wave are stored in the array, and then rearranged from small to large by Bubblesort. Save as

~

Then store the ultrasonic values after the arrangement in the array. The number of pens stored in these values will affect the change and characteristic curve after median filtering. In this document, seven array data are used to explain, and the calculated value of the signal is substituted into the following formula definition. The median expression is

, Where the formula is defined as:

. The mean is expressed as

, Where the formula is defined as:

.

In addition, the PID controller 26 (proportional-integral-derivative controller) is composed of a proportional unit (P), an integral unit (I), and a derivative unit (D). The characteristics can be adjusted by adjusting the gain Kp, Ki and Kd of these three units. The PID controller 26 is mainly suitable for systems that are basically linear and whose dynamic characteristics do not change with time. Therefore, in this embodiment, the height position of the front fork 13 is dynamically adjusted according to the slope height on the visual interface, the hardware part is written in the Arduino IDE C/C++ language, the PID controller 26 is developed, and the slope signal is received. As well as the ultrasonic distance signal, when the microcontroller 21 receives the signal through PID calculation, it will output an appropriate PWM signal so that the driving mechanism 22 can accurately and quickly control the elevator to a predetermined height.

At the same time, in this embodiment, the limit mechanism 25 is provided with limit switches at the upper and lower positions of the lifting mechanism 23, and when the lifting mechanism 23 touches the limit switch during the ascent or descending process, the The driving mechanism 22 will immediately stop rotating to prevent over-rotation.

When the user turns the steering handle 12 during the stepping process to drive the front fork 13 to rotate together, the rotation angle detecting mechanism 24 is used to detect the left and right rotation angle of the front fork 13 to enable the virtual reality visual interface The viewing angle of the screen of 5 rotates accordingly. In this embodiment, the rotation angle detection mechanism 24 uses a potentiometer to detect the rotation direction of the front fork 13, and brings the voltage value changed when the potentiometer rotates the resistance to the program calculation and feeds it back to the virtual reality. The visual interface 5 makes it change the direction of viewing angle in response to the voltage.

In addition, when the rear wheel 14 rotates and drives the flywheel 32 of the wheel speed sensing device 3 to rotate, since the flywheel 32 has a staggered arrangement of black and white lines, the infrared tracking sensor 33 uses the reflection of light The speed is used to detect the moving speed of the black and white lines on the inertial wheel 32, and then calculate it as the forward speed, and output to the virtual reality visual interface 5 to simulate the actual riding speed.

The Unity 3D interface 51 of this embodiment draws undulating grass and hillsides through the terrain editor of Unity3D, and changes the road object parameters through the EasyRoad3D plug-in to adjust various curves and slopes, and draw them suitable for simulated riding. For roads, use wall-shaped objects to attach materials and set Rigidbody to prevent riding out of the picture. Finally, the first-person editor is placed in the default camera, so as to control the screen movement and allow the character to obtain gravity and friction to simulate the actual riding of a bicycle. Use Unity C# Script to program and combine it with Unity Scripting API. Connect to the aforementioned devices via USB via serial communication RS232, and receive signal calculations from external hardware, then combine with the API provided by Unity to control the built Unity The scene, and the bicycle is the main axis, and its dedicated training track is planned.

In addition, in order to connect to maps around the world, this embodiment combines the cloud-based Google Map JavaScript API street view service, written in C# programming language, combined with the .NET Framework API, and connected via USB via serial communication RS232 Go to the microcontroller 21 and receive the signal calculation from the external hardware, and then send it to the Google Maps JavaScript API of Google Apps Script, resolve the address through the Geocoding API and Maps Elevation API, convert the address into the corresponding coordinates and slope, and then return Transfer the corresponding scene, latitude and longitude, altitude, etc. data to simulate the actual outdoor road surface conditions.

In summary, the bicycle simulation reality training platform of the present invention only needs to disassemble the front wheel and fix the front fork 13 on the lifting mechanism 23, and then place the rear wheel 14 on the support frame 31 and connect the inertial wheel. 32 can be used. Coupled with the virtual reality visual interface 5, Unity3D map or Google Map can be used to make changes in up and down according to the ups and downs of the slope of the road section, and the riding experience is closer to reality.

However, the above are only preferred embodiments of the present invention, and should not be used to limit the scope of implementation of the present invention, that is, simple equivalent changes and modifications made according to the scope of the patent application and the description of the invention, All are still within the scope of the invention patent.

11: Car body

12: steering handle

13: Fork

14: rear wheel

15: trampling mechanism

2: Front wheel lifting device

21: Microcontroller

22: drive mechanism

23: Lifting mechanism

24: Rotation angle detection mechanism

25: limit mechanism

26: PID controller

27: Ultrasonic sensor

3: Wheel speed sensing device

31: Support frame

32: Friction wheel

33: Infrared tracking sensor

4: Rear wheel resistance control device

41: Servo motor

42: Magnetoresistive mechanism

5: Virtual reality visual interface

51: Unity 3D interface

52: Google Street View interface

A, B: Arrow

Figure 1 is a system architecture diagram, which is a preferred embodiment of the bicycle simulation reality training platform of the present invention; Figure 2 is a schematic side view illustrating the state of erecting a bicycle in the preferred embodiment; 3 is a perspective view illustrating the structure of a front wheel lifting device, a wheel speed sensing device, and a rear wheel resistance control device in the preferred embodiment. For ease of description, some electronic components are omitted in the figure; Figure 4 is a front view illustrating how the front wheel lifting device is combined with the front fork of the bicycle in the preferred embodiment; and Fig. 5 is a top view illustrating the way in which the wheel speed sensing device and the rear wheel resistance control device are combined with the rear wheel of the bicycle in the preferred embodiment.

11: Car body

12: steering handle

13: Fork

14: rear wheel

15: trampling mechanism

2: Front wheel lifting device

3: Wheel speed sensing device

4: Rear wheel resistance control device

5: Virtual reality visual interface

Claims (9)

A bicycle simulation reality training platform capable of erecting a bicycle. The bicycle includes a vehicle body, a steering handle arranged in front of the vehicle body, a front fork linked by the steering handle, and a pivoted rear of the vehicle body The rear wheel, and a pedaling mechanism that drives the rear wheel, the bicycle simulation reality training platform includes: a front wheel lifting device for the front fork of the bicycle to be detachably positioned, and can drive the front fork to lift, and detect the For the steering of the front fork, the front wheel lifting device includes a microcontroller, a driving mechanism electrically connected to the microcontroller, a lifting mechanism driven by the driving mechanism, and a lifting mechanism arranged above the lifting mechanism and electrically connected to The rotation angle detection mechanism of the microcontroller; a wheel speed sensing device for detachable positioning of the rear wheel of the bicycle and detecting the speed of the rear wheel; a rear wheel resistance control device that provides different resistance to the rear wheel ; And a virtual reality visual interface, electrically connected with the front wheel lifting device, the rear wheel resistance control device, and the wheel speed sensing device, and can make the aforementioned devices according to the road condition data in the virtual reality visual interface The state corresponds to the road condition data, wherein the rotation angle detecting mechanism of the front wheel lifting device is used to detect the left and right rotation angle of the front fork, and make the view angle of the virtual reality visual interface rotate accordingly. According to the bicycle simulation reality training platform described in item 1 of the scope of patent application, the front wheel lifting device further includes a limit mechanism electrically connected to the driving mechanism and used to prevent the lifting mechanism from over-lifting. According to the bicycle simulation reality training platform described in item 2 of the scope of patent application, wherein the front wheel lifting device further includes a PID controller electrically connected to the microcontroller, and an ultrasonic sensor electrically connected to the microcontroller Device. According to the bicycle simulation reality training platform described in item 3 of the scope of patent application, the wheel speed sensing device includes an inertial wheel driven by the rear wheel and having a staggered arrangement of black and white lines, and an inertia wheel for detecting the Infrared tracking sensor for the movement rate of black and white lines on the flywheel. According to the bicycle simulation reality training platform described in item 4 of the scope of patent application, the wheel speed sensing device further includes a support frame for positioning the rear wheel, and the rear wheel is detachably installed on the support And can drive the inertial wheel. According to the bicycle simulation reality training platform described in item 5 of the scope of patent application, the rear wheel resistance control device includes a servo motor and a reluctance mechanism controlled by the servo motor. According to the bicycle simulation reality training platform described in item 3 of the scope of patent application, the ultrasonic sensor adopts median filtering method for signal analysis. According to the bicycle simulation reality training platform described in item 1 of the scope of patent application, the virtual reality visual interface is connected to the front lifting device, the rear wheel resistance control device, and the wheel speed through the RS232/Modbus communication protocol The sensing device communicates. According to the bicycle simulation reality training platform described in item 1 of the scope of patent application, the virtual reality visual interface includes at least a Unity 3D interface and a Google Street View interface, and the road gradient parameters corresponding to each interface are stored.

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