CN104740860B - A kind of road race sports auxiliary training system - Google Patents
A kind of road race sports auxiliary training system Download PDFInfo
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- CN104740860B CN104740860B CN201510128148.8A CN201510128148A CN104740860B CN 104740860 B CN104740860 B CN 104740860B CN 201510128148 A CN201510128148 A CN 201510128148A CN 104740860 B CN104740860 B CN 104740860B
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Abstract
The present invention relates to a kind of road race sports auxiliary training systems, including sensing measurement subsystem and damping control subsystem, the sensing measurement subsystem includes handlebar and turns to measurement module and vehicle speed measurement module, the damping control subsystem can allow user to have true experience of riding by the resistance that motor generation air drag and weight component are brought, the aerodynamic Drag Calculation is turned to handlebar, wind speed is related to speed, the weight component calculates related to the gradient on road surface, the handlebar turns to and speed is measured by turning to measurement module and vehicle speed measurement module, the wind speed and road gradient simulates to obtain according to true weather and road environment by software.Compared with prior art, the present invention has can restore true playing condition to the full extent, and sportsman is helped to carry out preferably road cycling and is trained.
Description
Technical field
The present invention relates to a kind of sports auxiliary training system, more particularly, to a kind of highway based on environment of really riding from
Driving match sports auxiliary training system.
Background technology
Road race is a kind of popular bicycle race in worldwide.Every pre-games, sportsman
Can all arrive special competition field and carry out conditioning, on the one hand training is ridden technology, on the other hand mainly for being familiar with game lines
Road, and formulate rational strategy of game for route feature.But practical training can usually be limited by factors such as time weather
System, and a certain landform cannot targetedly be trained.If non-racing sportsman, true field can not be also arrived
Ground is trained.
Invention content
It is an object of the present invention to overcome the above-mentioned drawbacks of the prior art and provide a kind of road races
Sports auxiliary training system, can restore true playing condition to the full extent, and sportsman is helped to carry out preferably highway
Training cycles.
The purpose of the present invention can be achieved through the following technical solutions：
A kind of road race sports auxiliary training system, which is characterized in that including sensing measurement subsystem and damping
Control subsystem, the sensing measurement subsystem include handlebar and turn to measurement module and vehicle speed measurement module, the damping
Control subsystem can allow user to have true experience of riding by the resistance that motor generation air drag and weight component are brought,
The aerodynamic Drag Calculation is turned to handlebar, wind speed and speed are related, and the weight component calculates the gradient phase with road surface
It closes, the handlebar turns to and speed is measured by turning to measurement module and vehicle speed measurement module, the wind speed and road surface slope
Degree simulates to obtain according to true weather and road environment by software.
Handlebar steering measurement module three location informations of acquisition, i.e. 90 ° of handlebar left-hand rotation are placed in intermediate and turn right
The direction vector that sensor detects at 90 ° then on the basis of these three vectors, detects when any position is placed in handlebar
Direction vector carry out linear programming.
The vehicle speed measurement module is mounted on electric machine main shaft, specially：
Photoelectric code disk and photoelectric tube are mounted on motor, grating meeting intermittence makes photoelectricity pair when photoelectric code disk rotates
Pipe turn-on and turn-off, it is only necessary to which the output frequency for measuring photoelectric tube can obtain corresponding rotating speed.
The software simulation includes sequentially connected data format conversion module, data fusion module and racing track and reappears mould
Block.
The data format conversion module include the racing track data conversion module that is connect respectively with data fusion module and
Weather data modular converter.
The data fusion module provides track data modular converter and weather data modular converter to data and merges,
Specially：An interface is provided, the input of the interface is time and position, exports the variable of current environment factor in order to control.
The racing track rendering module, for providing the experience in the visualization and body-sensing of racing track data, specially：
The graphic representation for being visualized as data of racing track data, body-sensing part show as the variation on corner and resistance.
The visualization of the racing track data is specially：
Simulation track is eventually presented on a two dimensional surface, is made of a main body form and three points of forms, institute
The view for reflecting current road conditions and direction is presented in the main viewfinder stated, and three points of forms are respectively whole route birds-eye view, the gradient
Variation diagram and wind direction marking pattern.
The body-sensing part includes the calculating of corner and resistance,
The calculating of wherein corner is as follows：
Direction sensor mounted on handlebar position detects the corner of handlebarα, it is known that bicycle wheels distance between axles is
L can calculate turning radius according to geometrical relationship：
If known bicycle forward speed is v (m/s), the angular speed of deflection variation is：
The calculating of resistance is as follows：
The calculating of air drag is as follows：
Air drag=f (wind speed, wind direction, speed, handlebar direction)
The drag evaluation that weight component generates is as follows：
Resistance=f (gradient, handlebar direction) that weight component generates
Finally, resistance is calculated as：
Actual resistance=f (air drag, mechanical friction, the resistance that weight component generates).
The system is provided with three kinds of training modes：Whole pattern, segmented model and arbitrary patterns.
Compared with prior art, the present invention has the following advantages：
1st, arena scape is truly restored, sportsman is allowed to be much more familiar with match landform, so as to formulate rational match scheme；
2nd, overcome the limitation of the factors such as time, weather, the place of daily workout, reach efficient training effect；
3rd, non professional sportsman is helped to be familiar with race circuit, prepared for regulation game.
Description of the drawings
Fig. 1 is the system structure diagram of the present invention；
Fig. 2 is corner schematic diagram of the present invention.
Specific embodiment
The present invention is described in detail with specific embodiment below in conjunction with the accompanying drawings.
Embodiment
The present invention is mainly realized by following：1st, it in order to restore true match landform, needs to acquire in major race
Then each item data of used route is a kind of general data format of these design datas, for the drafting of simulated scenario
With the setting for parameter of riding.2nd, in addition to visual scene delineations, it is often more important that sensorial reduction when riding.For reality
Existing this point, it is resistance when riding to need the factor controlled, and the control of resistance is mainly by the speed of bicycle, environment
What the gradient of wind speed and route determined.The realization wherein controlled is completed by the hardware components of system.
Innovative point of the present invention is mainly as follows：
1st, this system can neatly import the data of arbitrary match, realize scenario simulation automatically
2nd, visual data representation, the simulation that route data is patterned, greatly improve user experience and
Using effect
3rd, the wind speed of truth is added in, realizes more true Scene Simulation.
Fig. 1 is the structure chart of system, and main body is configured to a bicycle and a platform of riding.The major function that hardware is responsible for
For sensing measurement and damping control.
1st, sensing measurement
Speed when system has the steering of handlebar and ride by the variable of sensor measurement.
(1) handlebar turns to
We select HMC5883 chips as direction sensor.HMC5883 modules can acquire earth's magnetic field in three axial directions
On component and be converted into digital signal, Galileo development boards are sent to by iic bus.Since the reality of bicycle handlebar turns
It is not only the rotation of horizontal direction to mode, also relates to rotation and the tumbling motion of vertical direction, therefore simple magnetic field
Component detection cannot reflect the rotation of handlebar completely.It is not high to the required precision of handlebar signal in view of system, it considers simultaneously
The complexity that system is realized carries out simple software processing to sensor signal here.
Firstly the need of three location informations of acquisition when system brings into operation, i.e., handlebar turn left 90 °, be placed in intermediate and turn right
The direction vector that sensor detects at 90 ° then on the basis of these three vectors, detects when any position is placed in handlebar
Direction vector carry out linear programming.
(2) speed
Traditional vehicle speed measurement method is that magnet is installed on vehicle wheel spoke, and vehicle wheel rotational speed is detected by Hall effect.But
Be due in movement of actually riding, after human body takes brake measure, although wheel by locking, due to effect of inertia bicycle still
It is so travelling forward, therefore traditional method by detection vehicle wheel rotational speed measurement speed cannot accurately reflect the movement of bicycle
State only can just obtain pulsatile once for one week additionally, due to traditional speed testing mode when wheel turns over, thus it is vulgar in the case of ring
Should be relatively slow, and need according to different bicycle model wheel for inputting tire diameters, it is complicated for operation.
Based on disadvantage mentioned above, speed measuring device is mounted on electric machine main shaft rather than wheel by we, due to flywheel roller energy
Relative motion (including rolling and sliding) between enough fine simulation the earth and bicycle, motor with flywheel than constant,
Therefore controlling rotation speed of main shaft of motor can directly react the actual vehicle speed of bicycle.We are mounted with photoelectric code disk and photoelectricity on motor
To pipe, when code-disc rotates, grating meeting intermittence makes photoelectric tube turn-on and turn-off, it is only necessary to measure the output frequency of photoelectric tube
Rate can obtain corresponding rotating speed.
As accurate as possible due to being needed for the measurement of rotating speed, we select MSP430G2553 microcontrollers specially to bear
Blame frequency measurement.It is 32.768kHz wristwatch crystals that the microcontroller timer clock source, which is the microcontroller timer clock source, photoelectricity
Output frequency to pipe is up to 2kHz or so, in order to ensure response speed and measurement accuracy of the frequency meter in high frequency, low frequency,
Here it is tested the speed using M/T methods.
Its rotating speed calculation formula is：
In formula：M1For presetting pulse number；M2For high-frequency clock pulse number；fcFor high frequency clock frequency；λ is photoelectric encoder
Clock Multiplier Factor；P is photoelectric encoder line number.
In low frequency, pulse a cycle elapsed time only need to be measured；During high frequency, during due to simple measurement period
Between can bring large error, therefore we measure multiple periods, when the time be more than threshold value when, be according to periodicity and total time
Actual frequency can be acquired.
2nd, damping control
In really match scene, riding resistance is derived mainly from four aspects：Bicycle mechanical structural friction, wheel with
Rolling friction between ground, weight component and air drag during uphill, downhill.In our system, due to the use of true
Bicycle, and the transmission between wheel and flywheel roller can simulate the rolling friction between road surface, therefore only need to lead to
Crossing motor and generating the resistance that air drag and weight component are brought can allow user to have true experience of riding.Calculate air drag
The parameter needed has handlebar to turn to, wind speed and speed, the parameter that calculating the resistance that weight component is brought needs are the gradient on road surface.
Wherein, handlebar turns to and speed is measured by above-mentioned hardware components, and wind speed and road gradient will be according to true weather and road surface ring
Border carries out the simulation on software.
Software section
Major function on software is unified source data form and the graphic representation of data.Here three are contained
Main module：Data format conversion module, data fusion module, racing track rendering module.
1st, data format conversion module
The data source that we need is in two aspects, true racing track data and weather data.Road race
Form has very much, and the channel for obtaining racing track data is also not quite similar, so the form of source data is there are certain difference, for reality
Now unified data import form, need unified source data form.It is contained in data format conversion module for inhomogeneity
The adapter of type source data, the unified output of source data after treatment is json forms, for subsequent demand data.Once
There is new source data form, it is only necessary to increase corresponding source data adapter.
Similarly, there are many kinds of the API for being capable of providing weather lookup, also has in data format conversion module for day destiny
According to adapter, therefrom extract the data such as our required wind speed, wind directions, and export as unified json forms.
2nd, data fusion module
Source data by formatting is relatively independent, but what is presented during real racetrack is an entirety.Number
Function according to Fusion Module is exactly by these relatively independent data, is merged by certain logic, so as to fulfill right
The best simulation of real situation.
The data of weather were obtained according to the time, that is, the playing time of imported race, in simulated scenario
The foundation of the variation of weather be since match after relative time.So, determine the factor of current environment with regard to there are two：Time
And position.Time determines wind speed and the direction of current environment, and position determines the factors such as the topography of current environment, ranking.
After the data of these two aspects are combined together by data fusion module, an interface can be provided, this interface
Input is time and position, and output is to control all variables of current environment factor.
3rd, game situation rendering module
Game situation rendering module provides the experience in the visualization and body-sensing of racing track data by calling the first two module.Match
The visualization of track data is mainly shown as the graphic representation of data, and body-sensing part is mainly shown as the change on corner and resistance
Change.
(1) racing track data visualization
Simulation track is eventually presented on a two dimensional surface, by a main body form and each small divides form structure
Into.In general, the length of a stage is 150km or so, and the subsegment of 20km or so, main view can be divided into according to topography
What window was presented is exactly the view of such a subsegment, is mainly used for reflecting current road conditions and direction.By calling Google
Earth API draw out specific route in subsegment view, and reflect the variation of the gradient by the variation of color.
Sub-window includes three：Whole route birds-eye view, slope change figure and wind direction marking pattern.In order to allow user can be with
The current situation of riding of global view, it is necessary to provide whole route map, in this small form, will be passed through
Colour code goes out the stage being currently located.The variation that slope change figure will describe height above sea level in the form of more intuitive.Wind direction mark
Figure can change, so as to provide better sense learning through practice using the direction of handlebar as standard with the change in handlebar direction.
Corner algorithm
Direction sensor mounted on handlebar position detects the corner of handlebarα, it is known that bicycle wheels distance between axles is about
For 1.2m or so, turning radius can be calculated according to geometrical relationship：
If known bicycle forward speed is v (m/s), the angular speed of deflection variation is：
Drag evaluation
In true movement of riding, riding resistance main source is from four aspects：Bicycle mechanical structural friction, wheel
Weight component and air drag when rolling friction between ground, climb and fall.In our system, due to the use of true
Real bicycle, and the transmission between wheel and flywheel roller can simulate the rolling friction between road surface, it is therefore desirable to be
The resistance that the variable that is controlled by motor of uniting has an air drag and weight component is brought.The calculating of air drag is as follows：
Air drag=f (wind speed, wind direction, speed, handlebar direction)
The drag evaluation that weight component generates is as follows：
Resistance=f (gradient, handlebar direction) that weight component generates
Finally, resistance is calculated as：
Actual resistance=f (air drag, mechanical friction, the resistance that weight component generates)
4th, model selection
The schedules of road racing are longer, and section is more, road surface types also there are many kinds of.Each sportsman can have certainly
The road surface types that oneself is good at or is bad at, some are good at spurt, and some is good at climbing, so in order to be better equipped to compete,
It is necessary to carry out targetedly training.System is provided with three kinds of training modes：Whole pattern, segmented model and arbitrary mould
Formula.
Whole pattern is according to the schedule in real racetrack, the system match process daily by sportsman is recorded, and
Next match is continued to complete when entering this pattern next time.Segmented model is divided according to the stages that route is set,
Sportsman can select some stage therein to be trained according to the demand of oneself.In order to adapt to, with extensive demand, be
System additionally provides arbitrary patterns, and sportsman can select arbitrary beginning and end to be trained accordingly.
Claims (4)
- The auxiliary training system 1. a kind of road race is raced, which is characterized in that controlled including sensing measurement subsystem and damping Subsystem, the sensing measurement subsystem include handlebar and turn to measurement module and vehicle speed measurement module, the damping control Subsystem can allow user to have true experience of riding, institute by the resistance that motor generation air drag and weight component are brought The aerodynamic Drag Calculation stated is turned to handlebar, wind speed and speed are related, and the weight component calculating is related to the gradient on road surface, The handlebar turns to and speed is measured by turning to measurement module and vehicle speed measurement module, the wind speed and road gradient root It simulates to obtain by software according to true weather and road environment；The system is provided with three kinds of training modes：Whole pattern, segmented model and arbitrary patterns, whole pattern is according to real racetrack In schedule, the system match process daily by sportsman is recorded, and continue to complete and connect when entering this pattern next time The match got off；The divided stages that segmented model is set according to route, sportsman select therein according to the demand of oneself Some stage is trained；System additionally provides arbitrary patterns, and it is corresponding that sportsman selects arbitrary beginning and end to carry out Training；The vehicle speed measurement module is mounted on electric machine main shaft, specially：Photoelectric code disk and photoelectric tube are mounted on motor, grating meeting intermittence leads photoelectric tube when photoelectric code disk rotates Logical and shutdown, it is only necessary to which the output frequency for measuring photoelectric tube can obtain corresponding rotating speed；Selection MSP430G2553 microcontrollers are responsible for frequency measurement, and the microcontroller timer clock source is brilliant for 32.768kHz wrist-watches Body, the output frequency of photoelectric tube is up to 2kHz, in order to ensure response speed and measurement essence of the frequency meter in high frequency, low frequency Degree, is tested the speed using M/T methods；Its rotating speed calculation formula is：In formula：M1For presetting pulse number；M2For high-frequency clock pulse number；fcFor high frequency clock frequency；λ is photoelectric encoder frequency multiplication Coefficient；P is photoelectric encoder line number；In low frequency, pulse a cycle elapsed time only need to be measured；During high frequency, due to simple measurement period time meeting Large error is brought, measures multiple periods, when the time being more than threshold value, practical frequency can be acquired according to periodicity and total time Rate；The software simulation includes sequentially connected data format conversion module, data fusion module and racing track rendering module；The racing track rendering module, for providing the experience in the visualization and body-sensing of racing track data, specially：The graphic representation for being visualized as data of racing track data, body-sensing part show as the variation on corner and resistance；The visualization of the racing track data is specially：Simulation track is eventually presented on a two dimensional surface, is made of a main body form and three points of forms, described The view for reflecting current road conditions and direction is presented in main body form, and three points of forms are respectively whole route birds-eye view, gradient change Change figure and wind direction marking pattern；The body-sensing part includes the calculating of corner and resistance,The calculating of wherein corner is as follows：Direction sensor mounted on handlebar position detects the corner of handlebarKnown bicycle wheels distance between axles be l, root Turning radius can be calculated according to geometrical relationship：If known bicycle speed is v (m/s), the angular speed of deflection variation is：The calculating of resistance is as follows：The calculating of air drag is as follows：Air drag=f (wind speed, wind direction, speed, handlebar direction)The drag evaluation that weight component generates is as follows：Resistance=f (gradient, handlebar direction) that weight component generatesFinally, resistance is calculated as：Actual resistance=f (air drag, mechanical friction, the resistance that weight component generates).
- A kind of 2. road race sports auxiliary training system according to claim 1, which is characterized in that the vehicle Steering measurement module is acquired three location informations, i.e., handlebar turn left 90 °, be placed in it is intermediate and turn right 90 ° when sensor detect The direction vector arrived then on the basis of these three vectors, is placed in handlebar the direction vector detected during any position and carries out Linear programming.
- A kind of 3. road race sports auxiliary training system according to claim 1, which is characterized in that the number Include the racing track data conversion module being connect respectively with data fusion module and weather data modular converter according to format converting module.
- A kind of 4. road race sports auxiliary training system according to claim 3, which is characterized in that the number The data that racing track data conversion module and weather data modular converter provide are merged according to Fusion Module, specially：It provides One interface, the input of the interface is time and position, exports the variable of current environment factor in order to control.
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Families Citing this family (7)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN105664469B (en) * | 2016-01-07 | 2019-02-01 | 白金刚 | Kinematic system and its implementation with simulated scenario |
| CN106644208B (en) * | 2017-01-05 | 2019-06-14 | 武汉齐物科技有限公司 | One kind is ridden capability analysis system and analysis method |
| CN107346370A (en) * | 2017-05-16 | 2017-11-14 | 上海汗雨信息科技有限公司 | A kind of exercycle simulation of riding resistance method |
| CN108339236A (en) * | 2018-03-05 | 2018-07-31 | 北京踏行天际科技发展有限公司 | A kind of Spinning body-building teaching and training method |
| CN108492655A (en) * | 2018-03-05 | 2018-09-04 | 北京踏行天际科技发展有限公司 | A kind of Spinning body-building teaching and training platform |
| CN108245835A (en) * | 2018-03-05 | 2018-07-06 | 北京踏行天际科技发展有限公司 | A kind of Spinning body-building teaching training system |
| JP7181749B2 (en) * | 2018-10-05 | 2022-12-01 | 株式会社シマノ | Steering wheel operation assistance device and steering wheel operation assistance program |
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| CN1037280A (en) * | 1987-08-25 | 1989-11-22 | 施温自行车公司 | Bicycle racing training apparatus |
| CN1975748A (en) * | 2006-12-15 | 2007-06-06 | 浙江大学 | Virtual network Marathon body-building game method |
| CN202283409U (en) * | 2011-10-21 | 2012-06-27 | 深圳市景创科技电子有限公司 | Game input device for analog bicycle |
| CN203303577U (en) * | 2012-10-24 | 2013-11-27 | 安徽聚冠计算机科技有限公司 | Indoor high-simulation mountain bike cycling cross-country simulative competition system |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| FI20065053A (en) * | 2006-01-26 | 2007-07-27 | Tunturi Oy Ltd | Method and arrangement in connection with fitness equipment |
| CN101391141B (en) * | 2008-10-23 | 2010-06-23 | 山东大学 | Training and body-building equipment capable of simulating bike field environment |
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Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1037280A (en) * | 1987-08-25 | 1989-11-22 | 施温自行车公司 | Bicycle racing training apparatus |
| CN1975748A (en) * | 2006-12-15 | 2007-06-06 | 浙江大学 | Virtual network Marathon body-building game method |
| CN202283409U (en) * | 2011-10-21 | 2012-06-27 | 深圳市景创科技电子有限公司 | Game input device for analog bicycle |
| CN203303577U (en) * | 2012-10-24 | 2013-11-27 | 安徽聚冠计算机科技有限公司 | Indoor high-simulation mountain bike cycling cross-country simulative competition system |
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