TWM593633U - 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 for detachably positioning 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 for detachable positioning of the rear wheel of the bicycle and detects the rotation speed of the rear wheel. The rear wheel resistance control device can be used to provide different resistances 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 according to the road condition data in the virtual reality visual interface, the status of each of the aforementioned devices and the The traffic information corresponds.

Description

Bicycle simulation reality training platform

The present invention relates to a training device, especially a bicycle simulation real-world training platform.

Most of the bicycle training stations or flywheels currently on the market are based on straight forward training for pedaling muscle endurance. Putting a general bicycle on it for practice, or directly locking it on the training platform as a fixed practice platform (flywheel), are currently bicycle enthusiasts in the indoor control training environment and time, improve training efficiency, fitness, The best choice for simulating cycling conditions beforehand, and therefore has a growing sales year by year in the market.

Most of the bicycle training platforms are integrated, and the control mode can only adjust the resistance, which is less realistic in riding. If you want to simulate climbing and sprinting movements, you must also change your posture on a fixed base. It cannot be like the natural rhythm of the car body during real riding, and it is neither real nor easy to control.

In view of this, the purpose of the new model is to provide a bicycle simulation reality training platform that simulates the riding state of outdoor roads.

The novel bicycle simulation reality training platform can erect 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 pivot arranged on the vehicle body For the rear wheels at the rear, 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 for detachably positioning 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 for detachable positioning of the rear wheel of the bicycle and detects the rotation speed of the rear wheel. The rear wheel resistance control device can be used to provide different resistances 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 according to the road condition data in the virtual reality visual interface, the status of each of the aforementioned devices and the The traffic information corresponds.

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 device disposed above the lifting mechanism and A rotation angle detection mechanism electrically connected to the microcontroller, the rotation angle detection mechanism is used to detect the angle of the left and right rotation 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 excessive 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 having a staggered arrangement of black and white lines, and a means for detecting the moving speed of the black and white lines on the inertial wheel Infrared tracking sensor.

Another technical means of the present invention is that the imaging unit further includes a support frame for positioning the rear wheel. The rear wheel is detachably mounted on the support frame and can drive the inertia wheel.

Another technical means of the present invention is that the rear wheel resistance control device includes a servo motor and a magnetoresistive 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 stores road slope parameters corresponding to each interface.

The beneficial effect of the present invention is that, through the aforementioned architecture, combined with virtual reality software and dynamic somatosensory devices, it can simulate the change of the vehicle body elevation angle and pedaling resistance when the road is going up and down the slope, and also the outdoor road riding state.

Relevant patent application features and technical content of the new model will be clearly presented in the following detailed description of the preferred embodiment with reference to the drawings. Before making a detailed description, it should be noted that similar elements are represented by the same number.

Referring to Figures 1 and 2, this is a preferred embodiment of the new bicycle simulation reality training platform, including a front wheel lifting device 2, a wheel speed sensing device 3, a rear wheel resistance control device 4, and a virtual reality visual interface 5. As shown in FIG. 2, the preferred embodiment can set up a bicycle, which includes a body 11, a steering handle 12 provided in front of the body 11, a front fork 13 linked by the steering handle 12, a A rear wheel 14 pivotally arranged behind the vehicle body 11 and a pedal mechanism 15 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 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 excessively raising and lowering, and a microcontroller 21 electrically connected to the microcontroller 21 PID controller 26, and an ultrasonic sensor 27 electrically connected to the microcontroller 21. As shown in FIG. 4, the front fork 13 of the bicycle 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, and the rotation angle is detected The mechanism 24 is used to detect the angle of the left and right rotation of the front fork 13 in the direction of arrow B in the figure.

Referring again to FIGS. 1 and 3, the wheel speed sensing device 3 includes a support frame 31 for positioning the rear wheel 14, an inertia wheel 32 driven by the rear wheel and having staggered 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 inertia wheel 32.

The rear wheel resistance control device 4 includes a servo motor 41 and a magnetic resistance mechanism 42 controlled by the servo motor 41. The virtual reality visual interface 5 includes at least the Unity 3D interface 51 and the Google Street View interface 52, and stores the road gradient parameters corresponding to each interface, and communicates with the front-lift 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 describes 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, the bicycle's front fork 13 is installed on the front wheel lifting device 2, and the rear wheel 14 is installed on the support frame 31. The rear wheel 14 is brought into contact with the axle of the inertial wheel 32.

The user first selects the actual graphical interface to be used through the virtual reality visual interface 5. In the preferred embodiment, the Unity 3D interface 51 or the Google Street View interface 52 may be selected. After selecting the reality graphical interface, the user starts to step on the pedal. At this time, the angle of the road simulation interface of the virtual reality visual interface 5 will start to advance with the user's stepping action, and the front wheel lifting device 2 and the rear wheel resistance control device 4 will read the road gradient parameter, the rear wheel The servo motor 41 of the resistance control device 4 will pull the magnetoresistive mechanism 42 according to the road gradient parameter, so that the magnetoresistive mechanism 42 generates a corresponding resistance to the inertial wheel 32 of the wheel speed sensing device 3 to change The rear wheel 14 drives the inertia wheel 32 to rotate with the required force. In this embodiment, the magnetoresistive mechanism 42 is mounted on the side edge of the axle magnet of the inertia wheel 32 by a motor with a fixed magnet, and then the magnet is moved from inside to outside by controlling the rotation angle to change the magnetoresistive mechanism 42 and the The degree of magnetic attraction between the inertia wheels 32 produces a change in resistance.

When the virtual reality visual interface 5 enters an uphill section, the slope data in the screen will be transmitted to the microcontroller 21, and the driving mechanism 22 will be controlled to drive the lifting mechanism 23 to perform the corresponding lifting action, which in turn will drive the front fork 13 And the steering handle 12 is raised and lowered, so that the user can generate a corresponding body feeling according to the slope in the screen. In this embodiment, the driving mechanism 22 is a motor, and the lifting mechanism 23 is a jack, but it is not limited to this. It should be particularly noted that the front wheel lifting device 2 is particularly provided with the ultrasonic sensor 27 for sensing the value of the distance between the lifting mechanism 23 and the ground, and the median value filtering 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 a PWM signal to enable the driving mechanism 22 to accurately drive the lifting mechanism 23 to the predetermined lifting position .

~

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 the signal is calculated as a centimeter distance, but due to the sensitivity of the sensor, the signal distance is easily caused by the body shaking. stable. In order to separate the shaking signal for judgment, the ultrasonic sensing signal is analyzed by median filtering. The parameters measured by the ultrasonic wave are first stored in the array, and then rearranged from small to large by Bubblesort Save as

~

Then store the arrayed ultrasound values in the array. The number of strokes stored in these values will affect the change and characteristic curve after median filtering. The seven-stroke array data is used for description in this document, and the value of the signal after calculation is substituted into the following formula for calculation. 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 differential unit (D). The characteristics of these three units can be adjusted by adjusting the gains Kp, Ki and Kd. The PID controller 26 is mainly suitable for systems that are substantially 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 to develop the PID controller 26 and receive the slope signal. And the ultrasonic distance signal, when the microcontroller 21 receives the signal, it will output the appropriate PWM signal after PID calculation, 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 a limit switch at the upper and lower positions of the lifting mechanism 23 respectively. When the lifting mechanism 23 touches the limit switch during the ascent or descent process, the The driving mechanism 22 will immediately stop rotating to prevent over-rotation.

When the user turns the steering handle 12 during pedaling to drive the front fork 13 to rotate together, the rotation angle detection mechanism 24 is used to detect the angle of the left and right rotation of the front fork 13 to make the virtual reality visual interface The picture angle of 5 rotates with it. In this embodiment, the rotation angle detection mechanism 24 uses a potentiometer to detect the rotation direction of the front fork 13, and the voltage value changed when the potentiometer's rotation resistance is rotated is calculated into a program and fed back to the virtual reality The environment visual interface 5 makes it change the viewing angle direction according to the voltage level.

In addition, when the rear wheel 14 rotates and drives the inertial wheel 32 of the wheel speed sensing device 3, since the inertial wheel 32 has black and white lines staggered, the infrared tracking sensor 33 uses reflection of light To detect the moving speed of the black and white lines on the inertial wheel 32, and then calculate 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 high and low grass and hillsides through the Unity3D terrain editor, and changes the road object parameters through the EasyRoad3D plug-in to adjust various bends and slopes, and draws suitable for simulating riding Road, then 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 preset camera, so as to control the progress of the screen and allow the character to obtain gravity and friction to simulate the actual riding of the bicycle. Written in Unity C# Script program, combined with Unity Scripting API, connected to the aforementioned devices via USB via serial communication RS232, and receiving signal calculation from external hardware, combined with API provided by Unity to control the built Unity The scene, and take the bicycle as the main axis, and plan its dedicated training track.

In addition, in this embodiment, in order to connect with maps around the world, the cloud-based Google Map JavaScript API street view service is written in the C# programming language, and is combined with the .NET Framework API, and is connected by USB through 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. Use the Geocoding API and Maps Elevation API to parse the address, convert the address to the corresponding coordinates and slope, and then return Pass the corresponding scene, latitude, longitude, altitude and other data to achieve the simulation of the actual outdoor road surface.

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

However, the above are only the preferred embodiments of the new model, but the scope of the implementation of the new model cannot be limited by this, that is, the simple equivalent changes and modifications made according to the scope of the patent application and the description of the new model, All of them are still covered by this new patent.

11: Car body 12: steering handle 13: front fork 14: Rear wheel 15: Stepping 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: Inertia 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

FIG. 1 is a system architecture diagram, which is a preferred embodiment of a new bicycle simulation reality training platform; FIG. 2 is a schematic side view illustrating the state of setting up 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 explanation, some electronic components are omitted in the figure; 4 is a front view illustrating the manner in which the front wheel lifting device is combined with the front fork of the bicycle in the preferred embodiment; and 5 is a plan view illustrating the manner 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: front fork

14: Rear wheel

15: Stepping mechanism

2: Front wheel lifting device

3: Wheel speed sensing device

4: Rear wheel resistance control device

5: Virtual reality visual interface

Claims (10)

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 pivot arranged at the rear of the vehicle body The rear wheel and a pedaling mechanism that drives the rear wheel. The bicycle simulation training platform includes: A front wheel lifting device for detachably positioning the front fork of the bicycle, and can drive the front fork to lift and detect the steering of the front fork; A wheel speed sensing device for the detachable positioning of the rear wheel of the bicycle and to detect the rotation 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, which 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 status of each of the aforementioned devices according to the road condition data in the virtual reality visual interface The traffic information corresponds. According to the bicycle simulation reality training platform described in item 1 of the patent application scope, 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 rotation angle detection mechanism disposed above the lifting mechanism and electrically connected to the microcontroller, the rotation angle detection mechanism is used to detect the angle of the left and right rotation of the front fork, and make the picture of the virtual reality visual interface The angle of view follows. According to the bicycle simulation reality training platform described in item 2 of the patent application scope, wherein the front wheel lifting device further includes a limit mechanism electrically connected to the driving mechanism and used to prevent the lifting mechanism from excessively lifting. The bicycle simulation reality training platform according to item 3 of the patent application scope, 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. The bicycle simulation reality training platform according to item 4 of the patent application scope, wherein the wheel speed sensing device includes an inertial wheel driven by the rear wheel and having black and white lines staggered, and a wheel for detecting the Infrared tracking sensor for the movement rate of black and white lines on the inertial wheel. According to the bicycle simulation reality training platform described in item 5 of the patent application scope, wherein the wheel speed sensing device further includes a support frame for positioning the rear wheel, the rear wheel is detachably mounted on the support It can be driven on the frame. According to the bicycle simulation reality training platform described in item 6 of the patent application scope, the rear wheel resistance control device includes a servo motor and a magnetoresistive mechanism controlled by the servo motor. According to the bicycle simulation reality training platform described in item 4 of the patent application scope, the ultrasonic sensor adopts a median filtering method for signal analysis. According to the bicycle simulation reality training platform described in item 1 of the patent application scope, wherein the virtual reality visual interface is through the RS232/Modbus communication protocol with the front-end lifting device, the rear wheel resistance control device, and the wheel speed Sensing device to communicate. According to the bicycle simulation reality training platform described in item 1 of the patent application scope, the virtual reality visual interface includes at least a Unity 3D interface and a Google Street View interface, and stores road slope parameters corresponding to the interfaces.

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