CN1873733A - Bicycle simulation system - Google Patents
Bicycle simulation system Download PDFInfo
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- CN1873733A CN1873733A CNA200610091831XA CN200610091831A CN1873733A CN 1873733 A CN1873733 A CN 1873733A CN A200610091831X A CNA200610091831X A CN A200610091831XA CN 200610091831 A CN200610091831 A CN 200610091831A CN 1873733 A CN1873733 A CN 1873733A
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Abstract
The purpose of this invention is to realize a light steering handle operation similar to that of a real bicycle, and to obtain an appearance similar to that of a real bicycle. A bicycle simulation system has a turnable steering handle, a left-right pair of pedals, a frame for turnably supporting the steering handle and the pedals, a monitor for displaying a scenery according to the simulated running velocity required by a first speed pickup, a controller supplying sensor signals to a main control unit which controls the monitor. The controller is provided on front forks that function as a front stand.
Description
Technical field
The present invention relates to be used for the bicycle simulation system of traffic safety education and training, recreation, body building or similar applications.
Background technology
Be used to the simulated operation experience of aircraft, automobile, motorcycle, bicycle or other similar vehicles corresponding to the simulation system of various vehicles.Some simulation system has been used to practical application.In bicycle simulation system, the rider rides on the vehicle seat of analog bicycle, jams on pedal to realize simulation by bike.The velocity of rotation of pedal is detected to determine analog rate or similar speed by speed pickup, carries out simulation process thus.In vehicle simulation system, preferred, for strengthening the sense of reality,, and produce the sound of simulation in the scene that monitors that demonstration changes according to the difference of simulating travel speed on the screen.
In bicycle simulation system, when showing the scene that changes according to the simulation travel speed on screen, the sense of reality has been enhanced.Be used for the picture process computer of scene on the display screen and calculate plate and like and relatively large because comprised that the recording medium that is used to store mass data, picture are handled.Therefore the picture process computer is as installing with the analog bicycle separated portions.
In addition, analog bicycle has for example electronic device of speed pickup.Therefore, be equipped with the controller that is used to carry out the control and treatment electronic device.Controller links to each other with the picture process computer.At the bicycle simulator that is used for training, controller is assembled in machine made steering handle part (for example, seeing Japanese patent application publication No. 2001-87417).
Because do not have similar motor, engine or similar drive unit, bicycle can quiet turn round.In addition, according to the difference between the velocity of rotation of the velocity of rotation of drive sprocket and trailing wheel, the sound of " tick-patter " that the one-way clutch that is assemblied in the back wheel shaft sends that ratchet driver intermittently is pressed into.This sound is peculiar sound by bike the time.When bicycle simulation system produced such sound that is pressed into, the sense of reality was by favourable reinforcement.
The analog bicycle that is used for bicycle simulation system can be equipped with flywheel, and this flywheel and pedal acting in conjunction are so that apply suitable load to pedal.Therefore, by providing flywheel can produce the sound that is pressed into really with one-way clutch.Yet, depending on the design conditions and the gear ratio of flywheel, the velocity of rotation of flywheel needn't equate with the velocity of rotation of the trailing wheel of the real bicycle of same travel speed when default simulation travel speed.In addition, in some environment (for example descending) that adopts in simulation by bike, the velocity of rotation of flywheel can be different with the velocity of rotation of trailing wheel.Result from being pressed into sound and can giving the inconsistent sensation of rider of one-way clutch of flywheel.
For sending the sound of simulating vehicle, advised adopting a kind of equipment that is used to produce with the real similar sound of engine sound, this equipment is by detecting accelerator operation amount and using fluctuation to handle, sound transfer path simulation process, the synthetic processing of sound that is used for synthetic multiple engine sound, and other similar processing (referring to Japanese patent application publication No. Hei10-277263) produce simulated sound.
Summary of the invention
The present invention has considered the appeal problem.Therefore, an object of the present invention is, a kind of bicycle simulation system is provided, can produce suitable simulated sound according to the situation of supposition in real bicycle and the simulation by bike.
In the bicycle simulation system, be set to can steering operation when steering handle, and the scene that this steering operation can be shown on the screen reflects, the sense of reality is by favourable enhancing.In this example, with the same mode of handling from the speed pickup that is used to detect analog rate of signal, processed from the signal of the steering angle sensor that is used to detect steering operation by controller, be provided for the picture process computer afterwards.
Controller in the bicycle simulation system links to each other with different electronic units, and for example therefore the crankangle rotation sensor except that speed pickup and steering angle sensor, increases the physical dimension of controller according to the quantity of the signal that will handle.
When so relatively large controller is equipped in the steering handle part, because its weight causes the operation of steering handle to become difficult.In addition, controller can be presented in rider's the visibility region, and the outward appearance of possibility adverse influence bicycle simulation system.
The present invention has considered above-mentioned problem.Therefore, an object of the present invention is to provide the bicycle simulation system of light steering handle operation with similar real bicycle.In addition, can obtain and the real bicycle similar in appearance.
According to one embodiment of present invention, a kind of bicycle simulation system comprises analog bicycle and display unit.Analog bicycle comprises the steering handle by rider's operation, the left and right sides pedal of trampling by the rider, support the vehicle frame of steering handle and pedal with rotary way, be used for will default electronic unit signal propagate into the controller of display unit, and controller is mounted on the vehicle frame.Propagate situation about comprising by the signal that controller carries out by default signal Processing reradiated signal.
Be assembled to controller on the vehicle frame rather than be installed on the pivotable parts of steering handle for example, this structure has guaranteed to drive feeling in the process and has been similar to and drives real bicycle.Especially, steering handle provides turn to sensation and the outward appearance of light same with the steering handle of real bicycle.Steering handle is one of principal character part of bicycle outward appearance, not only is sitting in visual angle on the saddle from the rider, and comprises visual angle from afar.Therefore, by the configuration that the steering handle with real bicycle has identical appearance, provide the sense of reality that strengthens.
In this example, preferred, vehicle frame has the brace table as support component, its be assemblied in steering handle than lower part.Controller is set on the brace table.The near zone of brace table will can not appear in rider's the visual field easily, so controller can not damage the outward appearance of simulation system.In addition, because display unit is positioned at the place ahead of rider, the layout of controller on brace table guaranteed that the signal cable that controller is connected to display unit can be adjusted to shorter.Therefore, the stability of the signal that is transmitted strengthens, and the laying of signal cable on every side becomes easy.And the near zone of brace table is the dead zone, and other special parts can not appear in the there.Therefore, even relatively large controller also can be installed under the prerequisite of the layout that does not influence miscellaneous part.
In addition, preferred, be provided be used to detect one of rider or two foot pad switches that pin is trampled on the floor.The foot pad switch links to each other with controller, because the foot pad switch arrangement is on the floor, foot pad switch and controller are approaching.Therefore, the umbilical cable that links to each other with controller of foot pad switch can be adjusted to shorter.
Bicycle simulation system according to another preferred embodiment, it comprises: the left and right sides pedal that links to each other with bent axle and trampled by the rider; Corresponding to the work of pedal and the rotor of synergic rotation; Be used to detect first speed pickup of rotor velocity of rotation; Be used to detect the second speed sensor of bent axle velocity of rotation; Based on the rotor velocity of rotation of first speed pickup detection, in order to determine the analog rate set parts of simulation travel speed; The display unit that is used for displayed scene based on the simulation travel speed; Be used for determining the frequency setting parts of frequency, the difference of described frequency by sprocket gear velocity of rotation and virtual trailing wheel velocity of rotation multiply by a coefficient and obtains, wherein multiply by predefined gear ratio and obtain described sprocket gear velocity of rotation, obtain virtual trailing wheel velocity of rotation by described simulation travel speed by the bent axle velocity of rotation of second speed sensor; With the simulation sounding parts that are used to send simulated sound based on frequency.
Detect the velocity of rotation of rotor and the velocity of rotation of bent axle.The difference of these two velocities of rotation is determined by rotation rate.Therefore, send suitable simulated sound according to the situation of supposition in real bicycle and the simulation by bike and become possibility.In this example, when send by the typing one-way clutch be pressed into sound and obtain sound as simulated sound the time, may obtain having more the sound of the sense of reality.
When the sprocket gear velocity of rotation is not less than the velocity of rotation of virtual trailing wheel, simulation sounding parts can stop to send simulated sound, therefore stopping to produce the same moment naturally in the moment that is pressed into sound, when natural speed governing, stop to send simulated sound with real bicycle.
Preferably, when the situation of supposition in the simulation by bike was the slope, the analog rate set parts changed the simulation travel speed according to the slope inclined degree.The result is, can send high-frequency simulated sound during descending in the simulation by bike.Can send the low frequency simulated sound when going up a slope in the simulation by bike.Therefore, simulated sound becomes and the assonance that truly drives.
Another kind of bicycle simulation system according to an embodiment of the invention, it comprises: the left and right sides pedal that links to each other with bent axle and trampled by the rider; Be used to detect the speed pickup of bent axle velocity of rotation; Be used to set the analog rate set parts of simulation travel speed; Be used to show the display unit of the scene that changes corresponding to the simulation travel speed; The frequency setting parts, when the resulting value of product that deducts bent axle velocity of rotation and a coefficient from simulation the travel speed on the occasion of the time, definite with on the occasion of the frequency that is directly proportional; With the simulation sounding parts that are used for sending simulated sound based on frequency.
The frequency that difference obtained that multiply by the sum of products simulation travel speed of coefficient in the velocity of rotation based on bent axle issues out simulated sound.Therefore, send suitable simulated sound according to the situation of supposition in real bicycle and the simulation by bike and become possibility.
According to bicycle simulation system of the present invention, detect the velocity of rotation of rotor and the velocity of rotation of bent axle, and consider rotation rate and obtain the difference of these two velocities of rotation, based on this difference, sending suitable simulated sound according to the situation of supposition in real bicycle and the simulation by bike becomes possibility thus.
The simulation travel speed be not limited to by the determined simulation travel speed of the velocity of rotation of rotor, and can be with display unit in the corresponding simulation travel speed of scene pace of change.In this case, send simulated sound based on the product of the velocity of rotation of bent axle and a constant and the frequency that difference obtained between the simulation travel speed.Therefore, realized natural simulation by bike, wherein the sensation and feel consistent of travelling that obtains by vision by travelling of obtaining of the sense of hearing.
The further scope of application of the present invention will be more clear from specific descriptions hereinafter.Yet, specific descriptions and particular example will be understood that, when pointing out preferred embodiment of the present invention, just give the mode of example, because those skilled in the art from describe in detail, can understand the difference of carrying out within the spirit and scope of the present invention and change and modification.
Description of drawings
The present invention will be understood more fully from specific descriptions hereinafter and the accompanying drawing of only showing in illustrated mode, therefore is not construed as limiting the invention, wherein:
Fig. 1 is the stereographic map according to the bicycle simulation system of present embodiment;
Fig. 2 is the rotation drive structure unit of analog bicycle and the stereographic map of near zone;
Fig. 3 is the flywheel of analog bicycle and the stereographic map of near zone;
Fig. 4 is the front view of analog bicycle;
Fig. 5 is placed in the stereographic map of bicycle simulation system under the situation in analog bicycle left side for the foot pad switch of integral type;
Fig. 6 and Fig. 7 are the block scheme of the electronic package part of bicycle simulation system;
Fig. 8 is a process flow diagram of carrying out master routine in the simulation method by bike when using bicycle simulation system;
Fig. 9 illustrates the process flow diagram that is pressed into the sound generating program;
Figure 10 is for obtaining the process flow diagram of simulation travel speed program;
Figure 11 is pressed into the process flow diagram that first of sound generating program is revised example;
Figure 12 is pressed into the process flow diagram that second of sound generating program is revised example;
Figure 13 is the stereographic map of rotation drive structure unit and near zone, and wherein two of bent axle rotation sensors are arranged in parallel; With
Figure 14 is for by utilizing the engine rotation one-way clutch to produce to be pressed into the mechanism of sound.
Embodiment
With reference to the accompanying drawings bicycle simulation system according to the present invention is specifically described.Be pointed out that same reference number is used to indicate same or like in several diagrams.
As shown in Figure 1, bicycle simulation system 10 according to this embodiment has analog bicycle 12, the display screen 14a that operates in according to analog bicycle 12 goes up the display 14 that shows scene, provide simulated sound and to the loudspeaker 15 of rider's auditory tone cues, be assemblied in the rider and ride over and leave the locational foot pad switch 16 of analog bicycle 12, carry out the main control units 18 of bicycle simulation system 10 overall controls.Main control unit 18 is positioned in the front side of analog bicycle 12.Display 14 and loudspeaker 15 are positioned in the top of main control unit 18 and are positioned at the position that the rider that allows analog bicycle 12 can view easily.Main control unit 18, display 14 and loudspeaker 15 are supported by four pillars 21, so its height can be adjusted according to rider's physical shapes.In addition, main control unit 18 has the function that shows the scene consistent with the simulation situation on display screen 14a, and also has the function of picture process computer.
Now analog bicycle 12 will be described.In the following description, about mechanical part paired about analog bicycle 12, " L " refers to one on the left side after being attached to reference number, and " R " refers to one on the right after being attached to reference number.
From the outside, although front fork 30R, 30L profile are similar to the front fork of bicycle (or motorcycle), the difference of they and real front fork be not can with the steering handle co-rotation, do not assemble front-wheel simultaneously.Trailing wheel 32 is equipped with the slightly little tire 32a of diameter.The effect of tire 32a ground connection so trailing wheel 32 also is equivalent to after-poppet.Therefore, analog bicycle 12 is upright by the support of front fork 30R, 30L and trailing wheel 32.Controller 46 is fixed between front fork 30R, 30L and the pipe 31, passes support 33.The position that controller 46 is placed is not confined between front fork 30R, 30L and the pipe 31.Controller 46 can be fixed on any other position of vehicle frame 20.
In addition, analog bicycle 12 has rotation drive structure unit 40, speed detection architecture unit 42 (see figure 3)s, brake structure unit 44 (see figure 4)s and controller 46.The steering angle (see figure 4) that steering angle sensor 50 is used to detect steering handle 28 is set.Microphone 52 is set is used to import rider's sound.The rear portion of saddle 24 is provided with and retreats switch 54.Retreating switch 54 is the switches that need operate when the rider leaves analog bicycle 12 and carries out predetermined simulation backward movement.
Rotation drive structure unit 40 has a pair of crank 60L and the 62R that links to each other with bent axle about 60 parts, is assemblied in the inside of crank pipe 20e.Pedal 64L and 64R are assemblied in the end of crank 62L and 62R.Preceding sprocket wheel 66 is assemblied on the crank 62R.Back sprocket wheel 70 (see figure 2)s are driven with rotary way by preceding sprocket wheel 66 by chain 68.Ferrous flywheel (rotor) 74 driven with rotary way by back sprocket wheel 70 by one-way clutch (being also referred to as loose boss) 72.Flywheel 74 is installed between present pipe 20f and the trailing wheel 32, is supported with rotary way by one-way clutch 72.Before the number of teeth z1 of sprocket wheel 66 greater than the number of teeth z2 of back sprocket wheel, z1=52 for example, z2=24.Gear ratio (rotation ratio) R is R=52/24.
One-way clutch 72 and flywheel 74 are covered by transparency cover 75.The sound tegmentum 75 that is pressed into that one-way clutch 72 produces fully shields.Can use the one-way clutch of quiet type to be pressed into sound really with the restriction generation.
One-way clutch 72 ratchet driver by wherein, only transmit along back sprocket wheel 70 to flywheel 74 forwards to rotating drive power.Therefore, when bent axle 60 rotates in an opposite direction or flywheel 74 rotate forward in bent axle 60 when stopping operating, the rotation situation of flywheel 74 at that time (rotate forward or stop) obtaining keeping, and is irrelevant with bent axle 60.
As shown in Figures 2 and 3, speed detection architecture unit 42 has wheel test section 76 and crank rotation test section 78.Wheel test section 76 has the bracing frame 80 of this scope of right side of crossing from Seat stay 20b to Chain stay 20c.The first speed receiver 82 is installed on the bracing frame 80.The first speed receiver 82 is positioned in the tight relative position of three spoke 74a with flywheel 74.When flywheel 74 rotated, the first speed receiver 82 offered controller 46 signals, appearance and the disappearance of prompting spoke 74a.For making internal mechanical part as seen, ignored lid 75 among Fig. 3.
Crank rotates test section 78 and has the bracing frame 84 that is fixed on crank pipe 20e.Second speed receiver 86 is installed on the bracing frame 84.Detection rotor 88 is fixed on preceding sprocket wheel 66 inside.Detection rotor 88 is about 90 ° dome-shaped flat board, and is closely relative with second speed receiver 86.Bent axle 60 and preceding sprocket wheel 66 begin to rotate after pedal 64L and 64R startup, and second speed receiver 86 offers controller 46 signals, the appearance and the disappearance of prompting detection rotor 88.The second speed receiver 86 and the first speed receiver 82 are interchangeable.
As shown in Figure 4, brake structure unit 44 has two brake rod 100L and the 100R that is installed on the steering handle 28.Brake line 102 links to each other with 100R with brake rod 100L respectively with 104.Brake structure unit 44 also has elasticity rotatable pulley 106L and 106R, rotation sensor 108L and 108R and drum brake 110 (see figure 3)s that are used to brake flywheel 74.
The rotational angle of pulley 106L, 106R can be detected by rotation sensor 108L, 108R, and the signal of detection angles is sent to controller 46.Controller 46 transmits signal according to the rotational angle signal of detected pulley 106L, 106R to overhead control parts 18, in other words, that is, and the operation total amount of brake rod 100L and 100R.
As described in Figure 3, drum brake 110 is arranged to flywheel 74 concentricity.Wherein support arm 110a links to each other with the end of brake line 104b.Therefore drum brake 110 has the cydariform main body, and this main body links to each other with flywheel 74 and rotates with flywheel 74 one.When operation brake rod 100L and brake line 104b therefore when pulled, support arm 110a tilts, inner brake rubber block launches to broaden along the external diameter direction, contact with the cydariform main body and produce friction force, thereby flywheel 74 is braked.
In addition, as shown in Figure 4, steering angle sensor 50 is installed in the lower portion of head pipe 20a.Steering angle sensor detects the steering angle of the vertical tube 28a that supports steering handle 28.Microphone 52 is installed on the steering handle 28, and near rider's face, so rider's sound can be imported clearly.Steering angle sensor 50, microphone 52 and retreat switch 54 and link to each other with controller 46, and transmit steering angle signal, voice signal and switching operation signals to controller 46 respectively.
Get back to Fig. 1, foot pad switch 16 is made up of left-handed opening 150L and right switch 150R, and they are independently and are disposed in such position: when the rider got off, the rider was striding the head pipe 20a of vehicle frame 20, and its foot can trample on the switch.Be that left foot is trampled at left-handed opening 150L, right crus of diaphragm is trampled at right switch 150R.Left-handed opening 150L and right switch 150R open when trampling, and send controller 46 to and " open " signal.
Left-handed opening 150L and right switch 150R respectively do for oneself and approach the pad profile, have backing rubber, and longitudinal electrode line and transverse electric polar curve are arranged in lattice shape with respect to backing rubber.Fill soft insulating material between backing rubber and the front rubber.The longitudinal electrode line links to each other with two lead-out terminal (not shown)s respectively with the transverse electric polar curve.When rider's pin steps down in front rubber, front rubber generation elastic deformation and extruded insulation, superincumbent longitudinal electrode line and transverse electric polar curve are in contact with one another at crossover location.As a result, begin conduction between two lead-out terminals, switch opens.When pin left, longitudinal electrode line and transverse electric polar curve were separated from each other, and switch cuts out.Foot pad switch 16 must not be the independent left and right type; For example, also can adopt two the foot pad switch 16a that become the switch of integral body that have shown in Figure 5, can be placed on the left side of analog bicycle.Use such foot pad switch 16a, analog bicycle 12 is come the left side and when stepping at foot pad switch 16, enter the go-cart walking action with the walking pattern when the rider leaves, and this will carry out actual description after a while.
As shown in Figure 6 and Figure 7, controller 46 has inputting interface parts 170, CPU (central processing unit) 172, and first communication component 174.First communication component 174 links to each other with the second communication parts 192 of main control unit 18, with the real-time Communication for Power of realization with main control unit 18.Inputting interface parts 170 with steering angle sensor 50, microphone 52, the first speed receiver 82, second speed receiver 86, rotation sensor 108L and 108R, retreat switch 54, left-handed opening 150L and right switch 150R and link to each other, be used to import simulating signal and digital signal.
In fact, main control unit 18 has CPU (central processing unit) 172 and the RAM (random access memory) as the control main body, ROM (ROM (read-only memory)), HD (hard disk) and similar memory unit.The functional part of main control unit 18 by the program of CPU reading and recording at hard disk, is realized these functions with ROM, RAM and default hardware cooperation executive routine as shown in Figure 6 and Figure 7.
With reference to figure 7, controller 46 links to each other with main control unit 18 with left-handed opening 150L, right switch 150R respectively with 204 by independently connecting lead 200,202.Because other electronic components are assemblied on the analog bicycle 12, controller links to each other with miscellaneous part by combination band 206.Can see clearly that by Fig. 4 controller 46 is assembled in lower position, near left-handed opening 150L and right switch 150R, therefore the connection lead 200 and 202 between be adjusted very short (see figure 1).In addition, because controller 46 is assembled in the front side of analog bicycle 12, the lead 204 between the two also is adjusted very shortly.This has guaranteed orderly outward appearance, has strengthened the stability of signal transmission and has made the layout of signal wire become easy.
Now, the method for bicycle will be described below to use the bicycle simulation system 10 of above-mentioned configuration to simulate by bike.
Step S1 among Fig. 8 judges whether foot pad switch 16 is opened.Clear and definite, when the left-handed opening 150L of foot pad switch 16 and among the right switch 150R at least one when opening, enter step S2, when whole switches when closing, control and treatment rests on S1.In other words, when the rider stands on the foot pad switch 16, enter step S2 automatically, and, rest on step S1 and can remain on default energy-saving mode (for example display 14 is closed) up to control and treatment.
At step S2, simulation begins by bike, and default initial picture is presented on the screen 14a.In the initial picture, shown a free time bicycle image and stand near the bicycle image as rider's people.In addition, " simulation will begin by bike.Sit down, please on the saddle and step on pedal " literal be presented on the screen 14a, or loudspeaker 15 sends the sound of same literal.
Therefore, by trampling foot pad switch 16, simulation can begin by bike automatically, starts that simulation does not need complicated operations by bike and without any the sensation of discomfort.Can satisfy the rider and operate according to the guide that screen 14a or loudspeaker 15 send, therefore not need operation manual or similar articles, processing ease is finished, even child also can simulate by bike.
At step S3, judge whether foot pad switch 16 closes.Clear and definite, when left-handed opening 150L and right switch 150R Close All, enter step S4, yet when at least one switch opens, control and treatment rests on S3.
More details is, when the rider rides on saddle 24 and his pin when leaving foot pad 16, enters step S4 automatically, simulation truly travelling beginning by bike.In this case, initial picture finishes, and screen 14a shows the image of bicycle and rides over the image of the people on the bicycle.
At step S4, judge whether default driving conditions satisfies.When satisfying driving conditions, enter the driving mode of step S5, wherein when driving conditions does not satisfy, enter step S6.Driving mode jams on pedal and controls the pattern of steering handle 28 to realize that simulation is travelled on the saddle 24 for the rider is sitting in.In this case, the scene that changes according to the steering angle of simulating travel speed V and obtain based on the first speed receiver 82, steering angle sensor 50 is presented at screen 14a and goes up (see figure 1).Under the driving mode, V is not less than command speed in the simulation travel speed, and virtual bicycle leaves under virtual road shape or the similar situation, recommends to send default warning.In addition, under the driving mode, based on the frequency T that algorithm process parts 182 are set, loudspeaker 15 sends the sound that is pressed into.Generation is pressed into the program of sound and will describes after a while.
At step S6, judge simulation travel whether be stop, the situation of time-out or red signal.Stopping, under the situation of time-out or red signal, entering the pattern that step S7 pin props up ground, other situations enter step S8.Pin props up in the pattern on ground, and the rider operates brake rod 100L, 100R makes simulation travel speed V drop to 0, leaves analog bicycle afterwards and jams on foot pad switch 16.Result screen 14a shows rider and bicycle static scene before red signal.When traffic signals green by red commentaries on classics, or the situation of travelling based on simulation, when the safety of the left and right sides was identified, pin propped up ground mode and is cancelled.
At step S8, judge whether the situation that simulation drives is to pass the preferential path of walking, zebra stripes or only supply the path of walking for example are such as the walkway.Under the situation of passing the path that walking preferentially or only supplies walking, the walking pattern that enters step S9, other situations enter step S10.The walking pattern is that the rider promotes bicycle along the path that only supplies walking or the similar pattern of road walking, for example recognizes that the go-cart walking can not bother other pedestrians' etc. pattern.In this case, the rider leaves analog bicycle 12 and stands on the foot pad switch 16, has reproduced the walking environment thus, and corresponding scene is presented on the screen 14a of display 14.
In step 10, judge that whether situation that simulation drives is the situation of mobile bicycle backward.Moving under the situation of (retreating) backward, entering the " fall back " mode" of step S11, other situations enter step S12." fall back " mode" is that the rider leaves bicycle and promotes the pattern that bicycle retreats.In this case, the rider leaves analog bicycle 12, stands on the foot pad switch 16 and open to retreat switch 54, has reproduced the situation of retreating thus, and corresponding scene is presented on the screen 14a of display 14.
In step 12, judge whether to satisfy default termination condition.When satisfying termination condition, simulation drives end, but when condition did not satisfy, control program entered step S4, and simulation drives to be proceeded.Control program also returns step S4 after each step S5, S7, S9 and S11 finish.
Under the situation that end simulation drives, judge whether foot pad switch 16 opens similar step S1.In this case, based on the situation that foot pad switch 16 is opened, can find that the rider has left analog bicycle 12.Based on this condition, simulation drives end, and system returns holding state, such as default energy-saving mode.After step S2 foot pad switch 16 cut out, when Preset Time did not have operation simulation bicycle 12, system thought that the rider once jammed on foot pad switch 16, but left, and did not ride on the analog bicycle.System returns holding state in this case.
Frequency T based on algorithm process parts under the driving mode 182 are set is used for sending the program that is pressed into sound from loudspeaker 15 and describes hereinafter with reference to Fig. 9-13.Flow process shown in Figure 9 was carried out by algorithm process parts 182 and audio driver 186 in the main control unit 18 repeatedly based on the very short schedule time.
At first, at step S101, the signal that obtains based on the first speed receiver 82 is determined the velocity of rotation N2 of bent axle 60, multiply by gear ratio R, obtains back sprocket rotation speed P, P ← N2 * R.
At step S102 (analog rate set parts), obtain simulation travel speed V based on default subroutine (see figure 8).This program will be described below.
At step S103, obtain the velocity of rotation Nx of virtual trailing wheel based on simulation travel speed V, Nx ← V/A, wherein constant A according to the real bicycle of supposition after wheel diameter determine.
At step S104, deduct back sprocket rotation speed P to obtain rotary speed difference Δ N, i.e. Δ N ← Nx-P from velocity of rotation Nx.
At step S105, judge that rotary speed difference Δ N is a plus or minus.When Δ N＞0, enter step S106, when Δ N≤0, enter step S107.
At step S106, from loudspeaker 15, audio driver 186 sends by what the frequency T that is pressed into sound generating parts 186c and provides based on algorithm process parts 182 produced and is pressed into sound.The value of frequency T is T ← Δ N * Kc, and wherein constant Kc is the moving number of times that is pressed into sound that once produces of the one-way clutch revolution of the real bicycle trailing wheel of supposition.For example, constant Kc is set to the arbitrary value between 12 to 36.Behind the step S106, enter step S108.
By mentioned earlier, one-way clutch 72 tegmentums 75 cover, and the true sound that is pressed into that produces is seldom heard by the rider, and heard the be pressed into sound of step S106 with frequency T generation.
At step S107, default control signal is sent to and is pressed into sound supply control assembly 186f, so that stops to send and be pressed into sound.
At step S108, based on simulation travel speed V, under 184 effects of display control unit spare, different images is presented on the screen 14a.The image that shows changes according to simulation travel speed V; Clear and definite, when the simulation travel speed was higher, the flowing velocity of display image was higher.After the step S108, this EOP (end of program) shown in Figure 7.
Next, with reference to Figure 10 the above-mentioned program of determining simulation travel speed V in step S102 is described.
At first, determine the velocity of rotation N1 of flywheel 74 based on the signal that obtains from second speed receiver 86 at step S201.
At step S202, be used for determining that the first formal parameter V1 of simulation travel speed V is obtained by V1 ← N1 * A+Kb, wherein variable Kb is because the deceleration that braking produces changes (m/s), obtains variable Kb by rotation sensor 108L and 108R.
At step S203, judge whether the first formal parameter V1 is V1＜0.When V1＜0, the setting of V1 ← 0 is triggered (step S204), and wherein the first formal parameter V1 is adjusted to nonnegative value.
Among the step S205, consider this simulation travel speed V0 and simulated environment, be used for determining that the second formal parameter V2 of simulation travel speed V is obtained by V2 ← V0+K1+K2, wherein, variable K1 is because the increase that road surface tilts to cause or the variable quantity (m/s) of minimizing.Variable K2 is for because environmental factor, the increase that causes such as wind or the variable quantity (m/s) of minimizing.
From sight set parts 180, the sight that drives according to this simulation obtains and sets the data of variable K1 and K2.For example, when K1 and K2 are 0, as a reference, be equivalent to travel in level ground and calm environment.When travelling on the slope, that sets up K1 is set at K1 ← K1+t * s, and wherein variable t is the slope running time, and variable s has the absolute value that increases with the angle of inclination, slope, and its symbol is for just when descending, and symbol is for bearing during upward slope.
In addition, the wind-force setting variable K2 that takes the opportunity and suppose according to riding simulation.Clear and definite, constant K2 is set at 0 when calm, under situation with the wind be with wind speed increase on the occasion of, be negative value under situation against the wind, its absolute value increases with wind speed.
At step S206, judge whether the second formal parameter V2 is V2＜0; When V2＜0, enter step S207, otherwise when V2 〉=0, enter step S208.
At step S207, consider that brake operating handles the second formal parameter V2; Clear and definite, the recruitment of importing V2, V2 ← V2+Kb enters step S209.On the other hand, at step S208, import the reduction of V2, V2 ← V2-Kb enters step S210.
At step S209, judge whether the second formal parameter V2 is V2＞0.When V2＜0, import the setting (step S211) of V2 ← 0, second formal parameter is adjusted to nonnegative value thus.When V2 〉=0, enter step S212.
At step S210, judge whether the second formal parameter V2 is V2＞0.When V2＞0, import the setting (step S211) of V2 ← 0, thus the second formal parameter V2 be adjusted to non-on the occasion of.When V2≤0, enter step S212.Comparison program among the step S210 is to consider because upward slope or contrary wind cause the program of mobile backward situation.When V2＞0 adjustment of V2 ← 0 be for when brake operating when causing load mobile backward, avoid moving forward.
At step S212, the first formal parameter V1 and second formal parameter compare mutually.When V1 〉=V2, enter step S213, its simulation travel speed V is set to V ← V1.When V1＜V2, enter step S213, its simulation travel speed V is set to V ← V2.Clear and definite, under the situation of V＜0, the motion of the pedal coupling that makes a mistake, therefore only consider on the occasion of situation.
In addition, at step S215, the simulation travel speed V after the renewal is stored in the default memory unit, is used as the simulation travel speed V0 among the step S205 in handling next time.
In default simulation travel speed V, the velocity of rotation of flywheel 74 and real bicycle during with same travel speed the trailing wheel rotation value often do not meet mutually, the rider can feel that one-way clutch 72 produces is pressed into nature of sound frequency.Consider this point, in the bicycle simulation system 10, rotary speed difference Δ N is multiplied by constant Kc, to obtain not make the rider that the frequency T of incompatible sensation is arranged.
In addition, because variable K1 and K2 be for drive the value of scene change according to simulation, by using variable K1 and K2, consider other acting forces the acting force on being applied to pedal, for example the gravity under the situation of slope and the pressure of wind are determined frequency T.Therefore the frequency T that obtains is provided to and is pressed into sound supply control assembly, so that it is effective to be pressed into the sound generating program.
Fig. 9 and program shown in Figure 10 are used to be described under the driving mode and carry out, and similarly program can be carried out under the walking pattern.In the walking pattern, the time interval that the rider jams on foot pad switch 16 can be considered to walking speed, and is irrelevant with velocity of rotation N1, and walking speed can be considered to simulate walking speed V (analog rate set parts).In this case, frequency T is obtained by T ← V * Kc/A (frequency setting parts), by frequency T is sent to audio driver 186, can send low-frequency relatively sound that is pressed into from loudspeaker 15 when the rider promotes the bicycle walking.
Next, describe first revision program that is pressed into the sound generating program with reference to Figure 11, this program can be substituted by the program shown in Fig. 9 and Figure 10.
Program from step S205 to S311 is identical from step S301 to the program the S307 with above as shown in figure 11.
After the step S307, at step S308, the velocity of rotation Nx of virtual trailing wheel is obtained by Nx ← V2/A.
At step S309, determine the velocity of rotation N1 of flywheel 74 based on the signal of second speed receiver 86 acquisitions.
At step S310, the velocity of rotation N1 of flywheel 74 compares with the velocity of rotation Nx of virtual trailing wheel.When N1＜Nx, enter step S311, otherwise when N 〉=Nx, enter step S313.
At step S311, rotary speed difference Δ N is obtained by Δ N ← Nx-N1, and frequency T is obtained by T ← Δ N * Kc.Afterwards, at step S312, with step S 106 in the same manner produce and to be pressed into sound.
On the other hand, at step S313, with step S107 in same mode stop to produce and be pressed into sound.
According to program shown in Figure 11, the demand that the second speed receiver is detected the rotation of bent axle 60 has been eliminated, and this has simplified configuration and reduced the program that is used to control and is written into.
Next, with reference to Figure 12 and Figure 13 second revision program that is pressed into the sound generating program is described.This program can be replaced by Fig. 9 and program shown in Figure 10.
In second revision program, two sensor 86a of corresponding second speed receiver 86 and 86b (seeing Figure 18) be by parallel assembling, and therefore no matter bent axle 60 is discerned along the sense command that rotation forward or backwards can both detected rotor 88.Carry out the control of considering sense of rotation.The velocity of rotation that has the rotation direction signal that is detected by two sensor 86a and 86b is expressed as velocity of rotation N2
s, distinguish mutually with the no signal velocity of rotation N2 that above uses.
Step S401 among Figure 12 to S408 form with step S301 above to the identical program of S308.
After the step S408,, obtain the velocity of rotation N2 of bent axle 60 by sensor 86a and 86b at step S409.
At step S410, velocity of rotation N2
sProduct N2 with gear ratio R
s* R compares with velocity of rotation Nx, works as N2
sDuring * R＜Nx, enter step S411, otherwise work as N2
sDuring * R 〉=Nx, enter step S413.
At step S411, rotary speed difference Δ N is by Δ N ← Nx-N2
s* R obtains, and frequency T is obtained by T ← Δ N * Kc.Afterwards, at step S412, by with step S106 in same mode produce and be pressed into sound.
On the other hand, at step S413, by with step S107 in same mode stop to produce and be pressed into sound.
According to program shown in Figure 12, consider the rotation direction of bent axle 60, can produce the more suitable sound that is pressed into.
As indicated above, according to bicycle simulation system 10, the driver can be from visually sensory images be by bike real, because owing to the sight setting produces operation and the applied external force of himself to pedal 64L, 64R, such as the pressure of gravity and wind by driving analog bicycle 12.In addition, the rider can experience real sound by bike, rotates the sound that is pressed into that produces because send from loudspeaker 15 according to simulation travel speed V and bent axle 60.More specifically, travel under level land and calm situation, based on the moving speed degree of the running of pedal 64R and 64L, just the velocity of rotation N1 of the velocity of rotation N2 of bent axle 60 and flywheel 74 produces and is pressed into sound.This frequency T that is pressed into sound is different from the frequency that truly is pressed into sound that one-way clutch 72 produces; Promptly owing to consider constant Kc, this frequency T that is pressed into sound is according to the frequency of the velocity of rotation N1 of flywheel 74, and is based on the frequency of real bicycle trailing wheel velocity of rotation under similarity condition, and being pressed into therefore that sound sounds is real sound.
In this case, when pedal 64R, 64L do not turn round, send the sound of high-frequency similar " ticking-rattle away-tick ", when pedal 64R, 64L low-speed running, send the sound of low-frequency similar " tick, rattle away, tick ".As pedal 64R, cause Δ N=0 when 64L runs up, the ratch mechanism in the one-way clutch starts, driving force effectively is sent to flywheel 74 (trailing wheel is supposed in the simulation) as a result.In this case, corresponding with the condition of step S109 and S110, with the real bicycle kindred circumstances under same mode stop to send and be pressed into sound, the sense of reality is further strengthened thus.When brake rod 100L started under the condition that pedal 64R, 64L shut down, the velocity of rotation N1 of flywheel 74 was lowered, so, once more with the real bicycle kindred circumstances under same mode reduce the frequency that is pressed into sound of generation.
Supposition because applied external force, the pressure of the gravity on slope and wind for example, and changing in the sight of travel speed V, consider that variable K1 and K2 determine frequency T, thus, according to the sight of supposition, that sends in the loudspeaker 15 is pressed into the sound that sound becomes nature.Therefore because and the corresponding to scene that shows at screen 14a of simulation travel speed V change the visual velocity that velocity variations produces, and because loudspeaker 15 sends the sense of hearing speed that is pressed into sound generating, the two meets mutually, has got rid of inconsistent sensation thus.
Attach, the sound that is pressed into of generation is not limited to send from loudspeaker 15 by electronic installation and is pressed into sound, also can be sent by mechanical hook-up.For example shown in Figure 14, the phase inverter 300 and the engine 302 that are equipped with by main control unit 18 controls meet this mode.Phase inverter 300 control velocities of rotation, engine 302 and one-way clutch 304 rotate with predetermined speed thus.As a result, obtain and send the same effect of electronic installation that is pressed into sound from loudspeaker 15.Because real one-way clutch 304 sends this sound, therefore obtained more real sensation.In addition, the configuration of audio driver obtains simplifying.In this case, recommend phase inverter 300 and engine 302 be placed on and cover 75 or the sound that sends with shielding of analog inside.In this case, though the sound that one-way clutch 304 produces is to be pressed into sound really, not the sound that sends from trailing wheel itself.In this sense, it is the virtual acoustic on the analog basis.
As indicated above, according to the bicycle simulation system 10 of this embodiment, controller is not installed in pivotable parts, and for example on the steering handle 28, but on fixing vehicle frame 20, what drive thus feels the similar real bicycle that drives.Though compare motorcycle or similar vehicles mutually, real bicycle provides the operation of lighter steering handle, the layout that controller 46 is installed on the vehicle frame 20 has guaranteed to be applied to steering handle 28 without any load, has realized the light sense of similar real bicycle operation steering handle.
Not only ride at the visual angle of saddle 24 but also comprise from afar visual angle from the rider, steering handle 28 is based on the characteristic of bicycle outward appearance, the layout of controller 47 on front fork 30L, 30R provides the outward appearance of similar real bicycle, strengthened the sense of reality thus.
In addition, because controller is installed on the front fork 30L and 30R as the vehicle frame 20 of front support stand, controller 46 can not appear at the rider within sweep of the eye easily, does not influence outward appearance.Because controller 46 is installed in lower position, the center of gravity of analog bicycle 12 is low.Significantly, because analog bicycle is in light weight, because the position of controller 46, center of gravity is arranged on low relatively position, so the rider can realize simulation under stable condition.
In addition, consider the layout of display 14 in the rider front side, the master controller 18 that Shows Picture on display 14 also is disposed in the front side of analog bicycle 12; In this case, controller 46 is installed on front fork 30L and the 30R, and the lead that is connected that is used to connect controller 46 and main control unit 18 is set shorter.Therefore, the stability of signal transmission is enhanced, and the layout of signal wire becomes easy.
Because analog bicycle 12 simple structures, the fuel tank part of simulating vehicle, engine part and seat almost do not have the dead angle with the lower part in corresponding locomotive simulation.Yet the near zone of front fork 30L, 30R will be the dead angle, and the there does not have other special parts.Therefore, even relatively large controller 46 also can be arranged in the there, can not influence the layout of miscellaneous part.
For the present invention of such description, clearly, foregoing can change aspect a lot.These change and not to be considered to depart from the invention spirit and scope, and all these to revise all be significantly for those skilled in the art, and will be included in the scope of following claim.
Claims (19)
1. bicycle simulation system comprises:
Analog bicycle, described analog bicycle comprises:
Steering handle for rider's operation;
Secondary left and right sides pedal for rider's operation;
Support the vehicle frame of steering handle and pedal with rotary way; With
Controller, described controller is mounted on the vehicle frame; With
Display unit,
Wherein, described controller propagates into described display unit with signal from predetermined electronic unit.
2. according to the bicycle simulation system of claim 1, it is characterized in that described vehicle frame comprises the brace table as support section than lower part that is installed in described steering handle, and described controller is installed on the described brace table.
3. according to the bicycle simulation system of claim 1, it is characterized in that comprise that further pin being used to detect the rider or two pin step down in the foot pad switch on the floor, described foot pad switch links to each other with described controller.
4. according to the bicycle simulation system of claim 1, it is characterized in that described analog bicycle further comprises:
Rotor with the operation Collaboration of described left and right sides pedal;
Detect first speed pickup of described rotor velocity of rotation;
Detect the second speed sensor of bent axle velocity of rotation, described left and right sides pedal rotates on described bent axle;
The analog rate set parts based on the described rotor velocity of rotation that described first speed pickup detects, is determined the simulation travel speed, and described display unit shows scene according to the simulation travel speed;
Determine the frequency setting parts of frequency, difference by sprocket gear velocity of rotation and virtual trailing wheel velocity of rotation multiply by a coefficient and obtains described frequency, wherein the bent axle velocity of rotation that be multiply by by the second speed sensor by predefined gear ratio obtains described sprocket gear velocity of rotation, obtains virtual trailing wheel velocity of rotation by described simulation travel speed; With
Produce the simulation sounding parts of simulated sound based on frequency.
5. according to the bicycle simulation system of claim 4, it is characterized in that be pressed into the sound that sound obtain of simulated sound for producing by the typing one-way clutch.
6. according to the bicycle simulation system of claim 4, it is characterized in that when the sprocket gear velocity of rotation was not less than virtual trailing wheel velocity of rotation, described simulation sounding parts stopped to send simulated sound.
7. according to the bicycle simulation system of claim 4, it is characterized in that when the sight that drives supposition when simulation was the slope, described analog rate set parts changed the simulation travel speed according to the degree of tilt on slope.
8. according to the bicycle simulation system of claim 1, it is characterized in that described analog bicycle further comprises:
Detect the speed pickup of bent axle velocity of rotation, described left and right sides pedal rotates on described bent axle;
Set the analog rate set parts of simulation travel speed, described display unit shows and the corresponding to scene of simulation travel speed changes;
The frequency setting parts, when from described simulation travel speed, deduct the bent axle velocity of rotation multiply by value that a coefficient obtains on the occasion of the time, determine with on the occasion of the frequency that is directly proportional; With
Send the simulation sounding parts of simulated sound based on frequency.
9. according to the bicycle simulation system of claim 1, it is characterized in that described display unit is the parts that separate with analog bicycle.
10. according to the bicycle simulation system of claim 1, it is characterized in that predetermined electronic unit is crankangle rotation sensor, speed pickup or steering angle sensor.
11. a bicycle simulation system comprises:
Bicycle, described bicycle comprises:
Secondary pedal for rider's operation;
Support the vehicle frame of described pedal with rotary way;
Controller, described controller are installed on the described vehicle frame; With
Detect the speed pickup that described pedal rotates; With
Display unit,
Wherein, the signal of described speed pickup is relayed display unit by described controller, and described display unit shows the corresponding image of speed that detects with described speed pickup.
12. the bicycle simulation system according to claim 11 is characterized in that, described vehicle frame comprises the brace table as support section, and described controller is installed on the described brace table.
13. the bicycle simulation system according to claim 11 is characterized in that, comprises that further of being used to detect the rider or two pin step down in the foot pad switch on the floor, described foot pad switch links to each other with described controller.
14. the bicycle simulation system according to claim 11 is characterized in that, described analog bicycle further comprises:
Rotor with the operation Collaboration of described pedal;
Described speed pickup is for detecting first speed pickup of bent axle velocity of rotation, and described pedal rotates on described bent axle;
Detect the second speed sensor of described rotor velocity of rotation;
The analog rate set parts is determined the simulation travel speed based on the described rotor velocity of rotation of described second speed sensor, and described display unit shows scene based on the simulation travel speed;
Determine the frequency setting parts of frequency, difference by sprocket gear velocity of rotation and virtual trailing wheel velocity of rotation multiply by a coefficient and obtains described frequency, multiply by the bent axle velocity of rotation that detects by first speed pickup by predefined gear ratio and obtain described sprocket gear velocity of rotation, obtain virtual trailing wheel velocity of rotation by described simulation travel speed; With
Produce the simulation sounding parts of simulated sound based on frequency.
15. the bicycle simulation system according to claim 14 is characterized in that, be pressed into the sound that sound obtain of simulated sound for producing by the typing one-way clutch.
16. the bicycle simulation system according to claim 14 is characterized in that, when the sprocket gear velocity of rotation was not less than virtual trailing wheel velocity of rotation, described simulation sounding parts stopped to send simulated sound.
17. the bicycle simulation system according to claim 14 is characterized in that, when the sight that drives supposition when simulation was the slope, described analog rate set parts changed the simulation travel speed according to the degree of tilt on slope.
18. the bicycle simulation system according to claim 11 is characterized in that, described analog bicycle further comprises:
Described speed pickup detects the velocity of rotation of bent axle, and described pedal rotates on described bent axle;
Set the analog rate set parts of simulation travel speed, described display unit shows the scene with simulation travel speed respective change;
The frequency setting parts, when from described simulation travel speed, deduct the bent axle velocity of rotation multiply by value that a coefficient obtains on the occasion of the time, determine with on the occasion of the frequency that is directly proportional; With
Produce the simulation sounding parts of simulated sound based on frequency.
19. the bicycle simulation system according to claim 11 is characterized in that, described display unit is the parts that separate with analog bicycle.
Applications Claiming Priority (6)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2005157563 | 2005-05-30 | ||
| JP2005-157563 | 2005-05-30 | ||
| JP2005157563A JP4461058B2 (en) | 2005-05-30 | 2005-05-30 | Bicycle simulation equipment |
| JP2005-187940 | 2005-06-28 | ||
| JP2005187940 | 2005-06-28 | ||
| JP2005187940A JP4461068B2 (en) | 2005-06-28 | 2005-06-28 | Bicycle simulation equipment |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN1873733A true CN1873733A (en) | 2006-12-06 |
| CN1873733B CN1873733B (en) | 2010-10-13 |
Family
ID=37484193
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN200610091831XA Expired - Fee Related CN1873733B (en) | 2005-05-30 | 2006-05-29 | Bicycle simulation system |
Country Status (2)
| Country | Link |
|---|---|
| JP (1) | JP4461058B2 (en) |
| CN (1) | CN1873733B (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102319506A (en) * | 2011-06-16 | 2012-01-18 | 恩特有限公司 | Bicycle steering simulation device |
| CN105709394A (en) * | 2016-01-22 | 2016-06-29 | 杭州问嫂科技有限公司 | Simulation mount, as well as control method, scene terminal and system of simulation mount |
| CN106248386A (en) * | 2015-06-03 | 2016-12-21 | 丰田自动车工程及制造北美公司 | The bicycle equipment used in testing at motor vehicles |
| CN107115628A (en) * | 2017-06-13 | 2017-09-01 | 浙江理工大学 | A kind of train formula bicycle riding simulator tool |
| CN109661343A (en) * | 2016-05-15 | 2019-04-19 | 机械模拟公司 | The system and method for stabilizing motorcycle |
| CN113874085A (en) * | 2019-05-24 | 2021-12-31 | 瑞尔设计科技有限公司 | Bicycle simulator and block chain network system using same |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2010079207A (en) * | 2008-09-29 | 2010-04-08 | Honda Motor Co Ltd | Two-wheeled vehicle simulation apparatus |
-
2005
- 2005-05-30 JP JP2005157563A patent/JP4461058B2/en not_active Expired - Fee Related
-
2006
- 2006-05-29 CN CN200610091831XA patent/CN1873733B/en not_active Expired - Fee Related
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102319506A (en) * | 2011-06-16 | 2012-01-18 | 恩特有限公司 | Bicycle steering simulation device |
| CN106248386A (en) * | 2015-06-03 | 2016-12-21 | 丰田自动车工程及制造北美公司 | The bicycle equipment used in testing at motor vehicles |
| CN106248386B (en) * | 2015-06-03 | 2020-05-05 | 丰田自动车工程及制造北美公司 | Bicycle apparatus for use in motor vehicle testing |
| CN105709394A (en) * | 2016-01-22 | 2016-06-29 | 杭州问嫂科技有限公司 | Simulation mount, as well as control method, scene terminal and system of simulation mount |
| CN105709394B (en) * | 2016-01-22 | 2018-04-17 | 常山偲塾教育科技有限公司 | A kind of control method, scene terminal and system simulated saddle horse and simulate saddle horse |
| CN109661343A (en) * | 2016-05-15 | 2019-04-19 | 机械模拟公司 | The system and method for stabilizing motorcycle |
| CN107115628A (en) * | 2017-06-13 | 2017-09-01 | 浙江理工大学 | A kind of train formula bicycle riding simulator tool |
| CN113874085A (en) * | 2019-05-24 | 2021-12-31 | 瑞尔设计科技有限公司 | Bicycle simulator and block chain network system using same |
Also Published As
| Publication number | Publication date |
|---|---|
| JP2006330598A (en) | 2006-12-07 |
| JP4461058B2 (en) | 2010-05-12 |
| CN1873733B (en) | 2010-10-13 |
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