JP2013095306A - Electronic system for bicycle, and program - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a bicycle electronic system configured to properly measure inclination of a bicycle in real time to display it on a display means, and a program for the same.SOLUTION: When an inclination angle calculation process is started, a CPU reads a detection value of an acceleration sensor (S11). When a bicycle is inclined upward by a predetermined angle with respect to a horizontal line, and accelerated forward, acceleration applied to the acceleration sensor is obtained by combining gravity with acceleration to an advance direction. Accordingly, a scalar value of an acceleration sensor value is no longer 1G (S12: NO), and thereby a detection value of a gyro-sensor is read (S14). The current inclination angle is determined by adding the value of the gyro-sensor read in (S14) to a previous inclination angle stored in an RAM (S15). The inclination angle is stored in the RAM in chronological order (S16). The inclination angle is displayed on a display part by using characters and a figure (S17).

Description

  The present invention relates to a bicycle electronic system that measures various information related to bicycle running and displays the information on a display unit, and a program therefor.

  Examples of various information relating to bicycle travel include travel speed, current position display, average speed, lap measurement to the destination, crank rotation speed (cadence), and heart rate (heart rate) during travel. 2. Description of the Related Art Conventionally, a cycle computer has been proposed in which various information can be displayed on a display unit and visually observed by a bicycle user while traveling (see, for example, Patent Document 1). In addition to the speed sensor, the cadence sensor, and the display unit, the measurement device described in Patent Document 1 includes a transmission unit that wirelessly transmits a signal detected by the speed sensor and the cadence sensor to the display unit. The transmission section is provided with a shaft section extending in one direction, and a cadence sensor and a speed sensor are pivotally supported so as to be rotatable. A measurement main body including a speed sensor, a cadence sensor, and a transmitter is attached to the chain stay. The display unit is attached to a portion of the handle that enters the field of view while riding a bicycle, and has a function of receiving a signal sent from the transmission unit, processing the signal, and displaying predetermined information.

  As an inclination angle measuring sensor, one described in Patent Document 2 has been proposed. This tilt angle measurement sensor includes a first sensor unit for measuring an acceleration component, a second sensor unit for measuring an angular velocity component, and an arithmetic processing unit.

JP 2005-67354 A Japanese Patent Laid-Open No. 2007-232662

  However, in the cycle computer as shown in Patent Document 1, since the current gradient measurement calculates the gradient based on the altitude difference by the GPS or barometric sensor and the advanced distance obtained from the GPS or velocity sensor, the past road However, there was a problem that only the gradient of the image could be displayed.

  In addition, in the tilt angle sensor described in Patent Document 2, since there is an error in calculation processing, only the output from one measurement axis can be obtained successfully, and the output from three measurement axes cannot be calculated. there were.

  The present invention has been made to solve the above problems, and an object of the present invention is to provide a bicycle electronic system capable of accurately measuring the tilt of the bicycle in real time and displaying it on the display means, and a program therefor.

  In order to achieve the above object, a bicycle electronic system according to the first aspect of the present invention is a bicycle electronic system that measures a tilt angle of a bicycle with respect to a reference plane and displays on the display means a display based on the tilt angle. An acceleration detection means capable of detecting acceleration for three measurement axes; an angular velocity detection means capable of detecting angular velocities for the three measurement axes; and whether or not the acceleration detected by the acceleration detection means is equivalent to a gravitational acceleration. And an inclination angle calculating means for calculating the inclination angle, and the inclination angle calculating means determines that the acceleration detected by the acceleration detecting means is equivalent to a gravitational acceleration. Sets the current tilt angle based on the output value of the acceleration sensor, and the acceleration detected by the acceleration detecting means is equivalent to the gravitational acceleration. It is characterized by updating the current tilt angle by by accumulating on the basis of the output value of the angular velocity detecting means with respect to the current tilt angle when the Most determined. The acceleration detection means is not limited to a triaxial sensor, and three uniaxial sensors may be combined.

  With such a configuration, it is possible to accurately measure the tilt of the bicycle in the front-rear direction, the tilt in the left-right direction, and the bending of the vehicle body and display them on the display means.

  In the bicycle electronic system according to the present invention, the tilt angle calculation means may calculate the tilt angle in real time.

  With such a configuration, the inclination of the bicycle can be measured immediately and displayed on the display means.

  In the bicycle electronic system according to the present invention, the real time means a time when the user feels that the state of the bicycle tilt angle displayed on the display means reflects the current state of the bicycle tilt angle. It is good to make it an interval.

  With such a configuration, the inclination of the bicycle as felt by the user riding the bicycle can be displayed on the display means, and the user does not feel uncomfortable.

  The bicycle electronic system according to the present invention further includes a movement speed calculation unit that calculates a movement speed of the bicycle, and as the movement speed calculated by the movement speed calculation unit increases, the inclination angle calculation unit includes: The time interval for calculating the tilt angle may be shortened.

  With such a configuration, the inclination angle of the bicycle can be accurately calculated even when the bicycle moving speed is increased.

  In the bicycle electronic system according to the present invention, the tilt angle calculating means may calculate the tilt angle a predetermined number of times during one dancing of the bicycle. Note that the period between one dancing of the bicycle means, for example, that the inclination angle of the bicycle changes from an upright state to an upright state through a peak of the leftward inclination angle and then reaches an upright state again through a peak of the rightward inclination angle. Even a time obtained from one cycle time or the like may be a time generally assumed as one dancing time for riding a normal bicycle.

  With such a configuration, since the inclination angle is calculated a plurality of times during one dancing of the bicycle, the inclination angle during dancing can be accurately calculated.

  The bicycle electronic system according to the present invention may further comprise recording means for recording the inclination angle calculated by the inclination angle calculation means so that the time series can be specified.

  With such a configuration, the inclination angle of the bicycle can be stored in time series, and the history of the inclination angle when the bicycle is moved can be displayed on the display means later.

  The bicycle electronic system according to the present invention may further include display control means for displaying a 3D image on the display means based on the inclination angle calculated by the inclination angle calculation means.

  With such a configuration, since a 3D image can be displayed on the display means based on the bicycle tilt angle, a user riding on the bicycle can easily visually recognize the current tilt angle of the bicycle. .

  In the program according to the second aspect of the present invention, the computer is caused to function as each processing means of the bicycle electronic system according to any one of claims 1 to 7.

  With a program having such a configuration, a smartphone, a hortable navigation device, or the like can perform the same operation as the above-described bicycle electronic system.

  According to the present invention, since the inclination of the bicycle is accurately measured in real time and displayed on the display means, it is possible to realize a bicycle electronic system and a program therefor that do not give the user who looks at the display means a sense of discomfort.

1 is a plan view of a cycle computer 10 according to an embodiment of the present invention. 1 is an explanatory diagram for explaining an outline of a state in which a cycle computer is set on a bicycle. FIG. 2 is a block diagram illustrating an electrical configuration of the cycle computer 10. FIG. 3 is a block diagram illustrating an electrical configuration of a sensor box 8. FIG. It is a flowchart of an inclination angle calculation process. It is a flowchart of a movement speed calculation process. It is a figure which shows the state which the bicycle 1 inclined and stopped. It is a figure which shows the state which the bicycle 1 inclines and progresses diagonally upward. It is a graph which shows the detected angular velocity. It is a graph which shows the angle calculated | required from angular velocity. 1 is a diagram of a bicycle 1 in a horizontal state. It is a figure which shows the inclination in the front-back direction of the bicycle. It is a figure which shows the inclination in the left-right direction of the bicycle. It is a figure which shows that the self-contained navigation of the bicycle 1 is possible. 4 is a diagram illustrating an example of 3D display of the bicycle 1 on the display unit 16. FIG.

  Hereinafter, a cycle computer as an embodiment of a bicycle electronic system of the present invention will be described with reference to the drawings. As shown in FIG. 1, the cycle computer 10 includes a substantially rectangular casing 11 in a plan view. The casing 11 contains an electronic circuit and a battery, and the casing 11 has a frame-like frame portion. 15 is provided. Further, a display unit 16 as a display means is provided in the frame unit 15. As an example, the display unit 16 is constituted by a small 3-inch liquid crystal display. The display unit 16 also serves as a touch panel as input means. Further, a power button 17 is formed on the right side surface of the housing 11 and a menu button 18 is formed on the left side surface. A charging notification lamp 20 for notifying the charging state is provided at a position below the display unit 16 in the frame unit 15 in FIG. As an example, the cycle computer 10 uses a battery (secondary battery) made of a lithium ion battery as a power source, and removes a back cover (not shown) so as to be housed inside the housing 11. In addition, a memory card reader, which will be described later, is also disposed inside the housing 11, and the back cover is removed so that a memory card such as an SD card as an external storage medium can be attached to and detached from the memory card reader.

  As shown in FIG. 2, the cycle computer 10 is attached to a position on the handle 13 of the bicycle 1 through a holder (not shown) on a handle 13 of the bicycle 1 by a binding band 12 as attachment means. The cycle computer 10 includes a wheel rotation sensor 21 as a wheel rotation speed detection means. The wheel rotation sensor 21 is set as a magnet 22 as a movement detection body prepared separately. As shown in FIG. 2, the wheel rotation sensor 21 can be attached by, for example, the binding band 12 at a position facing the spoke 26 of the front wheel 25 of the front fork 24 of the bicycle 1. The magnet 22 is attached to a position on a locus intersecting with the wheel rotation sensor 21 by rotation of the front wheel 25 with respect to any spoke 26 of the front wheel 25. The wheel rotation sensor 21 detects the magnetic field lines of the magnet 22 that circulates with the rotation of the front wheel 25 once for each rotation of the front wheel 25.

  As shown in FIG. 2, the cycle computer 10 includes a crank rotation sensor 27 as a crank rotation speed calculation means. The crank rotation sensor 27 is set as a set with a magnet 23 as a movement detection body prepared separately. The crank rotation sensor 27 can be attached to the chain stay 28 of the bicycle 1 by the binding band 12 at a position facing the pedal 30 on the crank 29 side. The magnet 23 is attached to the pedal 30. The attachment position of the magnet 23 is a position that intersects the crank rotation sensor 27 by the rotation of the pedal 30. The crank rotation sensor 27 detects the magnetic field lines of the magnet 23 that circulates with the rotation of the pedal 30 once for each rotation of the crank 29.

  As shown in FIG. 2, in the bicycle 1, a sensor box 8 including an acceleration sensor 34, a gyro sensor 41, a sensor signal transmitter 40, and the like, which will be described later, is fixed to the upper tube 2 by a binding band 12. .

  Next, the electrical configuration of the cycle computer 10 will be described with reference to the block diagram of FIG. In addition, about the structure which is not directly related to this invention, it abbreviate | omits. A circuit board (not shown) in the casing 11 of the cycle computer 10 is provided with a main controller 3 that controls the main control of the cycle computer 10. The main controller 3 includes a CPU 4 that performs various calculation processes, a ROM 5 that stores various programs, a RAM 6 that temporarily stores data, a timer (not shown), and the like. The main controller 3 is connected with a position detector 31, a memory card reader 32, a notification alarm 33, a database 35, a sensor signal receiver 36, a display unit 16, a power button 17, a menu button 18 and a battery (not shown). .

  A ROM 5 in the main controller 3 stores a traveling speed calculation program for obtaining a traveling speed based on an output from the wheel rotation sensor 21 received by the sensor signal receiver 36, and a crank rotation sensor received by the sensor signal receiver 36. A crank rotation speed calculation program for obtaining a crank rotation speed converted per minute based on the output from the engine 27, an inclination angle calculation processing program, a movement speed calculation program, etc., which will be described later, are stored.

  Further, in the ROM 5, as a program related to the position detector 31, a GPS information processing program for processing GPS information received by the GPS receiver 37 of the position detector 31, a map data is called, and the GPS reception of the position detector 31 is received. A map display program to be displayed on the display unit 16 in association with the position data received by the device 37, the position data received by the GPS receiver 37 of the position detector 31 and the travel distance from the moving distance per unit time. Second travel speed calculation program, history storage program for storing travel history (log data) received by the GPS receiver 37 in the SD card, position data received by the GPS receiver 37 of the position detector 31 and GPS reception Calculate the elapsed time and mileage from the time acquired from the device 37 Costs calorie consumption calculation program for calculating calculates calories, OS (Operation System) and various programs are stored. The RAM 6 temporarily stores the calculated values calculated by the above calculation programs and the position information detected by the position detector 31.

  The position detector 31 as a current position acquisition unit, a speed acquisition unit, and a current time acquisition unit includes a GPS receiver 37 as a known time acquisition unit that acquires GPS information as the core of the configuration. The speed calculation is performed based on the position information acquired based on the movement distance and the movement distance. The detected position information is the latitude, longitude and altitude of the vehicle. The memory card reader 32 reads data on the SD card or updates data on the SD card. The notification alarm 33 as a notification means performs voice notification when setting the cycle computer 10 or at the start or end of a set event.

  The database 35 is a non-volatile memory (for example, EEPROM) in the main controller 3 or externally attached to the main controller 3. In the present embodiment, the database 35 stores object data to be displayed on the display unit 16 in a standby state, master image data, various font data to be displayed on the display unit 16, and the like. These data may be stored in the ROM.

  The sensor signal receiver 36 is a receiving chip composed of an integrated element group, and sensor signal transmitters 38 and 39 on the wheel rotation sensor 21 and crank rotation sensor 27 side, and a sensor signal transmitter of a sensor box 8 described later. The detection data transmitted from 40 is received. The sensor signal receiver 36 and the sensor signal transmitters 38, 39, and 40 use ANT plus (+) for short-range wireless communication as a wireless communication protocol, but other communication protocols such as Bluetooth may be used as a communication protocol. Further, the main controller 3 detects a contact state with the display unit 16 at a timing of several milliseconds, and performs processing according to a command by GUI input.

  Next, the electrical configuration of the sensor box 8 will be described with reference to FIG. A circuit board (not shown) in the sensor box 8 includes an acceleration sensor 34 that detects acceleration, a gyro sensor 41 that detects angular velocity, and a sensor that transmits output signals from the acceleration sensor 34 and the gyro sensor 41 to the main controller 3. A signal transmitter 40 and a battery (not shown) are provided.

  The acceleration sensor 34 as an acceleration acquisition means is a three-axis type sensor that detects acceleration and inclination in the directions of the three axes (X, Y, Z), and always outputs a detection value. Since the inclination can be considered as an acceleration in the direction of gravity, the acceleration sensor 34 can simultaneously detect the inclination. The gyro sensor 41 as an angular velocity detecting means is a three-axis type sensor that detects angular velocities in the directions of the three axes (X, Y, Z), and always outputs a detection value. A tilt sensor may be provided separately from the acceleration sensor 34 for tilt detection.

In the electrical configuration as described above, the main controller 3 executes the following calculation or determination according to a program.
1) Travel Speed Calculation Processing In this embodiment, two travel speed calculation methods are provided. First, the wheel rotation sensor 21 is used. In this case, it is necessary for the user to input the circumference of the bicycle wheel (front wheel 25). Since the detection of the magnetic lines of force of the magnet 22 by the wheel rotation sensor 21 is performed every rotation of the front wheel 25, the travel distance can be calculated by multiplying the count number of the detection signal (= the rotation number of the wheel) and the circumference, The traveling speed can be obtained by dividing the traveling distance by the number of counts per unit time. The acquired traveling speed in this case is set as the first traveling speed.

  The other is due to the GPS receiver 37. Since the cycle computer 10 includes the GPS receiver 37, it is possible to detect the position of the vehicle at the current time and obtain the speed based on the acquired position information and the travel distance. The acquired traveling speed in this case is set as the second traveling speed.

In the present embodiment, the first traveling speed is used for the movement speed calculation process in consideration of the responsiveness. On the other hand, the second traveling speed is used for calculating the log data and the calorie consumption value.
2) Crank speed calculation processing Since the magnetic force lines of the magnet 22 are detected by the crank rotation sensor 27 every rotation of the pedal 30 (= crank 29), the count number of detection signals converted per minute (= crank) 29) is obtained as cadence (unit: rpm).

3) Calculation process of inclination angle (gradient) Next, with reference to the flowchart of the inclination angle calculation process of FIG. 5 and the flowchart of the movement speed calculation process of FIG. Will be described. The tilt angle calculation process program and the movement speed calculation process program are stored in the ROM 5 of the main controller 3 and executed by the CPU 4. Since the current slope of the road where the bicycle 1 is located, the inclination angle is calculated based on the altitude difference by the GPS or barometric sensor and the advanced distance obtained from the GPS or wheel rotation sensor (speed sensor). Only the slope of the past road could be calculated. Therefore, the bicycle driver felt uncomfortable.

  Therefore, in the present embodiment, the sensor box 8 including the acceleration sensor 34 and the gyro sensor 41 is attached to the body of the bicycle 1, and the CPU 4 of the cycle computer 10 performs the tilt angle calculation process shown in FIG. . This inclination angle calculation process is repeatedly executed by the CPU 4 at predetermined time intervals. When the tilt angle calculation process is started, first, the CPU 4 reads the detection value of the acceleration sensor 34 via the sensor signal receiver 36 (S11). Next, it is determined whether or not the scalar value of the sensor value received from the acceleration sensor 34 is 1G (S12). As shown in FIG. 2, if the bicycle 1 is stopped horizontally, the gravity applied to the acceleration sensor 34 of the bicycle sensor box 8 is only 1G in the direction of arrow A in FIG. Further, as shown in FIG. 7, even if the bicycle 1 is inclined obliquely upward by an angle θ1 with respect to the horizontal line H1, if the bicycle 1 is stopped, the bicycle 1 is not accelerated, so the bicycle 1 As for the gravity applied to the acceleration sensor 34 of the sensor box 8, only 1G is applied in the direction of arrow A in FIG. Accordingly, the scalar value of the acceleration sensor 34 is determined to be 1G (S12: YES).

  In this case, the current inclination angle is obtained from the sensor value of the acceleration sensor 34 by the same method as in the prior art (S13). The current tilt angle obtained in S13 is stored in the RAM 6 of the main controller 3 with a time stamp or the like added so that the time series can be specified (S16). Thereafter, the current inclination angle obtained in the process of S13 is displayed on the display unit 16 of the cycle computer 10 as a character or a figure (S17).

  Here, as shown in FIG. 8, when the bicycle is inclined upward by an angle θ1 with respect to the horizontal line H1 and the bicycle is accelerating in the direction of arrow C, the sensor box 8 of the bicycle 1 is used. The gravity applied to the acceleration sensor 34 is 1G in the direction of arrow A in FIG. Further, when the bicycle 1 has the acceleration indicated by the arrow C in the direction of the imaginary line H <b> 2 in FIG. 8, the combined acceleration of the gravity measured by the acceleration sensor 34 and the acceleration indicated by the arrow C is an arrow B. In this case, since the scalar value of the acceleration sensor value is not 1G (S12: NO), the detection value of the gyro sensor 41 is read via the sensor signal receiver 36 (S14).

  Next, the value of the gyro sensor 41 read in S14 is added to the current tilt angle from the previous tilt angle stored in the RAM 6 to obtain the tilt angle (S15). Specifically, the gyro sensor 41 outputs an angular velocity. The current inclination angle (inclination) can be obtained by obtaining and integrating the change angle per unit time. Here, in order to reduce the integration error, the acceleration sensor 34 senses gravitational acceleration, and obtains the absolute value of the current bicycle inclination. Using this value, the integrated value of the gyro sensor 41 is cleared.

角速度から角度を求めるためには、角速度なので、それら軸単位で積算すれば良いと思いがちであるが、絶対的なＺ，Ｙ，Ｚの座標系の上でのものであれば問題なく積算できる。しかし、ジャイロセンサ４１の角度（姿勢や位置）が変化するため回転軸は常に変化する。そのため、絶対的な座標軸に置き換えて計算する必要がある。 In order to obtain the angle from the angular velocity measured by the gyro sensor 41, the movement amount from the previous coordinate system is calculated from the angular velocity per unit time, and the angle is calculated from the coordinates. The formula of the following formula 1 is used for the Euler angle formula used at that time.

In order to obtain the angle from the angular velocity, since it is an angular velocity, it is easy to think that it should be integrated in units of those axes, but if it is on the absolute Z, Y, Z coordinate system, it can be integrated without any problem. . However, since the angle (posture and position) of the gyro sensor 41 changes, the rotation axis always changes. Therefore, it is necessary to calculate by replacing with absolute coordinate axes.

  Here, FIG. 9 shows the angular velocity measured by the gyro sensor 41, and FIG. 10 shows the angle obtained by the process of S15.

  Subsequent to the process of S14, the current inclination angle obtained in S15 is stored in the RAM 6 of the main controller 3 with a time stamp or the like added so that the time series can be specified (S16). Thereafter, the inclination angle obtained in the process of S15 is displayed on the display unit 16 of the cycle computer 10 as a character or a figure (S17).

  Next, a movement speed calculation process for shortening the inclination angle calculation interval according to the movement speed will be described with reference to the flowchart of FIG. In this moving speed calculation process, the CPU 4 of the main controller 3 reads the sensor value from the wheel rotation sensor 21 via the sensor signal receiver 36 (S21). Next, the moving speed is calculated from the sensor value read in S21 (S22). If the calculated moving speed is faster than the predetermined value (S23: YES), the time interval for executing the tilt angle calculation process shown in FIG. 5 is made shorter than the basic interval (S24). In addition, when the issued movement speed is not faster than the predetermined value (S23: NO), the time interval for executing the inclination angle calculation process shown in FIG. 5 is performed at the basic interval (S25). For example, when the basic interval is 500 ms and the moving speed is faster than 20 km / h (S23: YES), the time interval for executing the tilt angle calculation process is shortened to 250 ms or the like (S24). Thereby, the inclination angle can be calculated a predetermined number of times during one dancing of the bicycle 1. Therefore, it is possible to display in real time at time intervals that the user feels that the state of the inclination angle of the bicycle 1 displayed on the display unit 16 reflects the current state of the inclination angle of the bicycle. Therefore, the display of the tilt angle can be updated on the display unit 16 at natural intervals as seen by the human eye.

  In order to obtain the absolute value of acceleration by the acceleration sensor 34, it is necessary to carry out it when the bicycle 1 is stationary or moving at a constant speed. If the bicycle 1 is accelerating, the unit time acceleration is calculated based on the speed obtained from the speed sensor (wheel rotation sensor 21) in combination with the speed sensor (wheel rotation sensor 21). If the acceleration is subtracted from the output value from the acceleration sensor 34, the gravitational acceleration can be obtained.

  Next, the effect of this embodiment will be described with reference to FIGS. First, with reference to FIG.11 and FIG.12, the front-back inclination of the bicycle 1 is demonstrated. As shown in FIG. 11, when the inclination of the bicycle 1 changes from the horizontal state as shown in FIG. 12, the inclination of the bicycle 1 in the front-rear direction from the flat (H1) is θ2, and the slope gradient is θ3. Then, θ2 and θ3 are almost equal. Therefore, in the present embodiment, by measuring the inclination of the bicycle 1 in the front-rear direction using the gyro sensor 41, the slope of the slope and the like can be displayed in real time. Also, you can measure the slope of the line you have passed, not the actual slope. The actual slope of the slope can be read from a map.

  Next, with reference to FIG. 13, the grasping of the inclination of the bicycle 1 in the left-right direction will be described. As shown in FIG. 13, when the bicycle 1 is tilted by θ4 in the left-right direction, the gyro sensor 41 is used to measure the tilt θ4 in the left-right direction of the bicycle 1 so that the behavior of the bicycle 1 at dancing or corners. Can be grasped. Therefore, in the case of dancing, it is possible to make use of it for my training, such as dancing on an uphill or dancing during acceleration.

  Next, the bending of the body of the bicycle 1 will be described with reference to FIG. According to the present embodiment, the traveling angle of the bicycle 1 can be calculated, and the bicycle 1 can be operated independently.

  In the present embodiment, the smoothness of pedaling can be measured using the acceleration sensor 34 with the numerical values in the longitudinal direction of the acceleration sensor 34. That is, the state of the dead point of the pedal 30, the state of depressing, lifting, etc. can be measured by the longitudinal acceleration. It is better to pedal at a constant rhythm except when accelerating or decelerating speed. At that time, the acceleration in the longitudinal direction is less changed.

  In the above embodiment, the acceleration sensor 34 is an example of “acceleration detection means”, and the gyro sensor 41 is an example of “angular velocity detection means”. The process of S12 executed by the CPU 4 is an example of “acceleration determining means”, the process of S15 is an example of “inclination angle calculating means”, and the process of S22 executed by the CPU 4 is “moving speed calculation”. It is an example of “means”. The RAM 6 is an example of a “recording unit that records the tilt angle calculated by the tilt angle calculating unit so that the time series can be specified”.

  The present invention is not limited to the above embodiment, and various modifications can be made. For example, the measured inclination angle value displayed on the display unit 16 of the cycle computer 10 is displayed in real time or stored in a memory card (not shown) using a memory card reader 32 so that the result can be confirmed at a later date. Also good. In addition, the display of the tilt angle on the display unit 16 may be as shown in FIGS. 12 and 13, but as shown in FIG. 15, a bicycle may be taught as shown in 3D display. Moreover, you may display the thing which deducted acceleration like a spirit level.

  Further, in the above embodiment, the sensor box 8 including the acceleration sensor 34 and the gyro sensor 41 is fixed to the upper tube 2 of the bicycle 1, but the acceleration sensor 34 and the gyro sensor 41 are included in the casing of the cycle computer 10. 11 may be incorporated. The bicycle electronic system of the present invention is not limited to the cycle computer 10 and can be applied to, for example, a smartphone, a portable navigation system, and the like.

1 Bicycle 3 Main controller 4 CPU
5 ROM
6 RAM
DESCRIPTION OF SYMBOLS 8 Sensor box 10 Cycle computer 11 Housing | casing 16 Display part 17 Power button 21 Wheel rotation sensor 22 Magnet 23 Magnet 27 Crank rotation sensor 34 Acceleration sensor 36 Sensor signal receiver 38, 39, 40 Sensor signal transmitter 41 Gyro sensor

Claims (8)

An electronic system for a bicycle that measures a tilt angle of a bicycle with respect to a reference plane and performs display on the display means based on the tilt angle,
Acceleration detecting means capable of detecting acceleration for three measurement axes;
Angular velocity detecting means capable of detecting angular velocity for three measurement axes;
Acceleration determining means for determining whether or not the acceleration detected by the acceleration detecting means is equal to gravitational acceleration;
An inclination angle calculating means for calculating the inclination angle;
When the inclination angle calculation means determines that the acceleration detected by the acceleration detection means is equivalent to the gravitational acceleration, the inclination angle calculation means sets the current inclination angle based on the output value of the acceleration sensor, and the acceleration detection If it is determined that the acceleration detected by the means is not equivalent to the gravitational acceleration, the current inclination angle is updated by integrating the current inclination angle based on the output value of the angular velocity detection means. A featured electronic system for bicycles.   The bicycle electronic system according to claim 1, wherein the tilt angle calculation means calculates the tilt angle in real time.   3. The real time is a time interval that the user feels that the state of the bicycle tilt angle displayed on the display means reflects the current state of the bicycle tilt angle. Bicycle electronic system as described. A moving speed calculating means for calculating the moving speed of the bicycle;
The inclination angle calculation means shortens the time interval for calculating the inclination angle as the movement speed calculated by the movement speed calculation means becomes faster. Bicycle electronic system.   The bicycle electronic system according to any one of claims 1 to 3, wherein the inclination angle calculation means calculates the inclination angle a predetermined number of times during one dancing of the bicycle.   The bicycle electronic system according to any one of claims 1 to 5, further comprising recording means for recording the inclination angle calculated by the inclination angle calculation means so that the time series can be specified.   The bicycle electronic system according to any one of claims 1 to 6, further comprising display control means for displaying a 3D image on the display means based on the inclination angle calculated by the inclination angle calculation means. .   The program which makes a computer function as each process means of the electronic system for bicycles in any one of Claims 1-7.

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