KR20100011161A - Bike type fittness device and control method of the same - Google Patents

Abstract

A body part including a pedal driven by an exerciser and a rotation shaft connected to the pedal to perform a rotational motion; A steering part including a handle gripped by the exerciser and rotatably connected to the main body part; A steering angle detector for measuring a steering angle at which the steering unit rotates with respect to the main body unit, including a reality that is similar to using a bike such as an actual bicycle, and having the exerciser play a game. Provides a bike-type fitness equipment that can be included.

Description

Bike-type fitness equipment, control method {BIKE TYPE FITTNESS DEVICE AND CONTROL METHOD OF THE SAME}

The present invention relates to a fitness equipment, and more particularly to a bike (BIKE) type fitness equipment, such as a cycle and a cycle.

The fitness equipment can be broadly divided into weight equipment for strengthening strength and aerobic exercise equipment for strengthening strength and cardiopulmonary function.

Most aerobic exercise equipment uses the foot to exercise, using the speed at which the exercise is performed and the time at which the exercise is performed, the current speed of the athlete, the distance or calories burned by the athlete during the exercise time. It provides a function such as providing information to the exerciser through the display device attached to the fitness equipment.

In particular, aerobic exercise equipment is a treadmill that allows you to run on a caterpillar belt, a cycle equipped with a pedal like a bicycle, and a cycle called an elliptical, which is organically connected with a handle and a pedal, and acts as if you are skiing. Bicycle (BIKE) type fitness equipment, such as back and stepper for providing the effect of climbing the stairs, etc. are widely used.

In recent years, the classification of the fitness equipment, the classification is ambiguous by various modified examples, but in the following description, the bike (BIKE) fitness equipment has a pedal and a rotating shaft corresponding to the pedal, whereas the stepper A description will be made of a fitness device that does not include a rotating shaft corresponding to the pedal.

Bike type fitness equipment is designed to give an exercise effect to exercise the bike in the room, the exerciser must drive the pedal to obtain the exercise effect by rotating the rotation axis corresponding to the pedal.

At this time, since the bike-type fitness equipment is fixed in the room, the inertia load should be applied to the rotating shaft in order to increase the amount of exercise of the rotational movement of the rotating shaft corresponding to the pedal, that is, to give the exerciser a load.

As a method of providing an inertial load for rotation, there is a rotational inertia method for forming a flywheel having a large rotational inertia on the rotational axis, and can be broadly classified into a rotational resistance method providing rotational resistance with respect to the rotational direction of the rotational axis.

In the rotational inertia method, the rotational inertia is proportional to the square of the mass and the radius, so that the flywheel having a large mass or a large diameter can increase the momentum of the exerciser. However, the larger the rotational inertia, the larger the weight of the flywheel or the greater the volume.

In addition, since the rotational inertia is determined by the flywheel provided in advance, there is a problem that it is difficult to reflect the variation of the inertia load when riding the actual bike according to the weight of the athlete.

The rolling resistance method provides a flywheel with a relatively small rotational inertia, and applies a brake to the flywheel to be rotated using a physical, electrical or magnetic brake, thereby reducing the weight and volume of the flywheel. It is effective to reflect fluctuations in inertia load.

However, the rotational inertia method changes the inertial load in response to the rotational acceleration, not the rotational speed of the flywheel, but the reality is relatively good. There is a problem that the reality is lowered as it is fixed.

In addition, in reality, when exercising on a bike, as the speed of the bike increases due to the resistance of the air, a load is provided that makes it more difficult for the athlete to exercise. As the load provided to the exerciser is determined by the load, there is a problem that the reality falls.

That is, in the case of a bike in real life, the load changes in response to the speed and acceleration of the bike, but the conventional bike-type fitness equipment does not have the problem that the reality is inferior.

In addition, in reality, when the bike is going downhill, the driver accelerates and speeds up even if the driver does not pedal. At this time, if the driver wants to increase the speed by pedaling, it is possible to pedal at a higher speed than the increased speed.

However, since the conventional bike-type fitness equipment is intended only for exercise, there is no function to increase the speed of the flywheel when the athlete does not pedal as described above, and only the athlete must step on the pedal to increase the speed of the flywheel. I could make it.

Therefore, there is a problem that it is difficult to implement a downhill road when performing a function such as a game using a conventional bike-type fitness equipment.

As the exerciser performs the exercise using the conventional fitness equipment, there is a problem in that it is easily demonstrated as only the exercise function is provided.

In order to solve this problem, it is desirable to provide a fitness device that is added to the exercise function and entertainment functions such as games.

However, the bike-type fitness equipment has a problem that the reality of the bike, such as a bicycle, is poor in performing entertainment functions such as games.

SUMMARY OF THE INVENTION An object of the present invention is to increase the realism of a bicycle such as an actual bicycle in a bike type fitness device.

Another object of the present invention is to provide a bike type fitness device, the function that allows the athlete to play a game while performing the exercise.

Bike type fitness apparatus according to an embodiment of the present invention for achieving the above object, the body portion including a pedal driven by the exerciser and a rotating shaft connected to the pedal to perform a rotational movement; A steering part including a handle gripped by the exerciser and rotatably connected to the main body part; And a steering angle detector configured to measure a steering angle of the steering unit rotating with respect to the main body unit.

In addition, the bike-type fitness device, the steering resistance unit for providing a steering resistance that interferes with the relative rotational movement relative to the body portion of the steering portion; preferably further comprises a.

In addition, the bike-type fitness device, it is preferable to further include a control unit for calculating the steering resistance using the steering angle and the rotational speed of the rotating shaft received from the steering angle detection unit.

In the bike-type fitness device, the rotational speed of the rotating shaft is preferably provided by being sensed by the speed sensor.

In the bike-type fitness device, the rotational speed of the rotating shaft is preferably provided by the controller.

The bike type fitness device further includes a control unit for calculating the steering resistance using a simulation input variable representing at least one of the steering angle received from the steering angle sensing unit, ground friction force, wind speed, and air resistance force. It is preferable to include.

In addition, the bike type fitness device, further comprising a load sensing unit for measuring the weight of the exerciser, the ground friction force is preferably calculated using the ground friction coefficient and the weight of the exerciser provided as a simulation input variable. .

The bike type fitness device further includes a load sensing unit for measuring the weight of the exerciser, wherein the control unit calculates the steering resistance force using the steering angle and the weight of the exerciser received from the steering angle sensing unit. It is preferable to further include.

In addition, the bike-type fitness device, it is preferable to further include a control unit for determining whether to roll over by using the steering angle received from the rotational speed and the steering angle sensor of the rotating shaft.

In the bike-type fitness device, the rotational speed of the rotating shaft is preferably provided by being sensed by the speed sensor.

In the bike-type fitness device, the rotational speed of the rotating shaft is preferably provided by the control unit.

The bike type fitness device may further include a braking unit that provides a rotational resistance that prevents the rotation of the rotational shaft. When the controller determines that the rollover is overturned, it is determined that the vehicle is overturned. It is desirable to stop the rotation.

Bike type fitness device control method according to an embodiment of the present invention for achieving the above object, the exerciser for the body portion including a pedal driven by the exerciser and a rotating shaft connected to the pedal to perform a rotational movement Measuring a relative steering angle of a steering part including a grip handle; And providing a steering resistance force that prevents relative rotational movement of the steering unit using the steering angle.

In addition, in the method of controlling the bike type fitness equipment, the steering resistance force is preferably calculated using the steering angle and the rotational speed of the rotating shaft.

In addition, in the bike type fitness device control method, the rotation speed of the rotating shaft is preferably provided by being sensed by the speed sensor.

In addition, in the bike type fitness device control method, the rotation speed of the rotating shaft is preferably calculated and provided by a predetermined algorithm.

In the method of controlling a bike type fitness equipment, the steering resistance force is preferably calculated using a simulation input variable representing at least one of the steering angle, ground friction force, wind speed, and air resistance force.

In the bike type fitness equipment control method, the ground friction force is preferably calculated using the ground friction coefficient provided as a simulation input variable and the weight of the exerciser.

In the method of controlling a bike type fitness equipment, the steering resistance force is preferably calculated using the steering angle and the weight of the exerciser.

In addition, the bike type fitness device control method, it is preferable to further include determining whether to roll over using the rotational speed and the steering angle of the rotary shaft.

In addition, in the bike type fitness device control method, the rotation speed of the rotating shaft is preferably provided by being sensed by the speed sensor.

In addition, in the bike type fitness device control method, the rotation speed of the rotating shaft is preferably calculated and provided by a predetermined algorithm.

In addition, in the bike type fitness equipment control method, if it is determined that the rollover is overturned, it is preferable to further include the step of stopping the rotation of the rotating shaft.

According to the present invention, there is an effect that can provide a bike-type fitness equipment with increased realism similar to using a bike such as an actual bicycle.

According to the present invention, there is an effect that it is possible to provide a bike-type fitness equipment that can include a function to play a game while the exerciser performs the exercise.

As the invention allows for various changes and numerous embodiments, particular embodiments will be illustrated in the drawings and described in detail in the written description. However, this is not intended to limit the present invention to specific embodiments, it should be understood to include all modifications, equivalents, and substitutes included in the spirit and scope of the present invention. In describing the drawings, similar reference numerals are used for similar elements.

Terms such as first and second may be used to describe various components, but the components should not be limited by the terms. The terms are used only for the purpose of distinguishing one component from another. For example, without departing from the scope of the present invention, the first component may be referred to as the second component, and similarly, the second component may also be referred to as the first component. The term and / or includes a combination of a plurality of related items or any item of a plurality of related items.

When a component is referred to as being "connected" or "connected" to another component, it may be directly connected to or connected to that other component, but it may be understood that other components may exist in between Should be. On the other hand, when a component is referred to as being "directly connected" or "directly connected" to another component, it should be understood that there is no other component in between.

The terminology used herein is for the purpose of describing particular example embodiments only and is not intended to be limiting of the present invention. Singular expressions include plural expressions unless the context clearly indicates otherwise. In this application, the terms "comprise" or "have" are intended to indicate that there is a feature, number, step, operation, component, part, or combination thereof described in the specification, and one or more other features. It is to be understood that the present invention does not exclude the possibility of the presence or the addition of numbers, steps, operations, components, components, or a combination thereof.

Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings.

1 is a graph for setting a load on a bike type fitness equipment, and a bike such as a real bicycle takes into account the resistance of air according to the speed and the inertial load corresponding to the mass of the bike and the exerciser when traveling on the ground. shall.

Figure 1 (a) shows the speed (V) of the bike over time (t), (b) shows the road load (F _L ) that the bike receives at the speed (V) of (a) , (c) shows the inertial load (F _I ) received by the bike at the speed (V) in (a), and (d) is the sum of the road load (F _L ) and the inertial load (F _I ) received by the bike. The total load F _{T is} shown.

The road load (F _L : road load) represents the load caused by the surrounding environment, and may consider the frictional force of the ground, wind speed, and air resistance.

Therefore, the road load (F _L : Road Load) is calculated by a function (for example, the following formula) preset in the control unit of the bike-type fitness equipment of the present invention.

That is, the road load (F _L : Road Load) is a speed of the bike (V _b ) corresponding to the speed of the program on the program including a predetermined algorithm such as a game or the rotational speed of the rotation axis of the bike-type fitness equipment, such as a game The frictional force (R _f ) with the ground on the program, the strength of the wind (R _w ) on the program such as the game, and the air resistance (R _a ) on the program such as the game are determined as input variables.

At this time, the function of calculating the road load (F _L : Road Load) can be simulated by various functions such as linear function, multi-order function, logarithmic function, or exponential function, and ground friction force (R _f ) and wind speed (R _w). ), And air resistance (R _a ) are used as input variables for the simulation.

In the present invention, a graph considering only air resistance in a state without wind speed by simplifying the road load F _L as an embodiment is shown as (a).

In addition, the inertial load F _I is proportional to the acceleration and the mass, and the inertial load F _I does not work at a constant velocity.

Therefore, it is preferable to apply the total load F _{T obtained} by adding the road load F _L and the inertial load F _I acting on the bike to the bike type fitness device.

According to (c) of FIG. 1, an inertial load (F _I ) corresponding to the mass of a bike and the mass of a motorist in an actual bike is to be applied to a bike type fitness device.

A flywheel having a large inertia corresponding to the mass of the actual bike may be applied to impart rotational inertia (Lf), or a flywheel having a smaller inertia than the mass of the actual bike may be imparted to the rotational inertia (Lf).

However, as described above, the inertia of the flywheel alone cannot satisfy all of the inertia loads F _I corresponding to the masses of the exercisers having various weights, and also has a flywheel having small inertia to increase mobility of the bike type fitness equipment. In the bike-type fitness equipment to compensate for the inertial force due to the difference between the mass of the actual bike to increase the reality.

Therefore, the inertial load due to the physical inertia force of the flywheel or the rotating shaft included in the bike type fitness equipment is called fixed inertia (Lf), and is programmed in the control unit and the inertia force and the mover by the difference between the mass of the predetermined virtual bike mass and the flywheel. The inertial load due to the inertia force by the mass is divided into variable inertia (Lm), and the magnitude of the variable inertia (Lm) is calculated by the controller and provided to the braking unit to increase the realism.

Here, the fixed inertia may include the meaning of rotational inertia, which is an inertia force generated when an object having a mass rotates about a rotation axis.

That is, the inertial load (F _I ) corresponding to the virtual mass of the bike programmed in the controller, which can be referred to as the actual bike mass, and the weight of the exerciser, is fixed inertia (Lf) due to the inertia of the flywheel included in the bike type fitness equipment. It is preferable to make it equal to the sum of the variable inertia Lm by the braking part provided to prevent rotation of the flywheel or the rotating shaft.

In this case, the mass of the actual bike may be a mass corresponding to the type of the bike in the game when the exerciser performs a function such as a game, or may be a mass preset by the controller.

In order to increase the realism of the variable inertia Lm by the braking unit, it is preferable to set the rotational acceleration of the flywheel or the rotating shaft to be variable in response to the acceleration of the programmed bike including a predetermined algorithm in the controller.

At this time, as can be seen in Figure 1 (c), if the athlete continues to exercise at a constant rotational speed by stepping on the pedal in reality there is almost no inertial load (F _I ) due to the weight of the bike or the athlete, the present invention In Figure 1 (c) it is configured such that the sum of the fixed inertia (Lf) and the variable inertia (Lm) is "0", but this may provide a small amount of exercise to the exerciser.

Therefore, when the exerciser presses a selection button provided in a predetermined area of the bike type fitness equipment or when it is determined by the controller and needs a sense of reality such as a game, the variable inertia Lm is set to be variable in response to the acceleration of the flywheel or the rotating shaft. In order to increase the amount of exercise rather than the sense of reality, the exerciser may press the selection button provided in the predetermined area of the bike type fitness equipment or determine by the controller to set the variable inertia Lm independently of the acceleration of the flywheel or the rotating shaft.

At this time, the variable inertia (Lm) can be implemented in various ways, such as a mechanical braking method using a friction force, such as a flywheel or a rotating shaft and a magnetic braking method and an electrical braking method using a magnetic or the like.

In addition, since the inertial load (F _I ) corresponds to the inclination of the road in the case of the actual bike, so as to correspond to the inclination of the bike type fitness device by the inclination of the road or the inclined operating part in a function such as a game in the bike type fitness device of the present invention. It is desirable to.

Accordingly, the inertial load F _I is determined by a function (for example, the following formula) set in advance in the control unit of the bike type fitness apparatus according to the fixed inertia Lf, the variable inertia Lm, and the inclination θ. Calculated by

Since the fixed inertia Lf of the total load F _T shown in FIG. 1D is a part determined by the inertia of the flywheel included in the bike type fitness equipment, the road load F _L and the variable inertia Lm ) Is provided by the brake unit variably to enhance the realism.

Accordingly, the braking force provided by the brake unit in addition to the fixed inertia Lf determined by the inertia of the flywheel included in the bike type fitness device among the total loads F _T , that is, in the embodiment of FIG. 1. The road load F _L and the variable inertia Lm are referred to as rotational resistance, and the rotational resistance calculated by the controller is provided to the rotational shaft in a direction opposite to the rotational direction of the rotational shaft in the braking unit.

Figure 2 shows an exploded perspective view of a bike-type fitness equipment according to an embodiment of the present invention, Figures 3 and 4 shows a block diagram of the main configuration, the bike-type fitness equipment according to the present invention It includes a main body 2100 and a steering unit 2200, and may further include a seat 2300, and a bike support 2400.

The main body 2100 includes a pedal 5100 for supporting an athlete's foot and drives the athlete, and includes a rotation shaft 5200 for performing a rotational movement connected to the pedal 5100, and the same rotation center as the rotation shaft. And includes a flywheel to provide an inertial load.

In addition, in order to improve reality in a game or the like, when an athlete moves downhill in a game to accelerate the rotation shaft 5200 by the downhill inclination even when the athlete does not step on the pedal 5100 to rotate the rotation shaft 5200. A driving motor 4000, a motor driving unit 6000 driving the driving motor 4000, and a controller 7000 are installed, and the speed of a tachometer generally used to measure the rotational speed of the rotating shaft 5200. The sensing unit 3100 is included.

That is, in a function such as a game, the control unit 7000 calculates the speed of the bike in the game calculated by the programmed variables such as downhill slope, ground friction force, wind speed, and air resistance force as a target speed, and drives corresponding to the target speed. When the control signal for realizing the target rotational speed of the motor 4000 is transmitted to the motor driving unit 6000, the motor driving unit 6000 adjusts the rotational speed of the driving motor 4000 in response to the control signal.

A bike support 2400 is formed at a lower end of the main body 2100 to support the bike-type fitness device with respect to the ground.

At this time, between the bike support 2400 and the main body 2100 further includes an inclination operating unit 9000 to provide a slope to the body portion 2100, that is, by providing a slope to the seat for supporting the exerciser, such as a game It may also provide the feeling of driving on a slope.

The inclined actuator 9000 may use a fast response device such as an inclined actuator used for a treadmill or an air cylinder for industrial use.

The inclination θ provided by the tilt operation unit 9000 or the game inclination θ provided by a game programmed in the controller 7000 is transmitted from the control unit 7000, in particular, the speed processor 7100. Calculate the load F _I.

A seat 2300 is formed to allow an athlete to sit in a predetermined region on an upper end of the main body 2100.

In this case, a load sensing unit 3300 such as a piezoelectric element may be included in a predetermined area of the seat 2300 or a predetermined area of the main body 2100 to which the seat 2300 is coupled to calculate the weight of the exerciser.

The steering unit 2200 is coupled to the front of the main body 2100 and is preferably positioned at the chest height when the athlete sits on the seat 2300.

The steering unit 2200 includes a display device 2220 and a hand brake 2230.

The display device 2220 is used to provide information to an athlete, and may be a display device that is generally used, for example, a liquid crystal display (LCD), an organic light emitting diode (OLED), and the like.

If the exerciser uses the bike type fitness device only as a means of exercise, that is, in the conventional bike type fitness device, there is no need to brake the rotation of the flywheel, but only the variable inertia of the flywheel through a load setting switch provided in a predetermined area of the main body part. There was only a function of providing (Lm), but the function of the hand brake is required in performing a function that requires a sense of reality such as a game using the bike-type fitness apparatus according to the present invention.

That is, the function of accelerating the rotational speed of the flywheel or the rotating shaft 5200 by the drive motor in order to increase the reality of the process of descending the downhill road in the function of the game, as described above, wherein the exerciser has the function of the game, etc. The variable inertia Lm is variably provided to reduce the rotational speed of the flywheel or the rotating shaft 5200 by pulling the hand brake 2230 to prevent the speed of the bike from increasing.

The hand brake 2230 is preferably provided near the handle 2210 so that the hand brake 2230 can be held within a distance that a few fingers can hold while the exerciser grasps the handle 2210.

The hand brake 2230 may be mechanically connected to the brake unit 8000, electrically connected directly, or indirectly through the controller 7000.

When the braking unit 8000 provides a friction force to the flywheel or the rotating shaft 5200 to provide resistance to rotation, the braking force is handed by a wire connecting one side of the hand brake 2230 and one side of the braking unit 8000. It is transmitted from the brake to the brake unit.

In addition, when the hand brake 2230 is operated, a corresponding signal is transmitted to the controller 7000, and the controller may provide a rotational resistance force to the flywheel or the rotating shaft 5200 through the brake 8000 after calculating the braking force.

Accordingly, the shape of the hand brake 2230 and the configuration and coupling relationship between the hand brake 2230 and the brake 8000 may be variously modified.

The steering unit 2200, in particular, the handle 2210, has a structure capable of rotating in relation to the main body 2100 or a connection portion connecting the main body 2100 and the steering unit 2200.

That is, the athlete may rotate the steering unit 2200 or the handle 2210 to perform a function such as cornering or the like, in which a symbol corresponding to his or her bike appearing on the display device performs a game or the like. .

Accordingly, the steering portion 2200 or the handle 2210 and the connection portion connecting the body portion 2100 or the body portion 2100 and the steering portion 2200 is rotatably coupled, the steering angle for measuring the rotated angle Also includes a detector 3200.

The steering angle detector 3200 may use a resistance potentiometer or an encoder that is generally used.

In addition, it is desirable to provide resistance to steering in response to the speed of the bike, that is, the rotational speed of the flywheel or the rotary shaft, in order to further increase the realism.

In the case of a real bike, the speed is high and a lot of force is required to steer the steering wheel by inertia.

Accordingly, the bike-type fitness apparatus according to the present invention includes a steering resistor 2200 or a handle 2210 and a steering resistor between the main body 2100 or the main body 2100 and a connection part connecting the steering unit 2200. The control unit 7000 further includes a 2240, and the controller 7000 determines the rotational speed of the flywheel or the rotating shaft measured by the speed detector 3100 to vary the resistance of the steering resistor 2240.

The steering resistor 2240 may be in the form of a jig for gripping the rotating hinge shaft, or may be provided in various ways such as a drum shape.

Various configurations are possible according to the design and design of the main body 2100, the steering unit 2200, the seat 2300 and the bike support 2400.

At this time, the power is transmitted to the rotating shaft only when the rotational speed provided by the exerciser pedals more than the rotational speed of the rotating shaft in one direction of the rotating shaft, otherwise it is preferable not to transmit the power to the rotating shaft. , Between the pedal 5100 and the rotating shaft 5200 preferably includes a one-way power transmission device such as a ratchet sprocket.

Referring to Figure 4 will be described in more detail how to increase the realism using the main components of the bike-type fitness device according to the present invention.

The speed processor 7100 of the controller 7000 calculates various input variables and transmits a braking force corresponding to the total load F _T to the flywheel or the rotating shaft 5200 through the brake 8000.

That is, the speed processor 7100 receives the rotational speed Vr of the current rotating shaft 5200 through the speed sensor 3100 and receives the weight of the athlete through the load sensor 3300 of FIG. Calculate the total load (F _T ) as in d).

In addition, when the exerciser operates the hand brake 2230, a braking signal Rh corresponding to the braking force is transmitted to the speed processor 7100 of the controller 7000, and the speed processor 7100 corresponds to the brake signal Rh. Calculate the total load (F _T ) by adding as much braking force as possible.

In addition, the speed processor 7100 receives the rotational speed Vr of the current rotating shaft 5200 from the speed sensor 3100, calculates the speed of the bike, and calculates a steering angle from the steering angle sensor 3200. θs), if the current steering angle (θs) is greater than the steering angle allowed in response to the predetermined speed of the bike, it is determined that the bike is overturned due to excessive steering of the bicycle in a game or the like, and the flywheel Jeanne rotation axis (5200) The braking force for stopping the rotation of) is calculated to provide the total load F _T to the braking unit 8000.

The speed processor 7100 calculates the braking force, that is, the total load F _T , to reduce the rotational speed of the flywheel or the rotating shaft 5200 through the braking unit 8000 in order to increase the reality as described above.

In addition, the speed processor 7100 may perform a process of increasing the rotation of the flywheel or the rotating shaft 5200 to increase the realism.

That is, the speed processor 7100 may be implemented by another flow of the controller 7000, that is, by different algorithms, in order to implement acceleration by the weight of the bike and the exerciser in a situation where the downhill road is inclined down in a game or the like. Inclination, ground friction force, wind speed and air resistance in the game, etc. are received as input variables, the weight of the exerciser (m) through the load sensing unit 3300 receives the target rotational speed (V) of the flywheel or the rotating shaft (5200) ) Is calculated and transmitted to the motor driver 6000 as a control signal (first control signal), and the motor driver 6000 drives the driving motor 4000 in response to the control signal.

In addition, by receiving the speed of the current flywheel or the rotary shaft 5200 from the speed sensor 3100, the flywheel or the rotary shaft 5200 using the closed loop control using an error ΔV that is a difference value from the target rotational speed V. You can also control the speed of).

That is, the control unit 7000, in particular the speed processor 7100 is the weight (m) of the exerciser received from the load sensor 3300, the current speed of the rotation axis 5200 received from the speed sensor 3100, or hand brake The target rotational speed is calculated using the various input variables described above, such as the braking signal Rh received from 2230, and the difference between the target rotational speed and the current rotational axis 5200 is calculated to correspond to the difference. The first control signal is transmitted to the motor driver 6000, and the motor driver 6000 controls the power received from the power supply 2500 to increase or decrease the rotational speed of the drive motor 4000.

When the rotational speed of the drive motor 4000 is increased, the rotational speed of the rotational shaft 5200 connected to the drive motor 4000 is increased, and when the rotational speed of the drive motor 4000 is decreased, the rotational shaft connected to the drive motor 4000 is increased. The rotation speed of 5200 is reduced.

In this case, when the rotational speed of the driving motor 4000 decreases, when the braking unit 8000 is connected to the motor driving unit 6000 by using the electric braking unit described below, the braking force may be provided to the rotating shaft.

As the driving motor 4000, a DC motor or an AC motor, which is generally used, may be used. In one embodiment of the present invention, an experiment was performed using an AC motor.

The motor driver 6000 receives power from the power supply 2500 and adjusts the rotation speed of the driving motor 4000 by the first control signal transmitted from the controller 7000.

At this time, according to the type of the driving motor 4000, the motor driving unit 6000 may use an inverter or a converter described in Figs. 5 to 10 later, in an embodiment of the present invention for supplying AC to the AC motor An inverter was used.

In addition, in an embodiment of the present invention, the first control signal transmitted from the controller 7000 to the motor driver 6000 is a frequency modulation signal, and when the speed of the driving motor 4000 is increased, the first control signal with a higher frequency is used. It was configured to deliver.

The electrical braking unit 8000 provides the braking force to the driving motor 4000 when the flywheel or the rotating shaft 5200 rotates at a constant speed and decelerates, thereby decelerating the driving motor 4000.

At this time, when the driving motor 4000 is an AC motor, the electric braking unit 8000 may have various configurations such as power generation braking, regenerative braking, direct current braking, single phase braking, and reverse phase braking. In the power generation braking was configured as a resistor to exhaust the kinetic energy of the drive motor (4000) as thermal energy.

In addition, even when the driving motor 4000 is a DC motor, various configurations such as power generation braking, regenerative braking, and reverse phase braking are possible.

In this case, the motor driving unit 6000 may include a part of its own braking means to provide the first braking force to the driving motor 4000, and does not include the electric braking unit 8000, and exceeds the limit of the first braking force. A written trip occurs.

Accordingly, the second braking force is generated by the electrical braking unit 8000 to brake the driving motor 4000.

In the present invention, the motor driver 6000 providing only the first braking force which is a part of the target braking force is used, and the remaining braking force is solved by adding an electric braking unit 8000.

In this case, the second braking force of the electrical braking unit 8000 preferably corresponds to a braking force that cannot be braked from the target braking force to the first braking force.

The steering processing unit 7200 receives the current rotational axis or flywheel speed Vr from the speed sensing unit 3100, and adjusts the rotation angle θs of the current steering unit 2200 from the steering angle sensing unit 3200. In response to the transmission, the steering resistance force Fs is calculated in advance corresponding to the speed Vr of the rotating shaft or the flywheel and the rotation angle θs of the steering unit 2200, and then transferred to the steering resistance unit 2240.

Therefore, when the speed of the bike increases in reality, it is possible to increase the sense of reality by introducing to the bike-type fitness equipment it is difficult to increase the steering angle by the inertial force.

5 to 10 are diagrams for explaining various electric braking methods.

First, FIGS. 5 to 7 illustrate circuit diagrams for describing an electric braking method when an AC motor according to various embodiments of the present disclosure is used. A power supply unit 2500 and a driving motor for supplying AC power are provided. 4000, a motor driving unit 6000 for controlling the speed of the driving motor 4000, and an electric braking unit 8000 for providing a braking force to the driving motor 4000.

In the configuration in which the AC power is supplied from the power supply unit 2500 and the driving motor 4000 is the AC motor, the motor driving unit 6000 may use a general inverter.

The inverter is converted by the converting unit 6100 for rectifying the AC power flowing into the motor driving unit 6000, the DC smoothing unit 6200 for smoothing the voltage rectified by the converting unit 6100, and the DC smoothing unit 6200. By including the inverting unit 6300 for modulating the frequency of the smoothed DC power supply by the control unit 7000 to the drive motor 4000, the drive motor 4000 is rotated in accordance with the frequency.

If the first control signal corresponding to the deceleration is transmitted from the control unit 7000 to the motor driving unit 6000 when the driving motor 4000 rotates at a constant speed, the driving motor 4000 may have a difference between the present speed and the decelerating speed. Corresponding kinetic energy is introduced into the motor driving unit 6000 as regenerative energy. Accordingly, the voltage of the power supply unit 2500 and the regenerative energy are formed at both ends of the output terminal of the converting unit 6100 or at both ends of the output terminal of the DC smoothing unit 6200. As much as the sum of the voltages is generated.

In FIG. 5, the electric braking unit 8000 for discharging the regenerative energy to the outside of the motor driving unit 6000 is configured as an embodiment of exhausting heat energy using the braking resistor 8200.

The switching unit 8100 of the electrical braking unit 8000 has a braking force of the motor driving unit 6000 when the voltage across the output terminal of the converting unit 6100 or the output terminal of the DC smoothing unit 6200 is greater than or equal to a predetermined reference voltage. At least a part of the regenerative energy flowing from the driving motor 4000 to the motor driving unit 6000 is operated when the braking force exceeding the first braking force) is required, and one end of the switching unit 8100 and the converting unit ( It is emitted as thermal energy by a braking resistor 8200 composed of a resistor connected to one end of the 6100 or one end of the DC smoothing part 6200.

In addition, the switching unit 8100 may be configured to be operated by a second control signal transmitted from the control unit 7000.

Here, the braking resistor 8200 is the maximum braking force for providing the capacity of the motor driving unit 6000 and the load applied to the driving motor 4000, that is, the braking force (first braking force) and the target deceleration of the motor driving unit 6000. It is preferable to design corresponding to the target braking force, and in the present invention, the motor driver 6000 of 2.2 KW and the braking resistor 8200 using a resistance of 50 Ω are configured.

In FIG. 6 or FIG. 7, the regenerative energy is returned to the power supply unit 2500 through the electrical braking unit 8000 for discharging or consuming the regenerative energy to the outside of the motor driving unit 6000.

In FIG. 6, the electrical braking unit 8000 is configured to be connected to both ends of the output terminal of the converting unit 6100 or both ends of the DC smoothing unit 6200 in a similar configuration to the inverting unit 6300 of the motor driving unit 6000.

When the voltage applied to both ends of the output terminal of the converting unit 6100 or both ends of the output terminal of the DC smoothing unit 6200 increases due to the regenerative energy flowing from the driving motor 4000 to the motor driving unit 6000, that is, the motor driving unit When a braking force exceeding the braking force (first braking force) of 6000 is required, the switching unit 8100 of the electric braking unit 8000 is operated to transfer the regenerative energy to the power supply unit 2500.

At this time, by controlling the plurality of switching units 8100 provided in the electrical braking unit 8000, the phase of the AC power supply 2500 is synchronized with each other.

Therefore, the switching unit 8100 may be configured to operate by its own circuit configuration of the inverter 6000, and may also be configured to operate by a second control signal transmitted from the controller 7000.

FIG. 7 illustrates the regenerative braking as shown in FIG. 6, but unlike FIG. 6, the switching unit 8100 is added to the converting unit 6100 of the motor driving unit 6000 and used together as the electric braking unit 8000. will be.

The diode formed in the converting unit 6100 or the electrical braking unit 8000 serves to rectify the AC power of the power supply unit 2500 when supplying forward power from the power supply unit 2500 to the driving motor 4000. The unit 8100 serves to transfer the regenerative energy from the driving motor 4000 to the power supply unit 2500, and the standard of operation is the same as that of FIG. 6.

5 to 7, the circuit configuration according to the embodiment of the present invention will be described in more detail as follows.

The power supply unit 2500 used AC power for general home use.

The converting unit 6100 configures three pairs of diodes to rectify the AC power transmitted from the power supply unit 2500 and outputs the rectified power at the output terminal.

The DC smoothing unit 6200 is configured by connecting the capacitors in parallel to both ends of the output terminal of the converting unit 6100 and serves to smooth the rectified waveform.

The inverting unit 6300 is connected to the output terminal of the DC smoothing unit 6200, and comprises three pairs of IGBTs (insulated gate type bipolar transistors) in which a switching element such as a transistor and a diode are connected in parallel. A signal of a frequency modulator (not shown) that modulates the frequency in response to the first control signal input from the signal 7000 is input to the gate of the IGBT to supply power to the driving motor 4000 at a predetermined frequency. Adjust the speed.

In addition, in the case of DC braking, the braking force is applied by blocking a path from the power supply unit 2500 to the driving motor 4000 in the configuration of FIGS. 5 to 7 and flowing a DC current through the primary winding of the driving motor 4000. Can supply

In addition, in the case of single phase braking, two terminals of the primary winding may be connected to each other in the configuration of FIGS. 5 to 7, and a braking force may be supplied to the driving motor 4000 by applying a single phase exchange between the other terminals.

In addition, in the case of reverse phase braking, the braking force may be supplied to the driving motor 4000 by adjusting the phase through the operation of the IGBT of the inverting unit 6300 in the configuration of FIGS. 5 to 7.

In this case, the electrical braking unit 8000 discharges or consumes the regenerative energy from the motor driving unit 6000, and also supplies a braking force in the opposite direction to the forward rotational force of the driving motor 4000.

8 to 10 are circuit diagrams for explaining an electric braking method when using a DC motor according to various embodiments of the present invention, the power supply unit 2500 for supplying AC power, the rotational speed of the voltage difference Is largely composed of a driving motor 4000 having a different DC motor, a motor driving part 6000 for controlling the speed of the driving motor 4000, and an electric braking part 8000 for providing a braking force to the driving motor 4000. .

In the configuration in which the AC power is supplied from the power supply unit 2500 and the driving motor 4000 is the DC motor, the motor driving unit 6000 may use a general converter.

The converter includes a converting unit 6100 for rectifying the AC power flowing into the motor driving unit 6000, and the driving motor 4000 includes an AC field supply unit connected to the power source and is introduced from the motor driving unit 6000. The rotation speed is changed according to the magnitude of the average voltage of the pulse width modulated waves.

The power supply 2500 may use AC power used for general household use.

The converting unit 6100 configures three pairs of SCRs (silicon controlled rectifiers) to rectify the AC power transmitted from the power supply unit 2500 to output the rectified power at the output stage, and controls the speed of the driving motor 4000. In order to control the switching element composed of a transistor or the like formed in the output terminal to modulate the pulse width.

If the first control signal corresponding to the deceleration is transmitted from the control unit 7000 to the motor driving unit 6000 when the driving motor 4000 rotates at a constant speed, the driving motor 4000 may have a difference between the present speed and the decelerating speed. Corresponding kinetic energy is introduced into the motor driving unit 6000 as regenerative energy. Accordingly, the voltage of the power supply unit 2500 and the voltage of the regenerative energy are generated at both ends of the output terminal of the converting unit 6110. .

In FIG. 8, the regenerative energy is configured as an embodiment of exhausting the regenerative energy into thermal energy using the electric brake 8000, that is, the braking resistor 8200.

The switching unit 8100 of the electrical braking unit 8000 operates when the voltage across the output terminal of the converting unit 6110 is greater than or equal to a predetermined reference voltage, thereby regeneratively flowing into the motor driving unit 6000 from the driving motor 4000. Energy is exhausted as thermal energy by a braking resistor 8200 composed of a resistor connected to one end of the switching unit 8100 and one end of the converting unit 6110.

In addition, the switching unit 8100 may be configured to be operated by a second control signal transmitted from the control unit 7000.

In FIG. 9, the regenerative energy is returned to the power supply unit 2500 through the electrical braking unit 8000 for discharging or consuming the regenerative energy to the outside of the motor driver 6000.

In this case, the electrical braking unit 8000 is configured to be connected to both ends of the output terminal of the converting unit 6110 in a similar configuration to the inverting unit 6300 of the inverter described with reference to FIGS. 5 to 7.

When the voltage across the output terminal of the converting unit 6110 rises above a predetermined reference by the regenerative energy flowing from the driving motor 4000 to the motor driving unit 6000, the switching unit 8100 of the electrical braking unit 8000 is applied. Is operated to transfer the regenerative energy to the power supply 2500.

At this time, by controlling the plurality of switching units 8100 provided in the electrical braking unit 8000, the phase of the AC power supply 2500 is synchronized with each other.

Therefore, the switching unit 8100 may be configured to be operated by a circuit configuration of the converter itself, or may be configured to be operated by a second control signal transmitted from the controller 7000.

FIG. 10 illustrates an embodiment in which the electric brake 8000 is configured as reversed braking.

When accelerating the driving motor 4000, the SCR (silicon control rectifier) of the converting unit 6110 is turned on, and the SCR of the electrical braking unit 8000 is turned off, so that a voltage having a predetermined polarity is driven. Supplied to 4000.

When decelerating the speed of the driving motor 4000, the SCR of the converting unit 6110 is turned on and the SCR of the electric braking unit 8000 is turned on to have a polarity opposite to that of the acceleration. The braking force, which is a voltage, is supplied to the driving motor 4000.

As described above, the treadmill according to the exemplary embodiment of the present invention may achieve the target braking force by processing the regenerative energy generated by the driving motor 4000 through the electric braking unit.

Although the configuration according to some embodiments of the electric braking unit 8000, the motor driving unit 6000, and the driving motor 4000 according to the present invention has been described, various modifications will be possible.

Accordingly, the electrical braking unit 8000 according to the present invention refers to a regenerative energy processor that discharges or consumes the regenerative energy generated from the driving motor 4000 when the driving motor 4000 is braked. It may include a switching unit 8100 for switching to the second braking force.

1 is a graph for setting load of a bike type fitness apparatus according to an embodiment of the present invention.

Figure 2 is an exploded perspective view of the bike-type fitness equipment according to an embodiment of the present invention.

Figure 3 is a block diagram of the main configuration of the bike-type fitness equipment according to an embodiment of the present invention.

4 is a block diagram illustrating a function of a controller according to an embodiment of the present invention.

5 to 7 are circuit diagrams illustrating an electric braking method when using an AC motor according to various embodiments of the present disclosure.

8 to 10 are circuit diagrams illustrating an electric braking method when using a DC motor according to various embodiments of the present disclosure.

<Explanation of symbols for the main parts of the drawings>

2100: body portion, 2200: steering portion,

2210 handle, 2220 display,

2230: hand brake, 2240: steering resistor,

2300: seat, 2400: bike support,

3100: speed detection unit, 3200: steering angle detection unit,

3300: load detection unit, 4000: drive motor,

5100: pedal, 5200: rotary shaft,

6000: motor driving unit, 7000: control unit,

7100: speed processing unit, 7200: steering processing unit,

8000: braking part.

Claims (23)

A body part including a pedal driven by an exerciser and a rotation shaft connected to the pedal to perform a rotational motion; A steering part including a handle gripped by the exerciser and rotatably connected to the main body part; Bike-type fitness equipment comprising a; steering angle sensor for measuring the steering angle rotates the steering portion relative to the body portion. The method of claim 1, The bike-type fitness device further comprising a steering resistance unit that provides steering resistance that prevents relative rotational movement of the steering unit relative to the main body unit. The method of claim 2, And a controller configured to calculate the steering resistance force by using the steering angle received from the steering angle detecting unit and the rotational speed of the rotating shaft. The method of claim 3, wherein The rotational speed of the rotating shaft is a bike-type fitness equipment, characterized in that provided by the speed detecting unit. The method of claim 3, wherein The rotational speed of the rotating shaft is provided by the control unit bike type fitness equipment. The method of claim 2, And a controller configured to calculate the steering resistance force using a simulation input variable representing at least one of the steering angle received from the steering angle sensor and ground friction force, wind speed, and air resistance force. The method of claim 6, And a load sensing unit for measuring the weight of the exerciser, wherein the ground frictional force is calculated using a ground friction coefficient provided as a simulation input variable and the weight of the exerciser. The method of claim 2, And a load sensing unit for measuring the weight of the exerciser, and further comprising a control unit for calculating the steering resistance using the steering angle and the weight of the exerciser received from the steering angle detecting unit. The method of claim 1, And a controller configured to determine whether to roll over based on the rotational speed of the rotational shaft and the steering angle received from the steering angle detection unit. The method of claim 9, The rotational speed of the rotating shaft is a bike-type fitness equipment, characterized in that provided by the speed detecting unit. The method of claim 9, The rotational speed of the rotating shaft is provided by the control unit bike type fitness equipment. The method of claim 9, And a braking unit that provides a rotational resistance that prevents rotation of the rotating shaft, and the controller stops the rotation of the rotating shaft through the braking unit when it is determined that the rollover is overturned. Type fitness equipment. Measuring a relative steering angle of a steering part including a handle driven by the exerciser with respect to a body part including a pedal driven by an exerciser and a rotating shaft connected to the pedal to perform a rotational movement; And And providing a steering resistance force that hinders a relative rotational movement with respect to the main body of the steering unit by using the steering angle. The method of claim 13, And the steering resistance is calculated using the steering angle and the rotational speed of the rotating shaft. The method of claim 14, The rotational speed of the rotating shaft is detected by the speed detecting unit bike type fitness equipment control method, characterized in that provided. The method of claim 14, The rotational speed of the rotating shaft is calculated by a predetermined algorithm bike type fitness equipment control method, characterized in that provided. The method of claim 13, And the steering resistance is calculated using a simulation input variable representing at least one of the steering angle, ground friction, wind speed, and air resistance. The method of claim 17, And the ground friction force is calculated using the ground friction coefficient provided as a simulation input variable and the weight of the exerciser. The method of claim 13, And the steering resistance is calculated using the steering angle and the weight of the exerciser. The method of claim 13, And determining whether to roll over based on the rotational speed of the rotating shaft and the steering angle. The method of claim 20, The rotational speed of the rotating shaft is detected by the speed detecting unit bike type fitness equipment control method, characterized in that provided. The method of claim 20, The rotational speed of the rotating shaft is calculated by a predetermined algorithm bike type fitness equipment control method, characterized in that provided. The method of claim 20, And determining that the rollover is overturned, and stopping the rotation of the rotating shaft.

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