CN109011516A - Interactive virtual roams exercycle - Google Patents
Interactive virtual roams exercycle Download PDFInfo
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- CN109011516A CN109011516A CN201810901554.7A CN201810901554A CN109011516A CN 109011516 A CN109011516 A CN 109011516A CN 201810901554 A CN201810901554 A CN 201810901554A CN 109011516 A CN109011516 A CN 109011516A
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B71/00—Games or sports accessories not covered in groups A63B1/00 - A63B69/00
- A63B71/06—Indicating or scoring devices for games or players, or for other sports activities
- A63B71/0619—Displays, user interfaces and indicating devices, specially adapted for sport equipment, e.g. display mounted on treadmills
- A63B71/0622—Visual, audio or audio-visual systems for entertaining, instructing or motivating the user
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B22/00—Exercising apparatus specially adapted for conditioning the cardio-vascular system, for training agility or co-ordination of movements
- A63B22/06—Exercising apparatus specially adapted for conditioning the cardio-vascular system, for training agility or co-ordination of movements with support elements performing a rotating cycling movement, i.e. a closed path movement
- A63B22/0605—Exercising apparatus specially adapted for conditioning the cardio-vascular system, for training agility or co-ordination of movements with support elements performing a rotating cycling movement, i.e. a closed path movement performing a circular movement, e.g. ergometers
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B71/00—Games or sports accessories not covered in groups A63B1/00 - A63B69/00
- A63B71/06—Indicating or scoring devices for games or players, or for other sports activities
- A63B71/0619—Displays, user interfaces and indicating devices, specially adapted for sport equipment, e.g. display mounted on treadmills
- A63B71/0622—Visual, audio or audio-visual systems for entertaining, instructing or motivating the user
- A63B2071/0638—Displaying moving images of recorded environment, e.g. virtual environment
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B71/00—Games or sports accessories not covered in groups A63B1/00 - A63B69/00
- A63B71/06—Indicating or scoring devices for games or players, or for other sports activities
- A63B71/0619—Displays, user interfaces and indicating devices, specially adapted for sport equipment, e.g. display mounted on treadmills
- A63B2071/065—Visualisation of specific exercise parameters
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B2220/00—Measuring of physical parameters relating to sporting activity
- A63B2220/70—Measuring or simulating ambient conditions, e.g. weather, terrain or surface conditions
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B2220/00—Measuring of physical parameters relating to sporting activity
- A63B2220/70—Measuring or simulating ambient conditions, e.g. weather, terrain or surface conditions
- A63B2220/78—Surface covering conditions, e.g. of a road surface
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- Engineering & Computer Science (AREA)
- General Health & Medical Sciences (AREA)
- Physical Education & Sports Medicine (AREA)
- Multimedia (AREA)
- Human Computer Interaction (AREA)
- Cardiology (AREA)
- Vascular Medicine (AREA)
- Processing Or Creating Images (AREA)
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Abstract
The present invention provides a kind of interactive virtuals to roam exercycle, it is related to computer interactive application field, the present invention includes front-wheel steer floating support platform, rear-wheel dynamic resistance support platform and motion control hardware circuit, external data collecting part is separately mounted to the data acquiring location of front-wheel steer floating support platform and rear-wheel dynamic resistance support platform, when bicycle emulation is ridden, front-wheel steer floating support platform and rear-wheel dynamic resistance support platform acquire data respectively, finally realize virtual emulation.The invention enables the Navigation display effects of virtual scene to be optimized, the innovative design of hardware control circuit and cycling platform makes the device is complicated to also improve interactivity and practicability while spending reduction, system has good human-computer interaction interface, the software and hardware of equipment also has good scalability, is appropriate for producing and processing on a large scale.
Description
Technical field
The present invention relates to computer interactive application field, specially a kind of exercycle interacted with virtual scene.
Background technique
Currently, with the high speed development of virtual reality industry and being gradually expanded for market scale, in user oriented product
In, there are also many places to be modified for the VR equipment development of man-machine interactive.That there are interactive forms is single for existing equipment, content is withered
Dry, the disadvantages of feeling of immersion is not strong, the practical value and applicable potentiality of virtual reality are not embodied.Therefore exploitation has more multi-functional
Virtual interacting application product with form is to be badly in need of the important directions expanded in virtual reality development.Current virtual reality
Interaction technique is widely used to the fields such as athletic training, board design.With present sensor technology, Computer Graphics Simulation
The development and raising of technology and hardware store technology, the research and development of interactive virtual reality equipment have excellent basis.But exist
Very mature design scheme and production not yet in terms of the interactive virtual sports equipment that body building and amusement and recreation are combined
Product.
Summary of the invention
For overcome the deficiencies in the prior art, the present invention provides a kind of interactive virtual roaming exercycle, is a integrated
Using Computer Graphics Simulation technology as the virtual environment roaming of core design, cycling Platform Designing, hardware device with
The end PC communication scheme in one interactive VR application apparatus, can make bicyclist indoors cycling motion while enjoy family
The enjoyment ridden outside.The present invention is in order to which the interactive form for solving existing equipment is single, Realistic Images of Virtual Scene is not strong, system is set
The problems such as video is not smooth caused by meter production is complicated, virtual scene data volume is big.Present invention employs virtual product models
Technology, cycling model analysis, the Optimization of Mechanical Design of motion platform, serial port communication technology and Unity3D scene walkthrough
Technology makes bicyclist that can realize the roaming of riding in set scene, roaming by ordinary bicycle in room conditions
Feeling of immersion is good in the process, can satisfy the application request in production and living.
The technical solution adopted by the present invention to solve the technical problems is:
The interactive virtual roaming exercycle includes front-wheel steer floating support platform, rear-wheel dynamic resistance support platform
With motion control hardware circuit, wherein motion control hardware circuit is divided into external data collecting part and data processing section, outside
Portion's part of data acquisition is separately mounted to the data acquisition position of front-wheel steer floating support platform and rear-wheel dynamic resistance support platform
It sets, when bicycle emulation is ridden, front-wheel steer floating support platform and rear-wheel dynamic resistance support platform are respectively disposed on bicycle
Front and back wheel center of gravity under contacting points position, the spacing between front-wheel steer floating support platform and rear-wheel dynamic resistance support platform
The adjustment that interval location is carried out according to the size of bicycle and specification, meets the placement needs of bicycle.
Front-wheel steer floating support platform includes turntable, swing roller, wheel caulking groove, angular transducer and installing component
(bearing, screw thread, nut) and corner transmit shaft coupling, install wheel caulking groove on the stationary platform, and wherein wheel caulking groove width is
6cm, lateral displacement is no more than 1cm after being embedded in cycle wheel, keeps the lateral stability of front wheel；Under wheel caulking groove
Position several balls are installed, make bicycle handle bar rotation when band motor car wheel caulking groove then drive shaft coupling progress level side
To rotation；Cylinder to be installed in turntable downside and lifting piston, cylinder are fixed on ground vertically, top adds lifting piston,
Lifting piston is connected by welding with the side below turntable, provides the fluctuations of front-wheel；Angular transducer passes through connection
Axis device is mounted on the center of turntable bottom, and rotation information is passed to angle by shaft coupling when the front-drive of bicycle
Spend sensor.
Rear-wheel dynamic resistance support platform include rear wheel support platform, left and right diagonal brace, damper/power device, front rotary shaft, after
Shaft, Hall sensor and its transmission device, it is solid by axial position before and after bicycle placement direction on rear wheel support platform
Determine front rotary shaft and rear shaft, make the rear-wheel inlay card of bicycle between front rotary shaft and rear shaft, the rear-wheel of bicycle circle respectively with
Front rotary shaft and the circle of rear shaft are tangent, and rotation information is transmitted on front rotary shaft and rear shaft by when rear wheel of bicycle；?
The center of the wheel shaft of rear-wheel one mutually symmetrical with elastic diagonal brace of each installation in the left and right in support platform to hind axle to two sides,
Guarantee the left-right balance of bicycle integral body；Damper is installed at the rear of rear shaft, damper is by transmission device with after
Shaft is connected, and changes stress of riding for applying corresponding damping force；Hall sensor, which is mounted on the outside of the axle center of front rotary shaft, appoints
On one side, when rear wheel drives front rotary shaft rotation, Hall sensor detects the velocity of rotation of front rotary shaft to meaning, to obtain voluntarily
The data of riding of vehicle.
The motion control hardware circuit of the bicycle is divided into external data collecting part and data processing section, external
Part of data acquisition is sensor and the external circuit for connecting sensor, before angular transducer and Hall sensor are separately mounted to
Rotate the corresponding data acquiring location in floating support platform, rear-wheel dynamic resistance support platform, acquisition bicycle ride it is imitative
Handlebar angle of turn and riding speed related data during true, the circuit integration of data processing section on circuit boards, are led to
The control that external power supply is crossed for the entire circuit of electric drive is run, and entire circuit includes: (1) external circuit, is passed for connecting Hall
The data acquisition circuit of sensor and angular transducer；(2) control section is MCU and clock circuit, reset circuit；(3) A/D is converted
Part, including D/A converter module ADC832 and filter circuit；(4) TCP data segment includes the MAX485 for being responsible for serial communication
Communication module and RS232 turn usb segment.
In the motion control hardware circuit, the sensor for acquiring speed is Hall sensor, the sensing of acquisition angles
Device is WDD35D series of angles sensor, and single-chip microcontroller selects STC125A60S2, and the DOL Data Output Line of Hall sensor connects outside one
Connect after protective resistance with MCU circuit connection；Angular transducer accesses MCU circuit after A/D is converted, the GPIO mouth phase with single-chip microcontroller
Even, clock circuit and reset circuit are connected to MCU；The voltage of 12V is converted into 5V by integrated stable voltage circuit and is entire hardware electricity
Road power supply, voltage output 5V；The output signal of MCU becomes differential signal output by MAX485, and RS485 believes the input of difference
The RXD pin of MCU number is sent to by MAX485 again, then completes hardware circuit to counting using RS485 RS 232 serial converter
The communications of calculation machine.
The workflow of motion control hardware circuit are as follows: external data Acquisition Circuit completes Hall sensor and angle sensor
The connection of device, exercise data when cycling emulates are obtained by sensor, are sent to MCU after A/D is converted and is filtered,
MCU completes to be sent to calculating by TCP data segment to the reception of transmission data using interruption, timer and tally function
Machine completes the motion control of bicycle.
System is carried out using serial port communication technology in the message transmitting procedure of motion control hardware circuit and computer terminal
Scene walkthrough processing, detailed process are as follows: initialize serial ports controller in a program first, serial ports controller includes sending control
Device and reception controller, to realize the opening and initialization of serial ports；Information write-in to be sent sends buffer area, and information passes through
RX communication line enters the reception shift unit of recipient, receives shift unit for the binary digit data and is saved into reception buffer area, into
Row information sends and receives；CPU mono- interruption is fed back to after receiving, sender's register returns and waits next number
It is instructed according to transmission, completes sending and receiving for serial data.
Since the acquisition of two information of angle and speed is by different sensors progress independent detection and to handle transmission,
Independent process is carried out to angle and velocity information, angle information is transformed into the decimal system from hexadecimal, obtains bicycle handle bar
Steering angle value；Hall sensor receives pulsatile once numerical value, then sends a reception information, according in week regular hour
When received the number of pulse and the diameter of sensor detection zone are converted to the emulation of bicycle current kinetic in phase
Velocity amplitude, if the forward shaft diameter of bicycle rear support platform is d, step-by-step counting in measurement period T time is n,
The then speed of bicycle rear are as follows:
The step of roaming emulation: two global variables, i.e., the coordinate in X-axis and Y-axis in virtual scene are defined first
Variable parameter, two global variables are that the data that transmission is come in carry out assignment and calling；The data received are assigned to the overall situation
Variable stores each character received into character string, and separator is arranged using character string function, data are divided into block,
It stores in corresponding array；Corresponding array is called directly in roam procedure to corresponding variable parameter, the data of speed are logical
Counting function is crossed, specific velocity amplitude is converted to, is assigned to the parameter of control roam speed, the speed control as Roaming control device
Parameter processed adds virtual camera in the scene, and relevant parameter and corresponding script status is arranged, and completes the roaming of virtual scene
Control；In roam procedure, the three-dimensional coordinate of Roaming control object is extracted using the coordinate explicit function in Unity3D, with field
The world coordinate system of scape compares, and judges next movement position and state, carries out bicycle wheels coordinate difference in height
Calculating interactive roaming processing can be completed by obtained data feedback to virtual camera.
The beneficial effect of Exercycle of the invention is that the Navigation display effect of virtual scene is optimized, hardware controls
The innovative design of circuit and cycling platform makes the device is complicated to also improve interactivity and practicability while spending reduction, is
System has good human-computer interaction interface, and the software and hardware of equipment also has good scalability, is appropriate for producing on a large scale
Processing.
Detailed description of the invention
Fig. 1 is the overall flow figure of system.
Fig. 2 is the terrain modeling principle procedure chart of three-dimensional scenic.
Fig. 3 is the building lighting simulation modeling principle schematic diagram of three-dimensional scenic
Fig. 4 is the preview graph 1 after the completion of scene is established
Fig. 5 is the preview graph 2 after the completion of scene is established.
Fig. 6 is foundation and the analysis chart of cycling model.
Fig. 7 is circuit design flow figure.
Fig. 8 is the circuit design drawing of control circuit
Fig. 9 is front-wheel steer floating support Platform Machinery structure chart.
Figure 10 is rear-wheel dynamic resistance support platform mechanical construction drawing.
Figure 11 is the work flow diagram of roaming emulation.
Wherein, 1- wheel caulking groove, 2- ball, 3- cylinder, 4- turntable, 5- angular transducer, 6- shaft coupling, 7- lifting are lived
It fills in, 8- front rotary shaft, 9- support construction, shaft after 10-, 11- elasticity diagonal brace, 12- speed acquisition equipment, 13- damper/power dress
It sets.
Specific embodiment
Present invention will be further explained below with reference to the attached drawings and examples.
The present invention relates to virtual product model, cycling model analysis and motion control, interactive movement control are flat
The technologies such as platform design environmentally solve the acquisition, transmission of sensing data in motion platform in hardware integration exploitation and compile solution
Code, realizes the data exchange between spinning and virtual environment.The invention can be widely applied to virtual reality experience, room
The fields such as interior sport and body-building and tourism, leisure, amusement.
Interactive virtual roaming exercycle of the invention is modeled as roaming carrier with three-dimensional, is emulation with Unity3D
Basis, peripatetic device include front-wheel steer floating support platform, after move in turn-resistance support platform and cycling control hardware
Circuit, along with a common bicycle can virtually be ridden roaming.Three-dimensional modeling mainly with Sketchup,
3DMax is modeling basis, and the new approaches modeled in conjunction with three-dimensional scenic carry out the building of virtual scene.
Unity3D carries out the motion simulation of the graph image of whole system, setting, motion information including virtual scene
The roaming feedback of control processing, emulation of riding.
This research and development technical issues that need to address and corresponding technical solution:
1. landform and building are more and complicated, field survey landform and building since design setting model scene domain is big
The information such as height, shape it is relatively difficult, during scene modeling problem to be solved be can not obtain actual landform and
How the foundation of model is carried out in the case where the specifying information of building.In response to this problem, this project utilizes satellite mapping and illumination
The shadow information of simulation obtains the height and shape of building, by the system optimization method of grid model, finally by true
Texture mapping and graph and image processing software are rendered, and virtual scene is completely constructed.
2. existing some scene walkthrough bicycles are designed just for the movement characteristic of bicycle, there is no consider people
Master control and other influences factor when riding, can not embody interactivity, need to solve the theory during cycling
Model analysis problem.In response to this problem, this research and development carries out bicycle force analysis based on Newtonian mechanics, establishes three-dimensional sit
Mark system, solves the Movement Locus Equation and bicyclist's viewpoint position equation of bicycle.Machinery for cycling platform is set
Meter provides reference, while being also that relevant kinematic parameter and display information are provided in the Navigation display of virtual scene.
3. existing research and development have the shortcomings that design and produce, complicated, poor for applicability, controllability is not strong, for this problem,
This, which is researched and developed, has carried out the innovative design of cycling platform, during the cycling analyzed according to motion model
Motion information carry out the design of mechanical platform, main includes the steering floating support platform and bicycle rear of front wheel
Dynamic-resistance support platform.It can simplify the complexity of bicycle arranging apparatus, practical operation by the design of two platforms
Property and applicability are fine.
4. can generate the bring due to topography variation when bicycle carries out virtual roaming in set scene and rise and fall
Sense.It just needs to carry out front and back wheel difference in height of the bicycle in simulation dimensional topography when carrying out cycling roaming emulation
It extracts and processes, specific processing method: three grid datas of model of place being extracted first, obtain a world and sit
The reference for marking system extracts roaming object coordinates using Unity3D, target object coordinate is mapped with world coordinates, is carried out
The calculating of bicycle wheels coordinate difference in height and the roaming object for returning to Unity3D are roamed through by virtual camera completion
Interactive feedback in journey.
Interactive virtual roaming exercycle of the invention is flat comprising front-wheel steer floating support platform, the support of rear-wheel dynamic resistance
Platform and motion control hardware circuit, wherein motion control hardware circuit is divided into external data collecting part and data processing section,
External data collecting part is separately mounted to the data acquisition of front-wheel steer floating support platform and rear-wheel dynamic resistance support platform
Position, when bicycle emulation is ridden, front-wheel steer floating support platform and rear-wheel dynamic resistance support platform are respectively disposed on voluntarily
Contacting points position under the front and back wheel center of gravity of vehicle, between front-wheel steer floating support platform and rear-wheel dynamic resistance support platform between
Away from the adjustment for carrying out interval location according to the size and specification of bicycle, meet the placement needs of bicycle.
Front-wheel steer floating support platform includes turntable, swing roller, wheel caulking groove, angular transducer and installing component
(bearing, screw thread, nut) and corner transmit shaft coupling, install wheel caulking groove on the stationary platform, and wherein wheel caulking groove width is
6cm, lateral displacement is no more than 1cm after being embedded in cycle wheel, keeps the lateral stability of front wheel；Under wheel caulking groove
Position several balls are installed, make bicycle handle bar rotation when band motor car wheel caulking groove then drive shaft coupling progress level side
To rotation；Cylinder to be installed in turntable downside and lifting piston, cylinder are fixed on ground vertically, top adds lifting piston,
Lifting piston is by welding (front-wheel steer floating branch of the specific location relationship with reference to Fig. 9 that be connected with the side below turntable
Support Platform Machinery design drawing), the fluctuations of front-wheel are provided；Angular transducer is mounted in turntable bottom by shaft coupling
Rotation information is passed to angular transducer by shaft coupling when the front-drive of bicycle by heart position.
Rear-wheel dynamic resistance support platform include rear wheel support platform, left and right diagonal brace, damper/power device, front rotary shaft, after
Shaft, Hall sensor and its transmission device (shaft connecting band and bearing) press bicycle placement side on rear wheel support platform
To the fixed front rotary shaft of front and back axial position and rear shaft, make the rear-wheel inlay card of bicycle between front rotary shaft and rear shaft, from
The rear-wheel circle of driving is tangent with the circle of front rotary shaft and rear shaft respectively, before rotation information is transmitted to by when rear wheel of bicycle
In shaft and rear shaft；Rear-wheel wheel shaft center to hind axle to two sides the left and right in support platform it is each installation one mutually
Symmetrical elastic diagonal brace guarantees the left-right balance of bicycle integral body；Damper, damper are installed at the rear of rear shaft
It is connected by transmission device (shaft connecting band and bearing) with rear shaft, changes stress of riding for applying corresponding damping force；
Hall sensor is mounted on any one side on the outside of the axle center of front rotary shaft, when rear wheel drives front rotary shaft rotation, hall sensing
Device detects the velocity of rotation of front rotary shaft, to obtain the data of riding of bicycle.
The motion control hardware circuit of the bicycle is divided into external data collecting part and data processing section, external
Part of data acquisition is sensor and the external circuit for connecting sensor, before angular transducer and Hall sensor are separately mounted to
Rotate the corresponding data acquiring location in floating support platform, rear-wheel dynamic resistance support platform, acquisition bicycle ride it is imitative
Handlebar angle of turn and riding speed related data during true, the circuit integration of data processing section on circuit boards, are led to
The control that external power supply is crossed for the entire circuit of electric drive is run, and entire circuit includes: (1) external circuit, is passed for connecting Hall
The data acquisition circuit of sensor and angular transducer；(2) control section is MCU and clock circuit, reset circuit；(3) A/D is converted
Part, including D/A converter module ADC832 and filter circuit；(4) TCP data segment includes the MAX485 for being responsible for serial communication
Communication module and RS232 turn usb segment.
This research and development chooses each electronic device, wherein acquire the sensor of speed according to component and circuit structure feature
For Hall sensor, the sensor of acquisition angles is WDD35D series of angles sensor, and single-chip microcontroller selects STC125A60S2.Suddenly
The DOL Data Output Line of your sensor connect after an external protective resistance with MCU circuit connection；Angular transducer is followed by through A/D conversion
Enter MCU circuit, is connected with the GPIO of single-chip microcontroller mouth, clock circuit and reset circuit are connected to MCU；By integrated stable voltage circuit by 12V
Voltage be converted to 5V and for entire hardware circuit power, voltage output 5V；The output signal of MCU becomes difference by MAX485
Signal output, RS485 are sent the input signal of difference to the RXD pin of MCU by MAX485 again, are then turned using RS485
RS232 serial converter completes hardware circuit to the communications of computer.
The job design process of hardware circuit are as follows: external data Acquisition Circuit completes Hall sensor and angular transducer
Connection, exercise data when cycling emulates are obtained by sensor, are sent to MCU, MCU after A/D is converted and is filtered
It completes to be sent to computer by TCP data segment to the reception of transmission data using interruption, timer and tally function, it is complete
At the motion control of bicycle.Physical circuit design flow diagram referring to Figure of description Fig. 7.
Treatment effeciency in order to solve the problems, such as Navigation display in existing research and development is low and interactive performance is poor, controls in movement
It is handled in the message transmitting procedure of circuit and computer terminal processed using the scene walkthrough that serial port communication technology carries out system, programming is real
Existing specific steps are as follows: initialize serial ports controller in a program first, serial ports controller includes sending controller and receiving to control
Device processed, to realize the opening and initialization of serial ports；Information to be sent write-in sends buffer area, information by RX communication line into
Enter the reception shift unit of recipient, receives shift unit for the binary digit data and be saved into reception buffer area, carry out the hair of information
It send and receives；CPU mono- interruption is fed back to after receiving, sender's register returns and next data and transmission is waited to refer to
It enables, completes sending and receiving for serial data.
Since the acquisition of two information of angle and speed is by different sensors progress independent detection and to handle transmission,
Independent process is carried out to angle and velocity information, angle information is transformed into the decimal system from hexadecimal, obtains bicycle handle bar
Steering angle value；Hall sensor receives pulsatile once numerical value, then sends a reception information, according in week regular hour
When received the number of pulse and the diameter of sensor detection zone are converted to the emulation of bicycle current kinetic in phase
Velocity amplitude.If the forward shaft diameter of bicycle rear support platform is d, the step-by-step counting in measurement period T time is n,
The then speed of bicycle rear are as follows:
The received information of computer Unity3D end software programming processing simultaneously completes the step of roaming emulates: fixed first
Adopted two global variables, i.e., the changes in coordinates parameter in the X-axis and Y-axis in virtual scene, two global variables be transmit into
The data come carry out assignment and calling；The data received are assigned to global variable, each character storage received to word
In symbol string, separator is set using character string function, data are divided into block, are stored into corresponding array；In roam procedure
Corresponding array is called directly to corresponding variable parameter, the data of speed are converted to specific velocity amplitude by counting function,
The parameter for being assigned to control roam speed adds virtual camera as the speed control parameter of Roaming control device in the scene,
And relevant parameter and corresponding script status are set, complete the Roaming control of virtual scene；In roam procedure, Unity3D is utilized
In coordinate explicit function extract the three-dimensional coordinate of Roaming control object, compared with the world coordinate system of scene, to next fortune
Dynamic position and state are judged, the calculating of bicycle wheels coordinate difference in height is carried out, by obtained data feedback to virtual
Interactive roaming processing can be completed in video camera.The work flow diagram of specific roaming emulation is as shown in figure 11.
Fig. 1 is whole system flow chart, the clear system group for describing this interactive virtual roaming exercycle
At and research approach, be broadly divided into virtual product model, theoretical model analysis, Motion Control Platform design, Unity3D software
Output end processing.
Fig. 2 and Fig. 3 is the construction method of the landform and building in three-dimensional scenic, and the manufacturing process of basic geological study is first
The corresponding region of satellite photo is obtained, by (DEM) the altitude data acquisition in satellite mapping and trigonometric ratio, passes through terrain texture map
Complete the production of basic geological study.The modeling process of building is to determine satellite position by the direction of building in satellite image
Angle determines solar azimuth at that time according to the shade direction in image.
Fig. 4, Fig. 5 are the preview graphs after the completion of three-dimensional scenic modeling.
Fig. 6 is the analysis chart of bicycle theoretical model, respectively the movement force diagram under different angle.
Fig. 7 is the design flow diagram of cycling control circuit, is the major function and transmission of the various pieces of circuit
Relationship.
Fig. 8 is the circuit design drawing of hardware circuit board.Wherein ADC0832 connects the P1.6 mouth of single-chip microcontroller, clock circuit difference
XT1, XT2 mouth of single-chip microcontroller are connect, MAX485 meets the P3.7 of single-chip microcontroller, the P3.2 of single-chip microcontroller is connected to after the outer connecting resistance of Hall sensor
Pin, Hall sensor one pulse of every output, makes pulse counter add 1 by P3.2 pin interruption subroutine.Outside work
Status indicator lamp is connected to the P2.6 mouth of single-chip microcontroller by protective resistance.
Fig. 9 is the Machine Design figure of front-wheel steer floating support platform, and platform is erected by two cylinders, in turntable
Between position install wheel caulking groove, below turntable be placed in 12 pieces of relevant radiis ball be used as turntable horizontal rotation, wheel
Caulking groove is connect with above platform with screw, and reserved caulking groove width is 2.5 inches (the maximum width value of cycle wheel), rotation
Platform lower part installation lifting piston is connected with cylinder, provides the fluctuating sense of front wheel, and angular transducer is pacified by shaft coupling
Mounted in the position at turntable bottom face caulking groove center, make to pass through shaft coupling for rotation information when the front-drive of bicycle
Pass to angular transducer.
Figure 10 is rear-wheel dynamic resistance support platform Machine Design figure, and platform is supported structure and erects, front rotary shaft and rear shaft
There is screw to be fixed in support platform, the common support force provided to bicycle rear, while the phase with rear-wheel can also be passed through
Cut the rotation speed of relation transmission bicycle rear.Left and right two is installed in support platform mutually in rear axle center
Symmetrical elasticity diagonal brace, plays the role of stable bicycle left-right balance.Hall sensor test side is installed on front rotary shaft, is led to
Later it takes turns and drives the angular speed of front rotary shaft rotation to carry out velocity measuring in rotation, rear shaft passes through the damping of conveyer belt and rear end
Device is connected, and provides corresponding dynamic/resistance for simulation process of riding.
Figure 11 is the work flow diagram of roaming emulation.
Claims (5)
1. a kind of interactive virtual roams exercycle, it is characterised in that:
The interactive virtual roaming exercycle includes front-wheel steer floating support platform, rear-wheel dynamic resistance support platform and fortune
Dynamic control hardware circuit, wherein motion control hardware circuit is divided into external data collecting part and data processing section, external number
The data acquiring location of front-wheel steer floating support platform and rear-wheel dynamic resistance support platform is separately mounted to according to collecting part, from
Driving emulation is when riding, and front-wheel steer floating support platform and rear-wheel dynamic resistance support platform are respectively disposed on the front and back of bicycle
The contacting points position under center of gravity is taken turns, the spacing between front-wheel steer floating support platform and rear-wheel dynamic resistance support platform is according to certainly
The size and specification of driving carry out the adjustment of interval location, meet the placement needs of bicycle；
Front-wheel steer floating support platform includes turntable, swing roller, wheel caulking groove, angular transducer and installing component and turns
Shaft coupling is transmitted at angle, installs wheel caulking groove on the stationary platform, and wherein wheel caulking groove width is 6cm, is embedded in cycle wheel
Lateral displacement is no more than 1cm afterwards, keeps the lateral stability of front wheel；Position under wheel caulking groove is installed by several rollings
Pearl, the rotation for making bicycle handle bar then drive shaft coupling to carry out horizontal direction with motor car wheel caulking groove in rotation；In turntable
Cylinder and lifting piston are installed in downside, and cylinder is fixed on ground vertically, and top adds lifting piston, lifting piston by welding with
Side below turntable is connected, and provides the fluctuations of front-wheel；Angular transducer is mounted on turntable bottom by shaft coupling
Rotation information is passed to angular transducer by shaft coupling when the front-drive of bicycle by the center in portion；
Rear-wheel dynamic resistance support platform includes rear wheel support platform, left and right diagonal brace, damper/power device, front rotary shaft, rear turn
Axis, Hall sensor and its transmission device are fixed on rear wheel support platform by axial position before and after bicycle placement direction
Front rotary shaft and rear shaft make the rear-wheel inlay card of bicycle between front rotary shaft and rear shaft, the rear-wheel of bicycle circle respectively with it is preceding
The circle of shaft and rear shaft is tangent, and rotation information is transmitted on front rotary shaft and rear shaft by when rear wheel of bicycle；Rear
The center of the wheel shaft of wheel one mutually symmetrical with elastic diagonal brace of each installation in the left and right in support platform to hind axle to two sides is protected
Demonstrate,prove the left-right balance of bicycle integral body；Damper is installed at the rear of rear shaft, damper passes through transmission device and rear turn
Axis is connected, and changes stress of riding for applying corresponding damping force；Hall sensor is mounted on any on the outside of the axle center of front rotary shaft
On one side, when rear wheel drives front rotary shaft rotation, Hall sensor detects the velocity of rotation of front rotary shaft, to obtain bicycle
Data of riding；
The motion control hardware circuit of the bicycle is divided into external data collecting part and data processing section, external data
Collecting part is sensor and the external circuit for connecting sensor, and angular transducer and Hall sensor are separately mounted to preceding rotation
The corresponding data acquiring location in floating support platform, rear-wheel dynamic resistance support platform, acquisition bicycle were emulated riding
Handlebar angle of turn and riding speed related data in journey, the circuit integration of data processing section on circuit boards, by outer
Portion's power supply power supply drives the control of entire circuit to run, and entire circuit includes: (1) external circuit, for connecting Hall sensor
With the data acquisition circuit of angular transducer；(2) control section is MCU and clock circuit, reset circuit；(3) A/D converter section
Point, including D/A converter module ADC832 and filter circuit；(4) TCP data segment includes the MAX485 of responsible serial communication logical
Letter module and RS232 turn usb segment.
2. interactive virtual according to claim 1 roams exercycle, it is characterised in that:
In the motion control hardware circuit, the sensor for acquiring speed is Hall sensor, and the sensor of acquisition angles is
WDD35D series of angles sensor, single-chip microcontroller select STC125A60S2, and the DOL Data Output Line of Hall sensor meets an external guarantor
Protect resistance after with MCU circuit connection；Angular transducer accesses MCU circuit after A/D is converted, and is connected with the GPIO of single-chip microcontroller mouth,
Clock circuit and reset circuit are connected to MCU；The voltage of 12V is converted into 5V by integrated stable voltage circuit and is supplied for entire hardware circuit
Electricity, voltage output 5V；The output signal of MCU by MAX485 become differential signal output, RS485 by the input signal of difference again
It is sent to the RXD pin of MCU by MAX485, then completes hardware circuit to computer using RS485 RS 232 serial converter
Communications；The workflow of motion control hardware circuit are as follows: external data Acquisition Circuit completes Hall sensor and angle
The connection of sensor, exercise data when cycling emulates are obtained by sensor, are sent to after A/D is converted and is filtered
MCU, MCU complete to be sent to meter by TCP data segment to the reception of transmission data using interruption, timer and tally function
Calculation machine completes the motion control of bicycle.
3. interactive virtual according to claim 1 roams exercycle, it is characterised in that:
In the message transmitting procedure of motion control hardware circuit and computer terminal, the field of system is carried out using serial port communication technology
Scape roaming processing, detailed process are as follows: initialize serial ports controller in a program first, serial ports controller include send controller and
Controller is received, to realize the opening and initialization of serial ports；Information write-in to be sent sends buffer area, and information is logical by RX
Letter line enters the reception shift unit of recipient, receives shift unit for the binary digit data and is saved into reception buffer area, carries out letter
Breath sends and receives；Feed back to CPU mono- interruption after receiving, sender's register return and wait next data and
Instruction is sent, sending and receiving for serial data is completed.
4. interactive virtual according to claim 1 roams exercycle, it is characterised in that:
Since the acquisition of two information of angle and speed is to carry out independent detection by different sensors and handle transmission, diagonally
Degree and velocity information carry out independent process, and angle information is transformed into the decimal system from hexadecimal, obtain turning for bicycle handle bar
To angle value；Hall sensor receives pulsatile once numerical value, then a reception information is sent, according within period regular hour
The number of received pulse and the diameter of sensor detection zone are converted to the speed when emulation of bicycle current kinetic
Angle value, if the forward shaft diameter of bicycle rear support platform is d, the step-by-step counting in measurement period T time is n, then certainly
The speed of driving rear-wheel are as follows:
5. interactive virtual according to claim 1 roams exercycle, it is characterised in that:
The step of roaming emulation: two global variables, i.e., the changes in coordinates in X-axis and Y-axis in virtual scene are defined first
Parameter, two global variables are that the data that transmission is come in carry out assignment and calling；The data received are assigned to global variable,
The each character received is stored into character string, separator is set using character string function, data are divided into block, storage is arrived
In corresponding array；Corresponding array is called directly in roam procedure to corresponding variable parameter, the data of speed pass through counting
Function is converted to specific velocity amplitude, is assigned to the parameter of control roam speed, and the speed control as Roaming control device is joined
Number, adds virtual camera in the scene, and relevant parameter and corresponding script status is arranged, and completes the roaming control of virtual scene
System；In roam procedure, the three-dimensional coordinate of Roaming control object is extracted using the coordinate explicit function in Unity3D, with scene
World coordinate system comparison, next movement position and state are judged, bicycle wheels coordinate difference in height is carried out
It calculates, by obtained data feedback to virtual camera, interactive roaming processing can be completed.
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