WO2023221722A1

WO2023221722A1 - Multi-degree-of-freedom bicycle and control method therefor

Info

Publication number: WO2023221722A1
Application number: PCT/CN2023/089234
Authority: WO
Inventors: 孙大军
Original assignee: 上海大动科技有限公司
Priority date: 2022-05-18
Filing date: 2023-04-19
Publication date: 2023-11-23
Also published as: CN114768212A; CN114768212B

Abstract

A multi-degree-of-freedom bicycle and a control method therefor. The solution comprises a bicycle body (1), a front driving frame (2) used for driving a front wheel (11) of the bicycle body (1) to rotate, and a back supporting frame (3) used for supporting the bicycle body (1); a back wheel (13) of the bicycle body (1) is in a suspended state, and the front wheel (11) of the bicycle body (1) is arranged at the top of the front driving frame (2), so that the front wheel (11) can rotate on the front driving frame (2) and move along with rotation of a handlebar (16) of the bicycle body (1); the front driving frame (2) is in communicational connection with the bicycle body (1) so as to keep the rotating speeds of the front wheel (11) and the back wheel (13) to be the same; the back supporting frame (3) is connected to the bicycle body (1) by means of a universal joint (6), the center of the universal joint (6) coincides with the center line of the bicycle body (1), and the left side and the right side of the universal joint (6) are each provided with an elastic adjuster (7); each elastic adjuster (7) is connected to the bicycle body (1) and the back supporting frame (3) so as to provide an elastic buffer function, and each elastic adjuster (6) can adjust the elastic stroke to change the magnitude of elastic buffer force. The solution has the effects of implementing multi-degree-of-freedom adjustment of the bicycle body and better simulating real riding experience.

Description

Multi-degree-of-freedom bicycle and its control method

Technical field

The invention relates to fitness equipment, in particular to a multi-degree-of-freedom bicycle and a control method thereof.

Background technique

A spinning bicycle is basically similar to an ordinary bicycle, including handles, seats, pedals and wheels. The body is firmly connected as a whole. Unlike ordinary bicycles, its structure can be greatly adjusted to make riding more comfortable. People feel more comfortable, so they are very popular among fitness people. In order to solve the problem of tedious fitness process and provide fitness effect and game experience, the combination of existing spinning bikes and VR technology has set off a wave of VR spinning craze.

At present, the vast majority of bicycles are fixed on the ground and cannot be adjusted with multiple degrees of freedom, that is, they cannot achieve tilting and turning functions, and cannot truly simulate the real-life cycling environment. Therefore, they cannot be used in more exciting virtual reality such as mountain cross-country simulations. sports. For example, Chinese patent CN201710431978.7 discloses a VR fitness device that simulates cycling. The rear wheel cooperates with the synchronous belt, and the front wheel cooperates with the rotating table to achieve simple cycling simulation. Because the bicycle cannot tilt, it cannot It cannot simulate more exciting virtual reality sports such as mountain cross-country simulations when performing real turning operations, and its application scope is limited.

Therefore, there is an urgent need for a multi-degree-of-freedom bicycle and its control method that can significantly improve the degree of freedom of the bicycle and better simulate the real riding experience.

Contents of the invention

The purpose of the present invention is to provide a multi-degree-of-freedom bicycle and a control method thereof in view of the above-mentioned problems existing in the prior art.

In order to achieve the above-mentioned object of the invention, the present invention adopts the following technical solution: a multi-degree-of-freedom bicycle includes a bicycle body, a front drive frame for driving the front wheel of the bicycle body to rotate, and a rear support frame for supporting the bicycle body;

The rear wheel of the bicycle body is in a suspended state, and the front wheel of the bicycle body is located on the top of the front drive frame, so that the front wheel can rotate on the front drive frame and move with the rotation of the handle of the bicycle body;

The front drive frame is communicatively connected with the bicycle body to keep the front and rear wheel speeds at the same speed;

The rear support frame and the bicycle body are connected through a universal joint, the center of the universal joint coincides with the center line of the bicycle body, and an elastic adjuster is provided on the left and right sides of the universal joint;

Each elastic adjuster is connected to the bicycle body and the rear support frame to provide an elastic buffering function, and each elastic adjuster can adjust the elastic stroke to change the elastic buffering force.

Working principle and beneficial effects: 1. Compared with the existing technology, the bicycle body of the present application is connected to the rear support frame through a universal joint, supplemented by two elastic adjusters, and the front wheel can rotate on the front drive frame. and handlebar movements, so that the bicycle body can be operated at various angles, such as forward and backward tilt, left and right tilt, turning operations, etc., and the rotation speed of the front wheel and rear wheel is always consistent, and the combination of multiple methods can approach the real riding experience. , which can be applied to more exciting virtual reality sports such as mountain cross-country simulation;

2. Compared with the existing technology, the structure of this application is simpler. Since the contact area between the front wheel and the front drive frame is very small, the volume of the front drive frame can be reduced, which can greatly reduce the overall cost. Moreover, the bicycle body can be effectively supported to prevent it from falling due to excessive exercise, and the safety performance is better.

Further, the rear support frame is connected to the bottom ball of each elastic adjuster. This setting allows for more freedom between the bicycle body and the rear support frame, and also prevents the elastic adjuster from getting stuck and damaged.

Further, a connecting frame is provided on the bicycle body, and a connecting plate is provided at the bottom of the connecting frame. The center bottom of the connecting plate is connected to the top center of the rear support frame through a universal joint, and elastic adjusters are respectively located on both sides of the connecting plate in the width direction. Pass through this connecting plate and connect it to the top ball of the rear support frame. This arrangement further discloses the connection method between the bicycle body and the rear support frame, which can further reduce the structural complexity and cost, and at the same time This ensures the safety and multiple degrees of freedom of the bicycle body.

Further, the connecting frame includes a connecting plate and a bottom tube and a rear fork connected to the connecting frame. The other ends of the bottom tube and the rear fork are connected to the frame of the bicycle body so that the rear wheel is suspended in the gap of the rear fork. With this arrangement, the rear fork has the same function as the rear fork of an existing bicycle. In this application, the rear fork is extended and connected to an additional connecting plate, and a bottom tube is added to connect the bottom of the frame and the connecting plate, so as to reduce the structure as much as possible. Even in complex situations, it can also ensure that the overall strength of the bicycle body is sufficient, so that the rear wheel can move smoothly without hindrance, and at the same time ensure that users can safely ride on the bicycle body.

Further, the front drive frame includes a frame, a treadmill arranged on the frame, and a first driver for driving the treadmill to rotate the front wheel. The centerline of the treadmill coincides with the centerline of the bicycle body. This arrangement further discloses the structure of the front drive frame. Its structure is similar to the treadmill of an existing treadmill, and is much smaller than the treadmill of a treadmill. The rotation speed of the treadmill is controlled through the first drive, so that as long as the rotation speed of the rear wheel is obtained The rotation speed can ensure that the rotation speed of the front wheel and the rear wheel is consistent, which is easy to achieve. At the same time, it also means that this application can use the treadmill of the existing treadmill to replace the front drive frame, and only needs to realize the synergy between the treadmill speed and the rear wheel speed. The implementation difficulty is low and the application range is wide.

Further, the front drive frame also includes a second drive for driving the running platform to move up and down, so as to adjust the inclination angle of the bicycle body. This setting drives the treadmill up and down through the second drive (using a common lifting structure in the field of treadmill technology), so that the height of the front wheel of the bicycle can be adjusted, simulating uphill and downhill functions or other uneven road conditions. .

Further, the rear support frame and the front drive frame are connected through an extension tube to achieve a rigid connection between the rear support frame and the front drive frame. This setting, in order to further improve the stability and safety of the bicycle body, rigidly connects the rear support frame and the front drive frame through an extension tube, which can significantly improve the stability of the bicycle body and prevent excessive tilting and falling.

Furthermore, a magnetic component is provided on the bicycle body to adjust the damping of the rear wheel. this Settings, common magnetic components in this field are used to control the damping force on the rear wheels, thereby simulating a variety of road conditions. It is equivalent to a brake component. The difference is that it has more precise damping adjustment capabilities than traditional mechanical brakes, which can better simulate real life. road conditions.

Further, the bicycle body is provided with a rotational speed sensor for obtaining the rotational speed of the rear wheel, and the rotational speed sensor is communicatively connected with the front drive frame. This setting can easily obtain the rear wheel speed through common speed sensors, such as Hall sensors, so that it can communicate with the front drive frame to achieve front and rear wheel speed coordination.

The control method of a multi-degree-of-freedom bicycle includes the following steps:

Obtain simulation scene information in real time and adjust the elastic buffering force of the elastic regulator and the damping of the magnetic component based on the scene information;

Get the rear wheel speed in real time and adjust the front drive frame according to the rear wheel speed to keep the front wheel speed consistent with the rear wheel speed;

Obtain the attitude information of the bicycle body in real time and adjust the display content of the simulation scene based on the attitude information.

Through the above steps, the real scene can be better simulated to adjust the bicycle damping and elastic buffering, and at the same time adjust the real content (displayed on VR or display) according to the posture of the bicycle body. This can provide an extremely realistic simulation environment. There are technologies that allow users to adapt unilaterally through VR. This application can provide two-way feedback, which is more realistic.

Description of the drawings

Figure 1 is a perspective view of the present invention;

Figure 2 is a front view of the present invention;

Figure 3 is a top view of the present invention;

Figure 4 is a side view of the present invention;

Figure 5 is a cross-sectional view along line A-A of Figure 4;

Figure 6 is an enlarged view of A in Figure 2;

Figure 7 is a flow chart of the method of the present invention.

In the picture, 1. Bicycle body; 2. Front drive frame; 3. Rear support frame; 4. Speed sensor; 5. Magnetic component; 6. Universal joint; 7. Elastic adjuster; 8. Extension tube; 9. Control end; 11. Front wheel; 12. Frame; 13. Rear wheel; 14. Pedal; 15. Seat; 16. Handle; 17. Connecting frame; 21. Frame; 22. Treadmill; 23. First Driver; 24, second driver; 171, connecting plate; 172, bottom tube; 173, rear fork; 71, drive motor; 72, guide rod; 73, spring.

Detailed ways

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only some of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art fall within the scope of protection of the present invention.

Those skilled in the art will understand that in the disclosure of the present invention, the terms "longitudinal", "transverse", "upper", "lower", "front", "rear", "left", "right", " The orientations or positional relationships indicated by "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. are based on the orientations or positional relationships shown in the drawings, and are only for the convenience of describing the present invention. and simplified description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operate in a specific orientation, and therefore the above terms should not be construed as limitations of the present invention.

Example 1

As shown in Figures 1-6, this multi-degree-of-freedom bicycle includes a bicycle body 1, a front drive frame 2 for driving the front wheel 11 of the bicycle body 1 to rotate, and a rear support frame 3 for supporting the bicycle body 1.

Among them, the structure of the bicycle body 1 is basically the same as the current bicycle structure, including the frame 12, the front wheel 11, the rear wheel 13, the pedals 14, the seat 15 and the handle 16, etc. The difference is that the bicycle body 1 of the present application also has Additional sensors and structural improvements such as a connecting frame 17, a rotation speed sensor 4, and a magnetic component 5 are added.

Preferably, the rotation speed sensor 4 can be a common Hall sensor, or other sensors that can monitor the rotation speed of multiple rear wheels 13, so that the rotation speed of the rear wheels 13 can be accurately obtained and fed back to the front wheels. The drive frame 2 or the control end 9 installed on the front drive frame 2 controls the rear wheel 13 and the front wheel 11 to rotate at the same speed through the control end 9. The control end 9 can also obtain sensor data and calculate based on the sensor data. , such as obtaining attitude sensors to calculate the tilt state of the bicycle body 1, such as obtaining data from human body condition sensors (such as heart rate sensors, blood oxygen sensors, etc.) to calculate the user's heart rate and motion status, etc.

Preferably, the principle of the magnetic component 5 is based on existing technology, or it can be a magnetic powder controller, which has basically the same function as the brake. It mainly controls the friction force on the rear wheel 13 to adjust the damping size. The difference is that it has a more precise function than the traditional mechanical brake. Damping adjustment capability can better simulate real road conditions.

Specifically, the rear wheel 13 of the bicycle body 1 is in a suspended state, and the front wheel 11 of the bicycle body 1 is disposed on the top of the front drive frame 2 so that the front wheel 11 can rotate on the front drive frame 2 and follow the bicycle body 1 The handle 16 rotates and moves. Among them, the frame 12 of the bicycle body 1 is welded with a connecting frame 17. The connecting frame 17 is provided with a connecting plate 171 at the bottom. The center bottom of the connecting plate 171 is connected to the top center of the rear support frame 3 through the universal joint 6. , the elastic adjusters 7 are respectively provided on both sides of the connecting plate 171 in the width direction and pass through the connecting plate 171 to be ball-connected to the top of the rear support frame 3. The connecting frame 17 includes a connecting plate 171 and a bottom tube 172 connected to the connecting frame 17. And the rear fork 173, the bottom tube 172 and the other end of the rear fork 173 are all connected with the frame 12 of the bicycle body 1, so that the rear wheel 13 is suspended in the gap of the rear fork 173.

Among them, the rear fork 173 has the same function as the rear fork 173 of the existing bicycle. In this application, the rear fork 173 is extended and fixedly connected to an additional connecting plate 171, and a bottom tube 172 is added to connect the bottom of the frame 12 and the connecting plate 171. In this way, while reducing the structural complexity as much as possible, it can also ensure that the overall strength of the bicycle body 1 is sufficient, so that the rear wheel 13 can move smoothly without hindrance, and at the same time ensure that the user can safely ride on the bicycle body 1 .

Specifically, the front drive frame 2 is communicatively connected with the bicycle body 1 to keep the front wheel 11 and the rear wheel 13 rotating at the same speed. The front drive frame 2 includes a frame 21, a running platform 22 provided on the frame 21, and The first driver 23 for driving the running platform 22 to rotate the front wheel 11 and the first driver 23 for driving the running platform 22 When the second drive 24 moves down, the center line of the running platform 22 coincides with the center line of the bicycle body 1 . Its structure is similar to the treadmill 22 of the existing treadmill, and the size is much smaller than the treadmill 22. The first drive 23 is used to control the rotation speed of the treadmill 22, so that as long as the rotation speed of the rear wheel 13 is obtained, the front wheel 11 can be ensured. It is consistent with the rotation speed of the rear wheel 13 and is easy to implement. At the same time, it also means that this application can use the treadmill 22 of the existing treadmill to replace the front drive frame 2, and only needs to realize the synergy between the rotation speed of the treadmill 22 and the rotation speed of the rear wheel 13. The implementation difficulty is low and the application range is wide. The treadmill 22 is driven to move up and down through the second driver 24 (using a common lifting structure in the technical field of treadmills, such as scissor supports), so that the height adjustment of the front wheel 11 of the bicycle body 1 can be realized, and the uphill and downhill functions can be simulated or Other uneven road conditions.

Preferably, the actual size of the front drive frame 2 is not as large as shown in the drawings. In fact, because the contact area between the front wheel 11 and the front drive frame 2 is very small, the volume of the front drive frame 2 can be very small, so Lower costs can be achieved.

In this way, during normal operation, the user only needs to ride on the bicycle body 1 as usual, and cooperate with the VR or display screen to exercise, and can perform online competitions and other functions. With the user's operation, such as turning operation, the front wheel 11 can rotate and swing horizontally on the front drive frame 2, and the bicycle body 1 can tilt, enabling various angle operations of the bicycle body 1, such as forward and backward tilt, left and right tilt , turning operations, etc., and the rotation speeds of the front wheel 11 and the rear wheel 13 are always consistent. The combination of multiple methods can approach the real riding experience, so it can be applied to more exciting virtual reality sports such as mountain cross-country simulation.

In this embodiment, the first driver 23 and the second drive frame are common motors in the field, and the transmission structure is also a conventional technical means, which is existing technology, and will not be described again here.

In this embodiment, the center of the universal joint 6 coincides with the center line of the bicycle body 1 and an elastic adjuster 7 is provided on the left and right sides of the universal joint 6. The universal joint 6 is a commercially available elastic adjuster. Product, please refer to Figure 6, and the elastic adjuster 7 includes a drive motor 71, a guide rod 72 and a spring 73. The drive motor 71 is installed on the connecting plate 171 through a fixed plate, and the top of the guide rod 72 is drivingly connected to the drive motor 71 , the bottom end passes through the connecting plate 171 and is ball-connected with the rear support frame 3, and the spring 73 is installed on the guide rod 72, so as long as the drive motor 71 drives the guide rod 72 to adjust the length of the guide rod 72, the telescopic stroke of the spring 73 will occur changes, thereby realizing the function of adjusting the size of the elastic buffering force, and the driving motor 71 can also be controlled through the control terminal 9, which is easy to operate.

Preferably, in order to further improve the stability and safety of the bicycle body 1, the rear support frame 3 and the front drive frame 2 are rigidly connected (welded or screwed) through the extension tube 8, which can significantly improve the stability of the bicycle body 1. It will not cause excessive tilt and fall.

The communication method in this embodiment is not limited to wired communication and wireless communication, such as Bluetooth communication or WIFI communication.

Example 2,

Based on Embodiment 1, as shown in Figure 7, this application also proposes a control method for a multi-degree-of-freedom bicycle, which includes the following steps:

Obtain simulation scene information in real time and adjust the elastic buffering force of the elastic adjuster 7 and the damping of the magnetic component 5 based on the scene information;

Among them, the simulation scene information can be obtained in VR equipment or other game equipment, such as grass scenes, road scenes, mountain scenes, etc., as well as strong wind scenes, so that the elastic buffering force and damping can be adjusted according to various road conditions. Moreover, the elastic buffering force can be adapted to users with different body weights.

Obtain the rotational speed of the rear wheel 13 in real time and adjust the front drive frame according to the rotational speed of the rear wheel 13 to keep the rotational speed of the front wheel 11 consistent with the rotational speed of the rear wheel 13;

Among them, since the bicycle body 1 needs to remain stationary and the rear wheel 13 is in a suspended state, in order to ride more realistically, the front wheel 11 must rotate with the rear wheel 13 and swing with the handle 16 .

Obtain the attitude information of the bicycle body 1 in real time and adjust the display content of the simulation scene based on the attitude information.

In this embodiment, when the bicycle body 1 is turning, the body must be slightly tilted, and the handle 16 is also rotated. The posture information (X-Y-Z three-axis motion data) of the bicycle body 1 at this time is obtained to adjust the bicycle in the simulation scene in real time. The display status of body 1 is thus synchronized with reality and more realistic.

Through the above steps, the real scene can be better simulated to adjust the bicycle damping and elastic buffering, and at the same time adjust the real content (displayed on VR or display) according to the posture of the bicycle body 1. This can provide an extremely realistic simulation environment. Compared with The existing technology uses VR to allow users to adapt unilaterally. This application can provide two-way feedback, which is more realistic.

In this embodiment, it is not limited to a simple display screen and VR, but can also use other weather-simulating equipment such as fans, speakers, etc. to provide a more realistic environment. It can not only be used to simulate real cycling, but also carry out various activities. It can also be used as an ordinary spinning bike for ordinary fitness exercises.

The parts not described in detail in the present invention are prior art, so the present invention does not describe them in detail.

It should be understood that the term "a" should be understood as "at least one" or "one or more", that is, in one embodiment, the number of an element may be one, while in other embodiments, the number of the element may be The number may be multiple, and the term "one" shall not be understood as a limitation on the number.

Although this article uses a lot of bicycle body 1, front drive frame 2, rear support frame 3, speed sensor 4, magnetic assembly 5, universal joint 6, elastic adjuster 7, extension tube 8, control end 9, front wheel 11 , frame 12, rear wheel 13, pedal 14, seat 15, handle 16, connecting frame 17, frame 21, running table 22, first driver 23, second driver 24, connecting plate 171, bottom tube 172, Terms such as rear fork 173, drive motor 71, guide rod 72, spring 73, etc. do not exclude the possibility of using other terms. These terms are used only to more conveniently describe and explain the essence of the present invention; interpreting them as any additional limitations is contrary to the spirit of the present invention.

The present invention is not limited to the above-mentioned best embodiments. Anyone can produce various other forms of products under the inspiration of the present invention. However, regardless of any changes in its shape or structure, any product with the same characteristics as the present invention can be made. The same or similar technical solutions fall within the protection scope of the present invention.

Claims

A multi-degree-of-freedom bicycle is characterized in that it includes a bicycle body, a front drive frame for driving the front wheel of the bicycle body to rotate, and a rear support frame for supporting the bicycle body;

The rear wheel of the bicycle body is in a suspended state, and the front wheel of the bicycle body is arranged on the top of the front drive frame, so that the front wheel can rotate on the front drive frame and follow the movement of the bicycle body. The handle moves by turning it;

The front drive frame is communicatively connected with the bicycle body to keep the front wheel and the rear wheel rotating at the same speed;

The rear support frame and the bicycle body are connected through a universal joint, the center of the universal joint coincides with the center line of the bicycle body, and an elastic adjuster is provided on the left and right sides of the universal joint;

Each elastic adjuster connects the bicycle body and the rear support frame to provide an elastic buffering function, and each elastic adjuster can adjust the elastic stroke to change the elastic buffering force;

Each elastic adjuster includes a drive motor, a guide rod and a spring. The drive motor is connected to the connecting plate of the bicycle body through a fixed plate. The top end of the guide rod is drivingly connected to the drive motor, and the bottom end passes through The connecting plate is ball-connected with the rear support frame, and the spring is installed on the guide rod.
The multi-degree-of-freedom bicycle according to claim 1, characterized in that a connecting frame is provided on the bicycle body, a connecting plate is provided at the bottom of the connecting frame, and the center bottom of the connecting plate is connected to the rear support through a universal joint. The top of the frame is centrally connected, and the elastic adjusters are respectively provided on both sides of the connecting plate in the width direction and pass through the connecting plate to be ball-connected to the top of the rear support frame.
The multi-degree-of-freedom bicycle according to claim 2, wherein the connecting frame includes a connecting plate and a bottom tube and a rear fork connected to the connecting frame, and the other ends of the bottom tube and the rear fork are connected to The frame of the bicycle body is connected so that the rear wheel is suspended in the gap of the rear fork.
The multi-degree-of-freedom bicycle according to claim 1, wherein the front drive frame includes a frame, a treadmill arranged on the frame, and a treadmill for driving the treadmill to rotate the front wheel. First Drive, the center line of the running platform coincides with the center line of the bicycle body.
The multi-degree-of-freedom bicycle according to claim 4, wherein the front drive frame further includes a second driver for driving the running platform to move up and down to adjust the inclination angle of the bicycle body.
The multi-degree-of-freedom bicycle according to claim 1, wherein the rear support frame and the front drive frame are connected through an extension tube to achieve a rigid connection between the rear support frame and the front drive frame. .
The multi-degree-of-freedom bicycle according to any one of claims 1 to 6, characterized in that a magnetic component is provided on the bicycle body to adjust the damping of the rear wheel.
The multi-degree-of-freedom bicycle according to any one of claims 1 to 6, characterized in that the bicycle body is provided with a rotational speed sensor for obtaining the rotational speed of the rear wheel, and the rotational speed sensor is communicatively connected with the front drive frame. .
The control method for a multi-degree-of-freedom bicycle according to any one of claims 1-8, characterized in that it includes the following steps:

Obtain simulation scene information in real time and adjust the elastic buffering force of the elastic regulator and the damping of the magnetic component based on the scene information;

Get the rear wheel speed in real time and adjust the front drive frame according to the rear wheel speed to keep the front wheel speed consistent with the rear wheel speed;

Obtain the attitude information of the bicycle body in real time and adjust the display content of the simulation scene based on the attitude information.