JPH03118085A - Bicycle type training device - Google Patents

Abstract

PURPOSE:To always execute exercise while fixing the exercise amount of an exercising person by fitting a temperature detecting element to an eddy current brake and controlling a load to an instructed load corresponding to a designated load according to the temperature change of the eddy current brake. CONSTITUTION:The rotating positions of pedals 1 are detected S1 and the rotating numbers of the pedals are detected S2. Then, the temperature of an eddy current brake 4 is detected S3 and for an output from a load setter, a load instructing value is adjusted to the load corresponding to the temperature change of the eddy current brake by a load adjuster. Afterwards, pulse width is obtained corresponding to the rotating positions of the pedals, the rotating numbers of the pedals and the load instructing value and the eddy current brake is driven by the current of the pulse width. The eddy current brake is operated as the load corresponding to the rotating positions of the pedals.

Description

DETAILED DESCRIPTION OF THE INVENTION INDUSTRIAL APPLICATION J Field of the Invention The present invention relates to a bicycle training device using an eddy current brake, and is intended to improve its load characteristics and exercise performance.

"Prior art" Utility model registration II filed in 1985 by the inventor of the present application
There was an eddy current brake for a "bicycle training machine" in No. 114702 that used the device shown in Figure 9.

FIG. 9 is a three-dimensional cross-sectional view of the eddy current brake.

The eddy current brake will be explained below with reference to the drawings.

4 is the eddy current brake body, and 7' is a bridge (not shown) connected by the shaft 7 and a connecting band such as a chain or a timing belt.
This is the axis that is being

41 is nickel, cobalt, aluminum, copper.

The body of the eddy current brake is made of an alloy of titanium etc. and iron and a ferromagnetic material such as iron, 42 is a bearing for attaching the shaft 7' to the body 41, and 43 is a bearing for generating eddy current. An excitation coil (electromagnetic coil) 44 is an inductor made of a ferromagnetic material having a large number of teeth that rotates in accordance with the rotation of the pedal, and is fixed to the shaft 7'.

When a current is applied to the excitation coil 43 by the load drive device, a magnetic field: H=nI (where n is the number of turns per unit length of the coil, and A strong magnetic field (magnetic flux) is generated between the part and the body 41,
Further, a weak magnetic field (magnetic flux) is generated in the valley portion of the inductor 44 and the body 41, respectively.

When the pedal 1 is rotated while the coil is energized, the magnetic flux between the teeth of the inductor 44 and the body 41 changes, and an eddy current: i flows as a brake in a direction that prevents the change in magnetic flux. act.

At this time, the braking force F of the brake is related to FociBS (where S is the effective new area of the magnetic material).

Conventionally, motion has been managed using a constant power: P or a constant torque: Q.

Power rate 2 P is the rate of work done in unit time: τ, and as the braking crab F of the eddy current brake, the travel distance of gear crank 2: S, and the rotational speed corresponding to the rotation speed of pedal 1: V, P = W / t = F s / t = F v
It is.

Also, torque: Q is.

Q = F r , where r is the radius of the rotating body (pedal length),
Work of rotating body: W is: W=Fs=Fr θ =Q θ However, s=r
θ, where θ is the rotation angle.

Also, the work of one rotating body $: p is P=W/τ=Qθ/τ=Qω Q=P/ω, and ω
is the angular velocity.

Therefore, in the case of power control of 11 and torque control, it was necessary to change the size of the braking crab F of the brake by changing the rotational speed V or angular speed t:ω, which is proportional to the number of rotations. .

In addition, in order to control constant power: P, by changing the rotation speed, F=P/m (however.

m is the number of rotations).

"Problem to be Solved by the Invention" However, when the eddy current brake 4 is made of an alloy of iron with nickel, cobalt, aluminum, copper, titanium, etc., or a ferromagnetic material such as iron, the excitation coil 43 When current is applied, the eddy current brake 4 is heated due to the heat generated by the coil and the eddy current, increasing the coil resistance, increasing the resistance of the magnetic material, and decreasing the magnetic flux density of the magnetic material, resulting in a control output corresponding to the specified load. If it remains the same as before heat generation, the braking force of the eddy current brake 4 will decrease, and even if the specified load is the same, there is a drawback that the exerciser's momentum will change due to temperature changes.

The present invention has been made in view of the drawbacks of the prior art, and includes a temperature detection element attached to the eddy current brake 4, and controls the load to a specified load corresponding to the specified load according to the temperature change of the eddy current brake 4, thereby increasing the exerciser's momentum. ``Means to solve the problem by making it possible for the robot to always perform constant motion.''

The main points of the present invention are as shown in FIG. 1, in a control device for a bicycle training device using an eddy current brake.
a position detector that detects the rotational position (rotation angle) of the pedal;
A rotation speed detector for detecting the rotation speed of the pedal, a load setting device for setting the exercise load (indication load) such as the maximum value of the load, the position of the maximum value, and the bias value of the load, and the eddy current brake. a temperature detector that detects temperature; a temperature regulator that converts the output from the load setting device into an exercise load (indication load) according to the temperature change detected by the temperature sensor; and a rotational position detector. A pulse@114911 device for determining a pulse width corresponding to the output of the output/rotation speed detector and the output of the load regulator, and a pulse width determined by the pulse@regulator to drive the eddy current brake. The reason is that a load drive device is provided.

"Operation" Detects the rotational position of the pedal, detects the number of rotations of the pedal, detects the temperature of the eddy current brake, and applies the output from the load setting device to the load corresponding to the temperature change of the eddy current brake. The commanded value is determined by a load adjuster, and a pulse width corresponding to the pedal rotational position, pedal rotational speed, and load command value is obtained, and the eddy current is controlled by driving the eddy current brake with a current having the pulse width. The brake acts as a load corresponding to the rotational position of the pedal.

rExample J FIG. 2 is a block diagram showing an embodiment of 1gJ1.

The main body of the bicycle training device includes a gear crank 2 with a pair of pedals 1 mounted in the center of a body frame (not shown).
is rotatably supported on the frame, an eddy current brake 4 shown at 9th rgi is attached to the front or rear of the frame, and the gear 3 is rotatably supported on the frame via a shaft 7. The gear 3 and the eddy current brake unit 4 are either directly connected to the shafts 7 and 7' (not shown), or the shafts 7 and 7' are bridged by a connecting band 5 such as a chain or a timing belt. A saddle (not shown) is attached above the frame so as to be movable in vertical and horizontal directions, and a handle (not shown) extends from the frame in the front direction of the saddle. , the gear crank 2 is placed at a position '11 () corresponding to the upper starting point of the pedal 1.
A protruding piece 6 is provided for detecting the origin.

The control device of the bicycle training device may be a magnetic/photoelectric or electrostatic sensor that detects the number of teeth of the gear crank in order to detect the rotational position of the pedal, or a sensor that detects the rotation angle of the gear crank. and an n-ary counter 21 that counts the output of the sensor S1 and outputs m-bit data in parallel.

A magnetic/photoelectric or DfIt type sensor S2 for detecting the protruding piece 6 every rotation and resetting the counter 21, and a resistance temperature detector/thermistor for detecting a temperature rise of the eddy current brake 4. and a temperature sensor S3 consisting of a semiconductor temperature detector, etc., and each sensor S1, S
2 53 and a computer section 60 for controlling the I11 in response to input.

Next, the :2 display unit 60 will now be explained.

62 is a read-only memory (hereinafter referred to as ROM) for storing control programs, predetermined load curves, standard load tables corresponding to rotational positions, etc., and 63 is a read-only memory (hereinafter referred to as ROM) that It is a read/write memory (hereinafter referred to as RAM) for storing data that can be changed, and 61 is the above-mentioned R as a program memory.
OM 62 is a central processing unit (hereinafter referred to as CPU) that sequentially performs control and calculations according to the contents of 62, and 64 is a heart rate sensor (hereinafter referred to as HR sensor) attached to the fingertip or earlobe to detect the heart rate. (not shown) and origin position detection sensor (sensor that detects the rotation speed proportional to the time from origin position to origin position) Programmable timer counter (hereinafter referred to as timer) that has multiple counters that measure the cycle time of S2 65 counts the pulse train output from sensor S1, and counts the pulse train output from sensor S2.
This counter is cleared to zero by a reset signal output from the counter.

66 is an interrupt controller (hereinafter referred to as Ilo) for controlling an external interrupt signal to the CPU;
67 is the CPU and outside! It is an input/output circuit (hereinafter referred to as Ilo) that interfaces with the 6
8 is an internal bus of the computer; 69 is an auxiliary storage device consisting of a floppy disk, hard disk, video tape, IC card, etc. for storing programmed load curves, animation tables, reference data, etc.; - ROM82-
RAM63・Tie 764・Counter 65- I/C66
-l 1067 and bus 68, and may be a one-chip microcomputer or a microcomputer combining a plurality of elements (chips).

A rotational position interrupt, a rotational speed measurement interrupt, and a heartbeat interrupt (hereinafter referred to as HR interrupt) as outputs of the sensors S1 and S2 are input to the I106B, respectively. The l7067 has a load driving device 51.
A load maximum position setter 52, a load maximum amplitude setter 53, a load bias amount setter 54, a select switch 55, a display 56, and a temperature converter 57 are connected, respectively.

The load driving device 51 includes the load maximum position setting device 52
・Load maximum amplitude setter 53 and load bias amount setter 5
4 or the load instruction data outputted from the auxiliary storage device, the pulse width data calculated by the CPU 61 is input, and a current is caused to flow through the excitation coil of the eddy current brake 4 for that time.

Said maximum load position setting device 52/Load amount large swing @ crotch runner 53
The load bias amount setting device 54 may be a digital switch that directly inputs a digital value, or a device that outputs a voltage obtained by a variable resistor as a digital value using an analog-to-digital converter (A/D converter). The select switch 55 is an automatic/manual changeover switch.
It consists of a start switch, a stop switch, an auxiliary storage device consisting of a floppy disk, a hard disk, a video tape, an IC card, etc.), a memory selection switch, a numeric keypad, etc. The display device 56 is a display device including a CRT, a plasma display, a liquid crystal display, etc., for displaying the rotational speed, heart rate, commuting distance, gradient, background picture, etc. The temperature transducer 57 is attached to the outer surface of the body 41 facing the inductor 44 of the eddy current brake 4, or is mounted embedded inside the body 41 (not shown). This is a converter that takes the output of the temperature sensor S3 as an input, linearizes the output of the temperature sensor S3, converts it into a voltage corresponding to the temperature (for example, 5V at 50°C), and then converts an analog value into a digital value.

The operation of the present invention will be explained below with reference to the flowcharts of FIGS. 3 and 4, the load curves of FIGS. 7 and 8, and the diagrams showing the load per revolution.

When electricity (not shown) is supplied to the microcomputer 60, the program starts and proceeds to step 70, where the program is started and proceeds to step 71.

In step 71, interrupts from the r/C 66 are prohibited, and the process proceeds to step 72. In step 72, the hardware part and lift part of the microcomputer 60 are initialized, and the process proceeds to step 73. In step 73, the process proceeds to step 73. Allow the interrupt from C66 and proceed to step 74. In step 74, the select switch 55
To determine whether the start switch of the
The CPU 81 reads through the l1066, loops step 73 until the start switch is activated, and if the start switch is activated, proceeds to step 75. Step 75 is a subroutine,
Executes a program (not shown) for displaying on the display 56, a program (not shown) for storing the load curve, reference load data, etc. in the auxiliary storage device 67, a program for managing the amount of exercise, etc. Then, the process proceeds to step 76.

In step 76, (1) the CPU 61 reads the data via the machine 1067;
Is the stop switch of the select switch 55 selected?

■When an abnormal heart rate is detected.

(2) When the amount of exercise exceeds the reference value, the process proceeds to step 77; otherwise, the process proceeds to step 74, and steps 74, 200, 75, and 76 are repeatedly executed.

In step 77, if the stop switch is actuated, the load value is gradually reduced, then this step is ended, and the process proceeds to step 74, where step 74 is looped until the start switch is actuated. Furthermore, when an abnormal heart rate is detected or the amount of exercise exceeds the reference value, the newly determined state is displayed on the display 56, and the load value is gradually reduced, and then this step is ended. , the process proceeds to step 74 and loops through step 74 until the start switch is actuated.

When the above operations are repeated and the position interrupt, rotation interrupt and HR interrupt are input to the Makiko/C86 while interrupts are enabled, the interrupt processing routines shown in FIGS. 4 to 6 are activated, respectively.

Each side-in processing routine will be explained below.

First, regarding the flowchart of the control program for the bicycle training device shown in FIG.
This will be explained with reference to a diagram showing the relationship between rotational position and pulse width modulation.

In addition, the diagrams showing how the pulse width changes due to changes in the number of rotations and changes in the rotational position corresponding to the amplitude in FIG. 7(d) are shown in FIGS. 8(b), (c), and (). d), respectively 4Qrpm, 50rpm and 60rp
The maximum pulse @T' at a rotational speed of m and the pulse width at the rotational position are shown.

This program is started when the 1-position detection interrupt Sl occurs and proceeds to step 80. In step 80, the interrupt program is started and proceeds to step 81.

In step 81, when the exerciser steps on the pair of pedals 1, the gear crank 2 rotates, and the pulse train input from the sensor S1 (see FIG. 7(b)) is sent to the counter 6.
(see FIG. 7(a)), the CPU 61 reads the count value of the counter 65 and obtains the position input crab J, and proceeds to step 82. In step 82, the select switch 55 is switched between manual and automatic. In order to determine the state of the switch, the CPU 61 reads it through the device 1067, and if the switch is manual, the process proceeds to step 83, and if the switch is automatic, the process proceeds to step 84.

In step 83, the CPU 61 reads the set values of the load maximum position setter 52, load maximum m@ setter 53, and load bias amount setter 54 via the l1086, and the process proceeds to step 85.

The setting values for the maximum load Ii width, load bias amount, and maximum load position correspond to A-B and C in Fig. 7, respectively, and the maximum load position (phase represents the position of π12).

In step 84, the reference data in the ROM 82 or the auxiliary storage device 69 (in this embodiment, the load data, which is the data of the load maximum!Ii@, the load bias amount and the maximum load position, as in the case of manual operation) is stored in the RAM 63. Read and proceed to step 85.

In step 85, focusing on the fact that the amplitude changes in a SIN manner around the maximum amplitude point, the amplitude of the load relative to the indicated value is calculated as follows:
To find, let the number of rotational position divisions be M and L=B+/! Al5IN2π [J-(C-1!/4)
/M is calculated and the process proceeds to step 86. In step 86, the reference rotation speed is N, and the actual rotation speed: m
(However, in order to correct the number of rotations measured one time before during rotation), the calculation of =LXN/m is performed using the load instruction value as L and the correction value, and the process proceeds to step 87.

In step 87, the output of the temperature sensor S3 is linearized and a voltage corresponding to the temperature (for example, 50° C.
After converting the analog value into a digital value, the temperature data: TH is input to the CPU 61 via the l1067, and the temperature-corrected command load is set to 1 and the temperature correction coefficient is set to α. ■=J [1+α(TH-25)] is calculated to obtain the temperature-corrected command load: 1, and the process proceeds to step 88.

In step 88, in order to obtain the pulse width corresponding to the load instruction value: l corrected in the previous step 87, at the reference rotation speed! T III the maximum pulse width to be controlled.

Let the time proportional to the maximum amplitude be P, the time proportional to the maximum bias amount be LOlfll, and the maximum commanded load be LOlfll, and the maximum pulse width to be controlled when the reference rotation speed is N is T's. Assuming the number of rotational position divisions is M, the relationship is T = 60/(M-N), and in order to find the controlled pulse width: t, calculate t = TB (N/m) (1/Law). , proceed to step 89.

In step 89, the pulse @:t of the calculation result is changed to l
1087 to the load driving bag W151, and the process proceeds to step 90, where this subroutine ends and returns to the program that was being executed before the position detection interrupt Sl occurred.

The flowchart for measuring the number of rotations of the pedal shown in FIG. 5 will be explained below.

When the sensor S2 detecting the origin detects the protruding piece 6, a rotation interruption occurs, the program is started, and the process proceeds to step 100.

The program starts at step 100, and step 101
In step 101, the IX point detection signal S2
Time from to origin detection signal S2: T (7th rgi (
The CPU 62 takes in the clock data of the timer 64 that measures the timer 64 (see C), and the process proceeds to step 102. In step 102, m =
After calculating 60/T, (r p m ) and storing the calculation result in the data area of RAM 83, the process advances to step 103, where this subroutine ends and the program that was being executed before the 1-rotation interrupt occurs. Return to

The program starts at step 105 and step 106
In step 106, the CPU 82 imports the clock data of the timer 64 which measures the time 20 from the HR multiplied signal to the HR multiplied signal, and the processing proceeds to step 107.In step 107, in order to obtain the heart rate: HR. After calculating HR = 60/G (times) and storing the calculation result in the data area of RAM 63, the process advances to step 108, where this subroutine ends and the program that was running before the rotation interrupt occurred is returned. return.

In the automatic mode of this embodiment, the instruction load data for each rotation speed: L is stored in the ROM 82 instead of the reference data in step 84.
Or, it is stored in the auxiliary storage device 69, and k is determined by the instruction data.Bias amount: B=L (1-k) and amplitude: A=kL as a constant indicating the ratio for determining the bias amount: B. However, O<k<1 If the amplitude calculation (see step 85) is performed as follows, there is no need to perform rotation correction (step 86 is omitted), and the maximum pulse width time is:
Ta+ (see step 88) is T = 60/(M-m
), and I! I-controlled pulse @: 1 is t=
By replacing the calculation with T(1/L), it is also possible to output the video picture to the display 5B and use it as an instruction load along with the display to comfortably exercise.

"Effects of the Invention" The effects of the present invention are such that a temperature detection element is attached to the eddy current brake 4, temperature compensation is performed to the specified load according to the temperature change of the eddy current brake 4, and the specified load is controlled. The aim is to enable constant exercise.

[Brief explanation of drawings]

FIG. 1 is a diagram showing the configuration of the present invention. FIG. 2 is a block diagram showing a first embodiment showing the basic configuration of the present invention. FIG. 3 is a flowchart showing the main program of the present invention. FIG. 4 is a flowchart showing a load control program of the present invention. FIG. 5 is a flowchart showing the rotation speed calculation program of the present invention. FIG. 6 is a flowchart showing a heart rate calculation program of the present invention. 7 and 8 are diagrams showing the load curve and the load per rotation. FIG. 9 is a new three-dimensional view of the eddy current brake. "Explanation of symbols" 1...Pair of pedals, 2...Gear crank, 3
...Gear, 4...Eddy current brake, 5...
connection belt. 6...Protruding piece, 7 and 7'...shaft, 51...
- Load drive device, 52... Maximum position setting device. 53...Maximum amplitude setting 0154...Bias amount setter, 55...Select switch, 56...
Display device, 57...Temperature converter 60...Computer, 61...CPU, 62
...ROM, 63...RAM, 64...timer, 65...counter, 66...I/C, 6
7...Ilo, 68...Ba input 69...Auxiliary storage device

Claims (1)

[Claims] (1) In a control device for a bicycle training device that uses eddy current brakes, the rotational position (rotation angle) of the pedal
A position detector to detect the pedal rotation speed, a rotation speed detector to detect the pedal rotation speed, and a load setting to set the exercise load (instruction load) such as the maximum load value, the position of the maximum value, and the load bias value. a temperature detector that detects the temperature of the eddy current brake, and a temperature regulator that converts the output from the load setting device into an exercise load (instruction load) according to the temperature change detected by the temperature detector. and a pulse width adjuster for determining a pulse width corresponding to the output of the rotational position detector, the output of the rotational speed detector, and the output of the load adjuster, and a pulse width determined by the pulse width adjuster. and a load drive device for driving the eddy current brake.