CN110327587B - Method for simulating route riding of exercise bicycle and exercise bicycle system - Google Patents
Method for simulating route riding of exercise bicycle and exercise bicycle system Download PDFInfo
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- CN110327587B CN110327587B CN201910612550.1A CN201910612550A CN110327587B CN 110327587 B CN110327587 B CN 110327587B CN 201910612550 A CN201910612550 A CN 201910612550A CN 110327587 B CN110327587 B CN 110327587B
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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
- A63B24/00—Electric or electronic controls for exercising apparatus of preceding groups; Controlling or monitoring of exercises, sportive games, training or athletic performances
- A63B24/0075—Means for generating exercise programs or schemes, e.g. computerized virtual trainer, e.g. using expert databases
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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
- A63B24/00—Electric or electronic controls for exercising apparatus of preceding groups; Controlling or monitoring of exercises, sportive games, training or athletic performances
- A63B24/0087—Electric or electronic controls for exercising apparatus of groups A63B21/00 - A63B23/00, e.g. controlling load
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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
- A63B24/00—Electric or electronic controls for exercising apparatus of preceding groups; Controlling or monitoring of exercises, sportive games, training or athletic performances
- A63B24/0087—Electric or electronic controls for exercising apparatus of groups A63B21/00 - A63B23/00, e.g. controlling load
- A63B2024/0093—Electric or electronic controls for exercising apparatus of groups A63B21/00 - A63B23/00, e.g. controlling load the load of the exercise apparatus being controlled by performance parameters, e.g. distance or speed
Abstract
The invention relates to a medicineThe technical field of personal equipments. The invention discloses a method for simulating route riding by an exercise bicycle and an exercise bicycle system, wherein the method comprises the following steps: step S1, calculating the torsion T of the corresponding exercise bike according to the user, the virtual bike and the information about the riding route corresponding to the current position of the virtual bikeBody-building vehicle(ii) a Proceeding to step S2; step S2, controlling the resistance generating device of the body-building vehicle at t0Output corresponding to torque T within timeBody-building vehicleStep S3, the user steps on the exercise bicycle and rides the exercise bicycle, wherein t0Less than 100 ms; step S3, interval t1After a time, detecting the power P of the cycling of the userHuman beingAccording to power PHuman beingCalculating t1The riding distance S in the time is updated according to the riding distance S, and if the riding is not finished, the step S1 is returned; otherwise, ending the simulation; wherein, t0<t1<200 ms. The invention has the advantages of high simulation accuracy, simple calculation and low cost.
Description
Technical Field
The invention belongs to the technical field of fitness equipment, and particularly relates to a method for simulating a route to ride by a fitness bicycle and a fitness bicycle system.
Background
With the development of society and the improvement of living standard, people have stronger health consciousness, and more people like to use fitness equipment for fitness. The exercise bicycle belongs to typical aerobic exercise equipment simulating outdoor exercises, is also called as cardiopulmonary training equipment, and is mainly used for promoting cardiovascular exercise, accelerating metabolism, and enhancing the functions of the heart and the lung through exercise with proper strength for a long time, so that the physique of a human body is improved. Exercise bicycles are becoming a very popular form of exercise in health clubs, community activity centers, and are increasingly entering the home of common people.
In order to improve the riding effect and experience of a user, some exercise bicycles are provided with a simulated route riding function, and the actual riding feeling can be simulated. However, the speed is higher and the resistance is higher and higher in the acceleration process due to the influence of air resistance during riding, and the equation T between the speed and the resistance isHuman beingFunc (θ, T, V (where T)Human beingIs the torque of a person on a pedal, theta is the angle of the slope, t is the time, and V is the speed at which the virtual vehicle is traveling) is a differential equationIn the existing simulation method, in order to ensure high simulation accuracy, the differential equation is solved to perform calculation simulation, and the calculation amount for solving the differential equation in the engineering realization is large, so that processing equipment with good performance is needed, and the cost is high.
Disclosure of Invention
The invention aims to provide a method for simulating route riding of an exercise bicycle and an exercise bicycle system so as to solve the existing problems.
In order to achieve the purpose, the invention adopts the technical scheme that: a method for simulating a route for riding by an exercise bicycle comprises the following steps:
step S1, calculating the torsion T of the corresponding exercise bike according to the user, the virtual bike and the information about the riding route corresponding to the current position of the virtual bikeBody-building vehicle(ii) a Proceeding to step S2;
step S2, controlling the resistance generating device of the body-building vehicle at t0Output corresponding to torque T within timeBody-building vehicleStep S3, the user steps on the exercise bicycle and rides the exercise bicycle, wherein t0Less than 100 ms;
step S3, interval t1After a time, detecting the power P of the cycling of the userHuman beingAccording to power PHuman beingCalculating t1Riding distance S within timeRiding bicycleAccording to the riding distance SRiding bicycleUpdating the current position of the virtual vehicle on the riding route, and returning to the step S1 if the riding is not finished; otherwise, ending the simulation; wherein, t0<t1<200ms。
Further, in the step S2, t0Less than 50 ms; the step S3, t0<t1<100ms。
Furthermore, the resistance generating device of the exercise bicycle is realized by adopting a permanent magnet synchronous motor and a motor control panel with FOC control.
Further, in step S2, the torsion T of the exercise bikeBody-building vehicleIs calculated as follows
Wherein, THuman beingHuman torsion on the pedals of exercise bicycle, CSpeed ratioIs the speed ratio of the large plate and the flywheel of the exercise bicycle, R is the wheel radius of the virtual vehicle, CTooth ratioIs the gear ratio of the virtual vehicle big plate and the flywheel, eta is the transmission efficiency of the virtual vehicle, FResistance forceIs the total resistance received during riding.
Further, in the step S3, the power P is used as a function of the powerHuman beingCalculating t1Riding distance S within timeRiding bicycleThe following formula is adopted for calculation
SRiding bicycle＝VRiding bicycle*t1
Wherein, VRiding bicycleFor virtual vehicles at t1Average speed of travel over time, η being the transmission efficiency of the virtual vehicle, FResistance forceIs the total resistance received during riding, FGravity forceFor the gravity received during riding, FFrictional forceTo receive frictional force during riding, FWind resistanceIs the wind resistance suffered during riding.
Further, the riding route comprises an actual riding route or a virtual riding route.
Further, in step S1, the information related to the user includes height and weight information of the user, the information related to the virtual vehicle includes vehicle weight, gear ratio of the big disc to the flywheel, and wheel radius information, and the information related to the riding route corresponding to the current position of the virtual vehicle includes weather, geographical position, and road surface information.
Further, the step S3 includes displaying relevant information during the riding process, where the relevant information includes the riding route, the current position of the virtual vehicle on the riding route, the vehicle speed of the virtual vehicle, and riding power information.
The invention also provides a body-building vehicle system, and the simulated route riding is carried out by adopting the method for simulating the route riding of the body-building vehicle.
Furthermore, the resistance generating device of the exercise bicycle is realized by adopting a permanent magnet synchronous motor and a motor control panel with FOC control.
The invention has the beneficial technical effects that:
the invention does not need to solve the differential equation in the process of simulating the route riding, has simple calculation, lower requirement on the performance of processing equipment and low cost, and can simulate the time t0And t1Reasonable selection is carried out, enough simulation accuracy is kept, and user experience is met.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.
FIG. 1 is a flow chart of a method of an embodiment of the present invention;
FIG. 2 is a schematic structural diagram of an exercise bicycle system according to the present invention;
fig. 3 is a schematic structural diagram of another exercise bicycle system of the present invention.
Detailed Description
To further illustrate the various embodiments, the invention provides the accompanying drawings. The accompanying drawings, which are incorporated in and constitute a part of this disclosure, illustrate embodiments of the invention and, together with the description, serve to explain the principles of the embodiments. Those skilled in the art will appreciate still other possible embodiments and advantages of the present invention with reference to these figures. Elements in the figures are not drawn to scale and like reference numerals are generally used to indicate like elements.
The invention will now be further described with reference to the accompanying drawings and detailed description.
As shown in fig. 1, a method for simulating a route for riding by an exercise bicycle comprises the following steps:
step S1, calculating the torsion T of the corresponding exercise bike according to the user, the virtual bike and the information about the riding route corresponding to the current position of the virtual bikeBody-building vehicle(ii) a The process advances to step S2.
In this embodiment, a host (e.g., a smart phone, a computer, etc.) is used to calculate the torque T of the corresponding exercise bike according to the user, the virtual bike, and the riding route information corresponding to the current position of the virtual bikeBody-building vehicle(i.e., the resistance output by the resistance generating device of the exercise bicycle).
In the specific embodiment, the relevant information of the user comprises height and weight information, and the windward area in riding can be estimated; the relevant information of the virtual vehicle includes the vehicle weight, the gear ratio of the large disc to the flywheel, and the wheel radius, but is not limited thereto, and in other embodiments, other relevant information may be included according to actual needs.
The information about the user and the virtual vehicle may be input to the host computer through an input device such as a touch screen, a keyboard, etc.
In this embodiment, the information related to the riding route corresponding to the current position of the virtual vehicle includes weather, geographic position, and road surface information. Specifically, the route riding can be actual route riding or virtual route riding, if the actual route riding is performed, the host can obtain local weather information, mainly wind direction and wind speed information, through a weather service website (for example, China weather network) interface on the network according to the geographical position information of the route; the longitude, latitude and height (elevation) information of each position point on the route is obtained through a map service website (such as a Gauss map and a Baidu map) on the network. Meanwhile, according to the geographic information, corresponding road surface information (such as a mud-mixed road surface, an asphalt road surface, a gravel road surface, an ice road surface and the like) can be obtained, so that the rolling friction coefficient is obtained.
And if the virtual route is ridden, the host acquires corresponding weather, geographic position and road surface information according to the current virtual map.
In this embodiment, the corresponding exercise bicycle is calculatedTorsion TBody-building vehicleThe specific process is as follows:
assume A, B is two points on the riding route, and the longitude, latitude and altitude are: a (lat1, lon1, h1) and B (lat2, lon2, h2), the horizontal distance L between two points A, B is calculated as:
wherein: r1For the radius of the earth, an average value of 6371km can be taken.
Then, the angle of the slope
Positive when ascending, negative when descending and 0 when leveling.
According to the weather conditions, the influence of the wind direction and the wind speed, namely the relative wind speed v with the riding direction is confirmed, wherein the wind speed is positive in the upwind state and negative in the downwind state.
When riding, the people can receive the influence of air resistance, namely wind resistance, and its computational formula is:
wherein: c is the air resistance coefficient; ρ is the air density; s is the windward area of the user; v is the riding speed.
When riding on the road surface, the bicycle is hindered by friction force when riding on a flat road; when climbing uphill, gravity and friction force need to be overcome; when the gravity is used for providing forward power in downhill, the gravity FGravity forceAnd frictional force FFrictional forceThe calculation formula of (c) can be unified as:
Fgravity force＝W*g*sinθ
FFrictional force＝W*g*μ*cosθ
Wherein: w is the weight of the person + the virtual vehicle; g is the acceleration of gravity; μ is a rolling friction coefficient.
Total resistance F suffered by a person during ridingResistance forceComprises the following steps:
Fresistance force＝FGravity force+FFrictional force+FWind resistance
Torque T of person on pedal of body-building vehicleHuman being(equal to the human torque on the virtual vehicle pedals) are:
wherein L isCrank armThe length of the crank of the exercise bicycle; r is the wheel radius of the virtual vehicle; cTooth ratioThe gear ratio of the virtual big plate to the flywheel is obtained; eta is the transmission efficiency of the virtual vehicle.
Torsion T of exercise bicycleBody-building vehicleComprises the following steps:
Thuman being＝TBody-building vehicle*CSpeed ratio
Wherein, CSpeed ratioThe speed ratio of the large plate and the flywheel of the exercise bicycle.
Of course, in other embodiments, the torque T of the exercise apparatus may be varied according to the actual selected parametersBody-building vehicleThe formulation of (a) will vary accordingly.
Step S2, controlling the resistance generating device of the body-building vehicle at t0Output corresponding to torque T within timeBody-building vehicleStep S3, the user steps on the exercise bicycle and rides the exercise bicycle, wherein t0Less than 100 ms.
Specifically, t is set0Less than 100ms, so that the simulation accuracy is higher and can meet the user experience, preferably, t0Less than 50ms, resulting in higher accuracy of the simulation.
In this embodiment, the resistance generating device of the exercise bike is implemented by using a permanent magnet synchronous motor and a motor control board with FOC control. The motor control board is controlled under constant torque closed-loop control according to the theory of FOC control algorithm no matter the current rotating speed is asUnder the regulation of PID, the required torsion force value can be achieved within 50ms, namely real-time and accurate resistance output is achieved. However, the present invention is not limited thereto, and in other embodiments, other resistance generating devices can be adopted, which can mainly satisfy t0Less than 100 ms.
Step S3, interval t1After a time, detecting the power P of the cycling of the userHuman beingAccording to power PHuman beingCalculating t1Riding distance S within timeRiding bicycleAccording to the riding distance SRiding bicycleUpdating the current position of the virtual vehicle on the riding route, and returning to the step S1 if the riding is not finished; otherwise, ending the simulation; wherein, t0<t1<200ms。
In this embodiment, the power P is determined according toHuman beingCalculating t1Riding distance S within timeRiding bicycleThe specific method comprises the following steps:
first, the virtual vehicle at t is calculated according to the following formula1Average travel speed V over timeRiding bicycle：
Then through formula SRiding bicycle＝VRiding bicycle*t1Then t can be calculated1The riding distance S in time.
According to the theorem of energy conservation, the power P for riding a bicycle can be knownHuman beingI.e. the power of the PMSM on the exercise bike, whereby t can be calculated by detecting the power of the PMSM on the exercise bike1Riding distance S within timeRiding bicycleAnd the method is easy to implement.
In this embodiment, the power of the permanent magnet synchronous motor on the exercise bike can be directly detected by the motor control board, and reference can be made to the prior art specifically, which is not described in detail. Of course, in other embodiments where the resistance generating device does not employ a motor, the cycling power P can also be calculated by detecting the pedaling frequencyHuman beingIt is easy for those skilled in the art to useRealized, not to be described in detail.
In this embodiment, the step S3 further includes displaying relevant information during the riding process, where the relevant information includes the riding route, the current position of the virtual vehicle on the riding route, the vehicle speed of the virtual vehicle, and riding power information. The display device can be a display screen, a touch screen and other display devices which are in communication connection with the host.
The invention also provides a body-building vehicle system, and the simulated route riding is carried out by adopting the method for simulating the route riding of the body-building vehicle.
Preferably, in this embodiment, the resistance generating device of the exercise bicycle is implemented by using a permanent magnet synchronous motor and a motor control board with FOC control, and the motor control board can achieve a required torque value within 50ms under constant torque closed-loop control according to the theory of the FOC control algorithm, no matter how the current rotating speed is, under the regulation of PID, that is, achieve real-time and accurate resistance output, so that the simulation precision is high, and the user experience is satisfied.
Fig. 2 and 3 show two specific configurations of the exercise bicycle system, wherein the main body and the display of fig. 2 are implemented by ipad, and the main body and the display of fig. 3 are implemented by a television box and a smart television.
The invention does not need to solve differential equation in the simulation process, has simple calculation, lower requirement on the performance of processing equipment and low cost, and can solve the problem of time t0And t1Reasonable selection is carried out, enough simulation accuracy is kept, and user experience is met.
While the invention has been particularly shown and described with reference to a preferred embodiment, it will be understood by those skilled in the art that various changes in form and detail may be made therein without departing from the spirit and scope of the invention as defined by the appended claims.
Claims (9)
1. A method for simulating a route for riding by an exercise bicycle is characterized by comprising the following steps:
step S1, according to the applicationThe user, the virtual vehicle and the riding route corresponding to the current position of the virtual vehicle are related to each other, and the torsion T of the corresponding exercise bicycle is calculatedBody-building vehicle(ii) a Proceeding to step S2; wherein, the torsion T of the body-building vehicleBody-building vehicleIs calculated as follows
Wherein, THuman beingHuman torsion on the pedals of exercise bicycle, CSpeed ratioIs the speed ratio of the large plate and the flywheel of the exercise bicycle, R is the wheel radius of the virtual vehicle, CTooth ratioIs the gear ratio of the virtual vehicle big plate and the flywheel, eta is the transmission efficiency of the virtual vehicle, FResistance forceIs the total resistance received during riding;
step S2, controlling the resistance generating device of the body-building vehicle at t0Output corresponding to torque T within timeBody-building vehicleStep S3, the user steps on the exercise bicycle and rides the exercise bicycle, wherein t0Less than 100 ms;
step S3, interval t1After a time, detecting the power P of the cycling of the userHuman beingAccording to power PHuman beingCalculating t1Riding distance S within timeRiding bicycleAccording to the riding distance SRiding bicycleUpdating the current position of the virtual vehicle on the riding route, and returning to the step S1 if the riding is not finished; otherwise, ending the simulation; wherein, t0<t1<200ms。
2. The method for simulating route riding of exercise bike according to claim 1, characterized in that: in the step S2, t0Less than 50 ms; the step S3, t0<t1<100ms。
3. The method for simulating route riding of exercise bike according to claim 1 or 2, characterized in that: the resistance generating device of the exercise bicycle is realized by adopting a permanent magnet synchronous motor and a motor control panel with FOC control.
4. The method for simulating route riding of exercise bike according to claim 1, characterized in that: in the step S3, the power P is usedHuman beingCalculating t1Riding distance S within timeRiding bicycleThe following formula is adopted for calculation
SRiding bicycle＝VRiding bicycle*t1
Wherein, VRiding bicycleFor virtual vehicles at t1Average speed of travel over time, η being the transmission efficiency of the virtual vehicle, FResistance forceIs the total resistance received during riding, FGravity forceFor the gravity received during riding, FFrictional forceTo receive frictional force during riding, FWind resistanceIs the wind resistance suffered during riding.
5. The method for simulating route riding of exercise bike according to claim 1, characterized in that: the riding route comprises an actual riding route or a virtual riding route.
6. The method for simulating route riding of exercise bike according to claim 1, characterized in that: in step S1, the information related to the user includes height and weight information of the user, the information related to the virtual vehicle includes vehicle weight, a gear ratio between the large plate and the flywheel, and wheel radius information, and the information related to the riding route corresponding to the current position of the virtual vehicle includes weather information, geographical position information, and road surface information.
7. The method for simulating route riding of exercise bike according to claim 1, characterized in that: the step S3 further includes displaying relevant information during the riding process, where the relevant information includes the riding route, the current position of the virtual vehicle on the riding route, the vehicle speed of the virtual vehicle, and riding power information.
8. An exercise bike system, characterized by: the method for simulating the route riding of the exercise bicycle according to claim 1.
9. The exercise bike system of claim 8, wherein: the resistance generating device of the exercise bicycle is realized by adopting a permanent magnet synchronous motor and a motor control panel with FOC control.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
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| CN201910612550.1A CN110327587B (en) | 2019-07-09 | 2019-07-09 | Method for simulating route riding of exercise bicycle and exercise bicycle system |
| PCT/CN2020/100822 WO2021004476A1 (en) | 2019-07-09 | 2020-07-08 | Simulated route riding method for stationary bicycle, and stationary bicycle system |
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| CN201910612550.1A CN110327587B (en) | 2019-07-09 | 2019-07-09 | Method for simulating route riding of exercise bicycle and exercise bicycle system |
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| CN110327587B true CN110327587B (en) | 2021-05-28 |
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| US10471297B1 (en) | 2018-05-16 | 2019-11-12 | Hydrow, Inc. | Rowing |
| US10828531B1 (en) | 2019-05-30 | 2020-11-10 | Hydrow, Inc. | Rowing exercise machines having a configurable rowing feel |
| CN110327587B (en) * | 2019-07-09 | 2021-05-28 | 厦门景杉网络科技有限公司 | Method for simulating route riding of exercise bicycle and exercise bicycle system |
| US11229825B1 (en) * | 2020-08-24 | 2022-01-25 | Hydrow, Inc. | Rank listing of competitive performances of exercise on a machine |
| CN113304433B (en) * | 2021-05-27 | 2022-08-16 | 中国农业银行股份有限公司 | Intelligent knob, flywheel and intelligent terminal |
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| CN107349556B (en) * | 2016-05-09 | 2019-07-02 | 力山工业股份有限公司 | The resistance sensing mechanism of fitness equipment |
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| CN110327587B (en) * | 2019-07-09 | 2021-05-28 | 厦门景杉网络科技有限公司 | Method for simulating route riding of exercise bicycle and exercise bicycle system |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN101842138A (en) * | 2007-08-30 | 2010-09-22 | 约翰·伊恩·威尔逊 | Ergometric training device |
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Effective date of registration: 20210727 Address after: 361000 unit 275, No. 172, Datong Road, Siming District, Xiamen City, Fujian Province Patentee after: XIAMEN MAIHE INFORMATION TECHNOLOGY Co.,Ltd. Address before: Unit 301B, No.40, guanri Road, phase II, software park, Xiamen City, Fujian Province, 361000 Patentee before: Xiamen Jingshan Network Technology Co.,Ltd. |
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