CN112380665A - Human body parameter and electric vehicle parameter constraint method in riding movement - Google Patents

Human body parameter and electric vehicle parameter constraint method in riding movement Download PDF

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CN112380665A
CN112380665A CN202011010340.4A CN202011010340A CN112380665A CN 112380665 A CN112380665 A CN 112380665A CN 202011010340 A CN202011010340 A CN 202011010340A CN 112380665 A CN112380665 A CN 112380665A
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何坤金
罗礼鹏
张玉雪
徐玮
刘国高
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Changzhou Campus of Hohai University
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Abstract

The invention provides a method for restraining human body parameters and electric vehicle parameters in riding movement, which is characterized by reconstructing a three-dimensional human body model according to human body structure characteristics and the average proportional relation of all parts of a human body, and defining semantic parameters of the reconstructed three-dimensional human body model; then, rigid body division and semantic parameter definition are carried out on the electric vehicle model, and stress analysis is carried out on the electric vehicle to establish an electric vehicle dynamic equation; finally, establishing a constraint relation between the electric vehicle parameters and the human body parameters, and calculating the human body parameters by acquiring the electric vehicle parameters in the riding motion process; according to the invention, the constraint relation between the electric vehicle parameters and the human body parameters is established through the parametric definition of the human body model and the electric vehicle model, so that the dynamic integration of the human body model and the electric vehicle model in the riding process is realized, and the important significance is provided for standardizing the riding posture, improving the riding efficiency, avoiding joint damage and joint ache and the like caused by improper posture in the riding process.

Description

Human body parameter and electric vehicle parameter constraint method in riding movement
Technical Field
The invention relates to a human body parameter and electric vehicle parameter constraint method in riding motion, belonging to the field of computer aided design.
Background
In recent years, with the rapid development of science and technology and the interdisciplinary science, the development and progress of motion simulation technology are greatly promoted. The motion simulation technology is a new technology based on mechanical kinematics, dynamics theory and computer practical technology, and mainly utilizes a computer to simulate the motion and dynamic characteristics of mechanical motion in real environment. Along with the continuous improvement of people's standard of living, the enhancement of environmental protection consciousness, the bicycle has been as the vehicle of masses, and the electric motor car that the frame adopted natural material bamboo to make to form not only has the characteristic of ordinary bicycle still has the characteristic of electric motor car, more has characteristics such as light, environmental protection, novelty. However, in the riding process of the electric vehicle, the riding posture is strange, so that the phenomena of aching pain of legs and buttocks and the like caused by improper riding posture are easy to occur, and the joint injury and other conditions of serious people occur.
The body height and the body part proportion of each person are obviously different, the riding standard posture is also different from person to person, and the user is guided to carry out standard riding through computer assistance, so that the human body model and the electric vehicle model need to be parameterized and defined, and the motion simulation technology is utilized for simulation. The invention proposes parameterization of a human body model and parameterization definition of an electric vehicle model, establishes a constraint relation between parameters of the human body model and parameters of the electric vehicle model, and realizes human-vehicle motion simulation. The invention aims to improve the riding posture of the user and avoid body pain and joint injury, and has important significance for improving riding quality and efficiency and improving riding experience of the user.
Disclosure of Invention
The invention provides a method for constraining human body parameters and electric vehicle parameters in riding movement, provides a certain theoretical basis for standardizing riding postures, and has important significance for improving riding quality, healthily riding process and riding experience.
In order to achieve the purpose, the technical scheme adopted by the invention is as follows:
a method for constraining human body parameters and electric vehicle parameters in riding sports comprises the following steps:
s1, reconstructing a three-dimensional human body model according to the structural characteristics of the human body and the average proportional relation of all parts of the human body, and defining semantic parameters of the reconstructed three-dimensional human body model;
s2, rigid body division and semantic parameter definition are carried out on the electric vehicle model, and stress analysis is carried out on the electric vehicle to establish an electric vehicle dynamic equation;
and S3, establishing a constraint relation between the electric vehicle parameters and the human body parameters, and calculating the human body parameters by acquiring the electric vehicle parameters in the riding motion process.
Preferably, the step S1 specifically includes the following steps:
S1A, integrating human body parts which do not participate in riding under the condition of not losing the human body structure characteristics according to the human body structure characteristics and the average proportional relation of all parts of the human body, and combining the participation conditions of all parts of the human body in the riding process, and reconstructing a three-dimensional human body model in 3 dmax;
S1B, according to the participation condition of human joints in the riding process, semantic parameter definition and human joint hierarchical relation setting are carried out on the joints of the reconstructed three-dimensional human model.
Preferably, in step S1B, the setting of the hierarchical relationship of the body joints refers to setting corresponding parent-child relationships for each joint, including an upper torso-level joint and a lower torso-level joint, where the upper torso-level joint sequentially includes, from high to low: shoulder joint, elbow joint and wrist joint, lower truck level joint is by high to low being in proper order: hip, knee and ankle joints.
Preferably, the step S2 specifically includes the following steps:
S2A, rigid body division is carried out on the electric vehicle model, the rigid body comprises a dynamic rigid body and a static rigid body, the dynamic rigid body comprises a crank, a front wheel, a rear wheel, a right pedal, a left pedal, a handle cross, a front fork, a seat tube and a cushion, and the static rigid body comprises an upper tube, a lower tube, a vertical tube, a front tube, a rear upper fork and a rear lower fork.
S2B, performing semantic parameter definition on the electric vehicle model, wherein the parameters of the electric vehicle model comprise speed, position, horizontal rotation angle and vertical inclination angle, and the parameters of the dynamic rigid body are parameterized and defined to comprise rigid body length and rotation angle; the static rigid body parameters comprise displacement relative to the center of the electric vehicle and rigid body length parameters;
S2C, carrying out mechanical analysis on the electric vehicle in the riding process, wherein the stress of a human-vehicle system in the riding process comprises gravity FgGround supporting force FsHead-on air resistance F of man and vehicledAir resistance F during wheel rotationwAnd the friction force F between the tire and the groundf(ii) a When the vertical inclination angle theta is not equal to 0, gravity needs to be decomposed, including two conditions, when theta is greater than 0, namely in a climbing stage, gravity is decomposed into resistance F 'opposite to the movement direction'gAnd the support force of the ground to the passenger car system, when theta is less than 0, namely in the downhill stage, the gravity is decomposed into power F 'in the same direction as the motion direction'gAnd ground support for the human-vehicle system, and the mechanical formula is as follows:
Figure BDA0002697372590000021
in the formula, CrIs the rolling friction coefficient between the tyre and the ground, M is the total mass of the man and the vehicle, CwIs the air resistance coefficient of the wheel of the electric vehicle, rho is the air density at the altitude of the elevation, V is the relative speed of the wheel to the air flow, r is the radius of the wheel, CwIs the air resistance coefficient, A is the maximum cross-sectional area of the windward side;
establishing a basic kinetic equation in the riding process of the electric vehicle according to Newton's second law, wherein the basic kinetic equation is specifically expressed as follows:
F-F′g-Ff-Fw-Fd＝Ma (2)
in the formula, F is a driving force generated when the rider steps on the pedals and a driving force provided by the battery of the electric vehicle.
Preferably, the step S3 specifically includes the following steps:
S3A, performing simulation motion in unity, providing driving force by a human body and a battery, driving an electric vehicle to perform coordinated motion, and acquiring electric vehicle related parameters in the riding process, wherein the electric vehicle related parameters comprise an electric vehicle vertical inclination angle C alpha 3, a horizontal rotation angle C alpha 1, a front insertion steering angle C alpha 2, an electric vehicle left grip position CP6, an electric vehicle right grip position CP7, a cushion position CP4, a right pedal position CP2 and a left pedal position CP 3;
S3B, calculating related human body parameters according to the electric vehicle parameters and the constraint relation acquired in the step S3A, wherein the human body parameters comprise human body global parameters and local parameters, the global parameters comprise human body position coordinates, human body horizontal corners and vertical elevation angles, and the local parameters comprise shoulder joint angles, elbow joint angles, wrist joint angles, hip joint angles, knee joint angles, ankle joint angles, lumbar joint angles and cervical joint angles.
Preferably, in step S3, the establishing of the constraint relationship refers to establishing a constraint relationship between the pedal position, the grip position, the seat cushion position, the horizontal rotation angle and the vertical tilt angle parameter of the electric vehicle and the palm center position, the foot center position, the hip position, the body rotation angle and the body elevation angle parameter of the human body, that is, P5 — CP6, P11 — CP5, P10 — CP2, P12 — CP3, P13 — CP4, α 13 — Cα1，α14＝Cα3Meanwhile, the constraint relation between the palm center position of the palm of the human body, the arch position and hip position parameters and other joint parameters of the human body including shoulder joints, elbow joints, wrist joints, hip joints, knee joints and ankle joints is established, namely an auxiliary point ls is CP6-P4 '+ P5', wherein P4 'and P5' are P4 and P5 initial point positions, and other joint point parameter values are obtained through the following formula:
Figure BDA0002697372590000031
Figure BDA0002697372590000032
Figure BDA0002697372590000033
Figure BDA0002697372590000034
Figure BDA0002697372590000035
Figure BDA0002697372590000041
preferably, the electric vehicle model is a bamboo electric vehicle model.
Has the advantages that:
1) the method for restraining the human body parameters and the electric vehicle parameters in the riding movement is used in the technical field of riding movement simulation, can improve riding efficiency, standardizes riding postures, and has important significance for simulating riding movement and learning riding skills.
2) The electric bicycle provided by the invention has the characteristics of a common bicycle and an electric bicycle, and has the characteristics of portability, environmental friendliness, novelty and the like.
Drawings
FIG. 1 is a schematic diagram of a method for constraining human body parameters and electric vehicle parameters in riding movement according to the invention;
FIG. 2 is a diagram of the relationship between the average proportion of each part of the human body in the constraint method of the human body parameters and the electric vehicle parameters in the riding exercise;
FIG. 3 is a diagram of a human body model reconstructed in a method for constraining human body parameters and electric vehicle parameters in riding sports;
FIG. 4 is a schematic diagram of human body parameter definition in a method for constraining human body parameters and electric vehicle parameters in riding movement;
FIG. 5 is a top view of semantic parameter definitions of an electric vehicle in a method of constraining human body parameters and electric vehicle parameters in a riding exercise;
FIG. 6 is a side view of an electric vehicle semantic parameter definition of a human body parameter and electric vehicle parameter constraint method in a riding exercise;
FIG. 7 is a schematic diagram of a dynamic combination of a human body model and an electric vehicle model in a method for constraining human body parameters and electric vehicle parameters in riding movement;
FIG. 8 is a schematic diagram of a dynamic combination of a human body model and an electric vehicle model in a method for constraining human body parameters and electric vehicle parameters in riding movement;
FIG. 9 is a schematic diagram of a dynamic combination of a human body model and an electric vehicle model in a method for constraining human body parameters and electric vehicle parameters in riding movement;
FIG. 10 is a schematic diagram of a dynamic combination of a human body model and an electric vehicle model in a method for constraining human body parameters and electric vehicle parameters in riding movement.
Detailed Description
The invention is described below with reference to the accompanying drawings, which are intended to cover several modifications and embodiments of the invention.
As shown in fig. 1-10, a method for constraining human body parameters and electric vehicle parameters in riding sports comprises the following steps:
s1, reconstructing a three-dimensional human body model according to the structural characteristics of the human body and the average proportional relation of all parts of the human body, and defining semantic parameters of the reconstructed three-dimensional human body model;
s2, rigid body division and semantic parameter definition are carried out on the electric vehicle model, and stress analysis is carried out on the electric vehicle to establish an electric vehicle dynamic equation;
and S3, establishing a constraint relation between the electric vehicle parameters and the human body parameters, and calculating the human body parameters by acquiring the electric vehicle parameters in the riding motion process.
Preferably, the step S1 specifically includes the following steps:
S1A, integrating human body parts which do not participate in riding under the condition of not losing the human body structure characteristics according to the human body structure characteristics and the average proportional relation of all parts of the human body, and combining the participation conditions of all parts of the human body in the riding process, and reconstructing a three-dimensional human body model in 3 dmax;
S1B, according to the participation condition of human joints in the riding process, semantic parameter definition and human joint hierarchical relation setting are carried out on the joints of the reconstructed three-dimensional human model.
Preferably, in step S1B, the setting of the hierarchical relationship of the body joints refers to setting corresponding parent-child relationships for each joint, including an upper torso-level joint and a lower torso-level joint, where the upper torso-level joint sequentially includes, from high to low: shoulder joint, elbow joint and wrist joint, lower truck level joint is by high to low being in proper order: hip, knee and ankle joints.
Preferably, the step S2 specifically includes the following steps:
S2A, rigid body division is carried out on the electric vehicle model, the rigid body comprises a dynamic rigid body and a static rigid body, the dynamic rigid body comprises a crank, a front wheel, a rear wheel, a right pedal, a left pedal, a handle cross, a front fork, a seat tube and a cushion, and the static rigid body comprises an upper tube, a lower tube, a vertical tube, a front tube, a rear upper fork and a rear lower fork.
S2B, performing semantic parameter definition on the electric vehicle model, wherein the parameters of the electric vehicle model comprise speed, position, horizontal rotation angle and vertical inclination angle, and the parameters of the dynamic rigid body are parameterized and defined to comprise rigid body length and rotation angle; the static rigid body parameters comprise displacement relative to the center of the electric vehicle and rigid body length parameters.
S2C, carrying out mechanical analysis on the electric vehicle in the riding process, wherein the stress of a human-vehicle system in the riding process comprises gravity FgGround supporting force FsHead-on air resistance F of man and vehicledAir resistance F during wheel rotationwAnd the friction force F between the tire and the groundf(ii) a When the vertical inclination angle theta is not equal to 0, gravity needs to be decomposed, including two conditions, when theta is larger than 0, namely in a climbing stage, gravity is decomposed into the direction of motionOpposite drag force F'gAnd the support force of the ground to the passenger car system, when theta is less than 0, namely in the downhill stage, the gravity is decomposed into power F 'in the same direction as the motion direction'gAnd ground support for the human-vehicle system, and the mechanical formula is as follows:
Figure BDA0002697372590000061
in the formula, CrIs the rolling friction coefficient between the tyre and the ground, M is the total mass of the man and the vehicle, CwIs the air resistance coefficient of the wheel of the electric vehicle, rho is the air density at the altitude of the elevation, V is the relative speed of the wheel to the air flow, r is the radius of the wheel, CwIs the air resistance coefficient, A is the maximum cross-sectional area of the windward side;
establishing a basic kinetic equation in the riding process of the electric vehicle according to Newton's second law, wherein the basic kinetic equation is specifically expressed as follows:
F-F′g-Ff-Fw-Fd＝Ma (2)
in the formula, F is a driving force generated when the rider steps on the pedals and a driving force provided by the battery of the electric vehicle.
Preferably, the step S3 specifically includes the following steps:
S3A, performing simulation motion in unity, providing driving force by a human body and a battery, driving an electric vehicle to perform coordinated motion, and acquiring electric vehicle related parameters in the riding process, wherein the electric vehicle related parameters comprise an electric vehicle vertical inclination angle C alpha 3, a horizontal rotation angle C alpha 1, a front insertion steering angle C alpha 2, an electric vehicle left grip position CP6, an electric vehicle right grip position CP7, a cushion position CP4, a right pedal position CP2 and a left pedal position CP 3;
S3B, calculating related human body parameters according to the electric vehicle parameters and the constraint relation acquired in the step S3A, wherein the human body parameters comprise human body global parameters and local parameters, the global parameters comprise human body position coordinates, human body horizontal corners and vertical elevation angles, and the local parameters comprise shoulder joint angles, elbow joint angles, wrist joint angles, hip joint angles, knee joint angles, ankle joint angles, lumbar joint angles and cervical joint angles.
Preferably, in step S3, the establishing of the constraint relationship refers to establishing a constraint relationship between the pedal position, the grip position, the seat cushion position, the horizontal rotation angle and the vertical tilt angle parameter of the electric vehicle and the palm center position, the foot center position, the hip position, the body rotation angle and the body elevation angle parameter of the human body, that is, P5 — CP6, P11 — CP5, P10 — CP2, P12 — CP3, P13 — CP4, α 13 — Cα1，α14＝Cα3Meanwhile, the constraint relation between the palm center position of the palm of the human body, the arch position and hip position parameters and other joint parameters of the human body including shoulder joints, elbow joints, wrist joints, hip joints, knee joints and ankle joints is established, namely an auxiliary point ls is CP6-P4 '+ P5', wherein P4 'and P5' are P4 and P5 initial point positions, and other joint point parameter values are obtained through the following formula:
Figure BDA0002697372590000071
Figure BDA0002697372590000072
Figure BDA0002697372590000073
Figure BDA0002697372590000074
Figure BDA0002697372590000075
Figure BDA0002697372590000076
preferably, the electric vehicle model is a bamboo electric vehicle model.
The invention divides the rigid body of the electric vehicle model, and the division standard refers to whether the rigid body has relative geometric transformation relative to the center of the electric vehicle in the riding process, and the division standard comprises translation transformation, rotation transformation and scaling transformation.
The foregoing is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, several modifications and decorations can be made without departing from the invention, and these modifications and decorations should also be regarded as the protection scope of the present invention.

Claims (7)

1. A method for constraining human body parameters and electric vehicle parameters in riding sports is characterized by comprising the following steps:
s1, reconstructing a three-dimensional human body model according to the structural characteristics of the human body and the average proportional relation of all parts of the human body, and defining semantic parameters of the reconstructed three-dimensional human body model;
s2, rigid body division and semantic parameter definition are carried out on the electric vehicle model, and stress analysis is carried out on the electric vehicle to establish an electric vehicle dynamic equation;
and S3, establishing a constraint relation between the electric vehicle parameters and the human body parameters, and calculating the human body parameters by acquiring the electric vehicle parameters in the riding motion process.
2. The method for constraining human body parameters and electric vehicle parameters in riding movement according to claim 1, wherein the step S1 specifically comprises the following steps:
S1A: according to the structural characteristics of the human body and the average proportional relation of all parts of the human body, combining the participation conditions of all parts of the human body in the riding process, integrating the parts of the human body which do not participate in riding under the condition of not losing the structural characteristics of the human body, and reconstructing a three-dimensional human body model in 3 dmax;
S1B: according to the participation condition of the human body joints in the riding process, semantic parameter definition and human body joint hierarchical relation setting are carried out on the joints of the reconstructed three-dimensional human body model.
3. The method for constraining human body parameters and electric vehicle parameters in riding movement according to claim 2, wherein in the step S1B, the setting of the human body joint hierarchical relationship means setting corresponding parent-child relationships for each joint, including an upper torso-level joint and a lower torso-level joint, wherein the upper torso-level joints are, in order from high to low: shoulder joint, elbow joint and wrist joint, lower truck level joint is by high to low being in proper order: hip, knee and ankle joints.
4. The method for constraining human body parameters and electric vehicle parameters in riding movement according to claim 1, wherein the step S2 specifically comprises the following steps:
S2A: the method comprises the following steps that rigid body division is carried out on an electric vehicle model, the rigid body comprises a dynamic rigid body and a static rigid body, the dynamic rigid body comprises a crank, a front wheel, a rear wheel, a right pedal, a left pedal, a handlebar vertical, a handlebar horizontal, a front fork, a seat tube and a cushion, and the static rigid body comprises an upper tube, a lower tube, a vertical tube, a front tube, a rear upper fork and a rear lower fork;
S2B: performing semantic parameter definition on an electric vehicle model, wherein parameters of the electric vehicle model comprise speed, position, horizontal rotation angle and vertical inclination angle, and the parameter definition on the dynamic rigid body comprises rigid body length and rotation angle parameters; the static rigid body parameters comprise displacement relative to the center of the electric vehicle and rigid body length parameters;
S2C: carrying out mechanical analysis on the electric vehicle in the riding process, wherein the stress of a human-vehicle system in the riding process comprises gravity FgGround supporting force FsHead-on air resistance F of man and vehicledAir resistance F during wheel rotationwAnd the friction force F between the tire and the groundf(ii) a When the vertical inclination angle theta is not equal to 0, gravity needs to be decomposed, including two conditions, when theta is greater than 0, namely in a climbing stage, gravity is decomposed into resistance F 'opposite to the movement direction'gAnd the support force of the ground to the passenger car system, when theta is less than 0, namely in the downhill stage, the gravity is decomposed into power F 'in the same direction as the motion direction'gAnd ground support for the manned vehicle system, the mechanical formula is as follows：
Figure FDA0002697372580000021
In the formula, CrIs the rolling friction coefficient between the tyre and the ground, M is the total mass of the man and the vehicle, CwIs the air resistance coefficient of the wheel of the electric vehicle, rho is the air density at the altitude of the elevation, V is the relative speed of the wheel to the air flow, r is the radius of the wheel, CwIs the air resistance coefficient, A is the maximum cross-sectional area of the windward side;
establishing a basic kinetic equation in the riding process of the electric vehicle according to Newton's second law, wherein the basic kinetic equation is specifically expressed as follows:
F-F′g-Ff-Fw-Fd＝Ma (2)
in the formula, F is a driving force generated when the rider steps on the pedals and a driving force provided by the battery of the electric vehicle.
5. The method for constraining human body parameters and electric vehicle parameters in riding movement according to claim 1, wherein the step S3 specifically comprises the following steps:
S3A: carrying out simulation movement in unity, providing driving force by a human body and a battery, driving an electric vehicle to move coordinately, and acquiring related parameters of the electric vehicle in the riding process, wherein the related parameters of the electric vehicle comprise an electric vehicle vertical inclination angle C alpha 3, a horizontal rotation angle C alpha 1, a forward insertion steering angle C alpha 2, an electric vehicle left grip position CP6, an electric vehicle right grip position CP7, a cushion position CP4, a right pedal position CP2 and a left pedal position CP 3;
S3B: and calculating related human body parameters according to the electric vehicle parameters and the constraint relation acquired in the step S3A, wherein the human body parameters comprise human body global parameters and local parameters, the global parameters comprise human body position coordinates, human body horizontal corners and vertical elevation angles, and the local parameters comprise shoulder joint angles, elbow joint angles, wrist joint angles, hip joint angles, knee joint angles, ankle joint angles, lumbar joint angles and cervical joint angles.
6. The method as claimed in claim 1, wherein in step S3, said establishing the constraint relationship refers to establishing the constraint relationship between the parameters of pedaling, grip, cushion, horizontal angle and vertical tilt of the electric bicycle and the parameters of palm position, foot position, hip position, body angle and body elevation of human body, i.e. P5 CP6, P11 CP5, P10 CP2, P12 CP3, P13 CP4, and α 13C CP4α1，α14＝Cα3Meanwhile, the constraint relation between the palm center position of the palm of the human body, the arch position and hip position parameters and other joint parameters of the human body including shoulder joints, elbow joints, wrist joints, hip joints, knee joints and ankle joints is established, namely an auxiliary point ls is CP6-P4 '+ P5', wherein P4 'and P5' are P4 and P5 initial point positions, and other joint point parameter values are obtained through the following formula:
Figure FDA0002697372580000031
Figure FDA0002697372580000032
Figure FDA0002697372580000033
Figure FDA0002697372580000034
Figure FDA0002697372580000035
Figure FDA0002697372580000036
7. the method for constraining human body parameters and electric vehicle parameters in riding movement according to claim 1, wherein the electric vehicle model is a bamboo electric vehicle model.
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