CN114768212B - Multi-degree-of-freedom bicycle and control method thereof - Google Patents

Abstract

The invention relates to a multi-degree-of-freedom bicycle and a control method thereof, wherein the scheme comprises a bicycle body, a front driving frame for driving a front wheel of the bicycle body to rotate and a rear supporting 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 at the top of the front driving frame, so that the front wheel can rotate on the front driving frame and move along with the rotation of the handle of the bicycle body; the front driving frame is in communication connection with the bicycle body so as to keep the rotating speeds of the front wheels and the rear wheels the same; the rear support frame is connected with the bicycle body through a universal joint, the center of the universal joint is superposed with the center line of the bicycle body, and the left side and the right side of the universal joint are respectively provided with an elastic regulator; each elastic adjuster is connected with the bicycle body and the rear supporting frame to provide an elastic buffering function, and each elastic adjuster can adjust the elastic stroke to change the elastic buffering force. This application has the effect that can realize bicycle body multi freedom and adjust, the true impression of riding of better simulation.

Description

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

Technical Field

The invention relates to fitness equipment, in particular to a bicycle with multiple degrees of freedom and a control method thereof.

Background

The spinning is basically similar to a common spinning, comprises a handle, a seat, a pedal and wheels, and a spinning body is firmly connected into a whole. In order to solve the problem of monotonous body-building process and provide body-building effect and game experience, the existing spinning is combined with VR technology, and one VR spinning heat is raised.

At present, most bicycles are fixed on the ground and cannot be adjusted in multiple degrees of freedom, namely, the functions of inclining and turning cannot be realized, and the real riding environment cannot be simulated, so that the bicycle cannot be applied to more exciting virtual reality motions such as mountain cross-country simulation and the like. For example, chinese patent CN201710431978.7 discloses a VR body-building device for simulating bicycle riding, which realizes simple riding simulation by matching a rear wheel with a synchronous belt and matching a front wheel with a turntable, and because the bicycle cannot be tilted, real turning operation cannot be performed, and more stimulated virtual reality motions such as mountain cross-country simulation cannot be simulated, so that the application range is limited.

Therefore, a multi-degree-of-freedom bicycle and a control method thereof capable of remarkably improving the degree of freedom of the bicycle and better simulating the real riding feeling are urgently needed.

Disclosure of Invention

The invention aims to solve the problems in the prior art and provides a multi-degree-of-freedom bicycle and a control method thereof.

In order to realize the purpose of the invention, the invention adopts the following technical scheme: the multi-degree-of-freedom bicycle comprises a bicycle body, a front driving frame and a rear supporting frame, wherein the front driving frame is used for driving front wheels of the bicycle body to rotate;

the rear wheel of the bicycle body is in a suspended state, and the front wheel of the bicycle body is arranged at the top of the front driving frame, so that the front wheel can rotate on the front driving frame and move along with the rotation of the handle of the bicycle body;

the front driving frame is in communication connection with the bicycle body so as to keep the rotating speeds of the front wheels and the rear wheels the same;

the rear support frame is connected with the bicycle body through a universal joint, the center of the universal joint is superposed with the center line of the bicycle body, and the left side and the right side of the universal joint are respectively provided with an elastic regulator;

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

The working principle and the beneficial effects are as follows: 1. compared with the prior art, the bicycle body is connected with the rear support frame through the universal joint, the two elastic regulators are used as the auxiliary devices, and the front wheels are matched to rotate on the front driving frame and move along with the handle, so that various angles of operation of the bicycle body, such as front and back tilting, left and right tilting, turning operation and the like, can be realized, the rotating speeds of the front wheels and the rear wheels are always kept consistent, and the real riding feeling can be approached through the cooperation of various modes, so that the bicycle body can be applied to more exciting virtual reality motions such as mountain cross-country simulation and the like;

2. compared with the prior art, the structure of this application is simpler, because the area of contact of front wheel in fact with preceding driving frame is very little, consequently can reduce the volume of preceding driving frame, can greatly reduce holistic cost, can support effectively by the bicycle body moreover, makes it can not fall down because of excessive violent movement, and the security performance is better.

Further, the rear support frame is connected with the bottom ball of each elastic adjuster. The elastic adjuster is arranged between the bicycle body and the rear support frame, so that more degrees of freedom can be achieved, and the elastic adjuster is prevented from being stuck and damaged.

Furthermore, a connecting frame is arranged on the bicycle body, a connecting plate is arranged at the bottom of the connecting frame, the bottom of the center of the connecting plate is connected with the center of the top of the rear support frame through a universal joint, and the elastic regulators are respectively arranged on two sides of the connecting plate in the width direction and penetrate through the connecting plate to be connected with the top ball of the rear support frame. This setting further discloses the connected mode of bicycle plate body and back support frame, can further reduce structure complexity, reduce cost, guarantees the security and the multi freedom of bicycle body simultaneously.

Furthermore, the link includes the connecting plate and bottom tube and the back vent be connected with this link, and the other end of bottom tube and back vent all is connected with the frame of bicycle body to make the rear wheel hang in the space of back vent. This setting, the back fork is unanimous with the back fork function of current bicycle, links firmly the connecting plate of back fork extension and extra increase in this application, increases a bottom tube connection frame bottom and connecting plate simultaneously, so under the condition that reduces structure complexity as far as, also can guarantee that bicycle body bulk strength is enough for the rear wheel can smooth and easy motion not hinder, guarantees simultaneously that the user can ride the motion safely on the bicycle body.

Furthermore, the front driving frame comprises a rack, a running platform arranged on the rack and a first driver used for driving the running platform to rotate so as to drive the front wheel to rotate, and the center line of the running platform is overlapped with the center line of the bicycle body. This setting further discloses the structure of front drive frame, and the race platform of its structure similar current treadmill, the size is far less than the race platform of treadmill, controls the rotational speed of running the platform through first driver, so as to obtain the rotational speed of rear wheel and can guarantee that the rotational speed of front wheel and rear wheel is unanimous, realize the degree of difficulty low. Simultaneously also mean that this application can replace front drive frame with the race platform of current treadmill, only need realize race platform rotational speed and rear wheel rotational speed in coordination can, realize that the degree of difficulty is low, and the range of application is wide.

Further, the front driving frame also comprises a second driver for driving the running platform to move up and down so as to realize the adjustment of the inclination angle of the bicycle body. This setting drives the treadmill up-and-down motion through the second driver (adopt the common elevation structure of treadmill technical field), can realize the altitude mixture control of bicycle body front wheel part like this, can simulate the function of going up the downhill path or other road conditions of height unevenness.

Furthermore, the rear support frame and the front driving frame are connected through the lengthening pipe, so that the rigid connection of the rear support frame and the front driving frame is realized. This setting, in order to further improve the stability and the security of bicycle body, through extension pipe with back support frame and front driving frame rigid connection, so can show the stability that improves the bicycle body, can not cause the condition emergence that excessively inclines to fall down.

Furthermore, a magnetic assembly is arranged on the bicycle body to realize the adjustment of the damping of the rear wheel. This setting comes the damping force of control to the rear wheel through the common magnetic force subassembly in this field to simulate multiple road conditions, be equivalent to a brake assembly, the difference lies in than traditional mechanical brake possess more accurate damping adjustment ability, can simulate real road conditions better.

Furthermore, a rotating speed sensor used for acquiring the rotating speed of the rear wheel is arranged on the bicycle body, and the rotating speed sensor is in communication connection with the front driving frame. This setting, through common speed sensor, like hall sensor etc. can conveniently acquire the rotational speed of rear wheel, so can with the communication of front driving frame realize front wheel and rear wheel rotational speed in coordination.

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

acquiring simulated scene information in real time and adjusting the elastic buffering force of the elastic regulator and the damping force of the magnetic component according to the scene information;

acquiring the rotating speed of a rear wheel in real time and adjusting the front driving frame according to the rotating speed of the rear wheel so as to keep the rotating speed of the front wheel consistent with the rotating speed of the rear wheel;

and acquiring the attitude information of the bicycle body in real time and adjusting the display content of the simulation scene according to the attitude information.

Through above-mentioned step, can simulate real scene better and adjust bicycle damping and elastic buffer, adjust reality content (show on VR or display screen) according to bicycle body gesture simultaneously, so can provide very real simulated environment, compare the mode that prior art unilateral let the user adapt to through VR, this application can two-way feedback, more true.

Drawings

FIG. 1 is a perspective view of the present invention;

FIG. 2 is a front view of the present invention;

FIG. 3 is a top view of the present invention;

FIG. 4 is a side view of the present invention;

FIG. 5 isbase:Sub>A cross-sectional view A-A of FIG. 4;

FIG. 6 is an enlarged view of A in FIG. 2;

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

In the figure, 1, a bicycle body; 2. a front drive frame; 3. a rear support frame; 4. a rotational speed sensor; 5. a magnetic assembly; 6. a universal joint; 7. an elastic adjuster; 8. lengthening a pipe; 9. a control end; 11. a front wheel; 12. a frame; 13. a rear wheel; 14. pedaling; 15. a stool; 16. a handle; 17. a connecting frame; 21. a frame; 22. running a platform; 23. a first driver; 24. a second driver; 171. a connecting plate; 172. a bottom tube; 173. a rear fork; 71. a drive motor; 72. a guide bar; 73. a spring.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments that can be derived by one of ordinary skill in the art from the embodiments given herein are intended to be within the scope of the present invention.

It will be understood by those skilled in the art that in the present disclosure, the terms "longitudinal," "lateral," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like are used in an orientation or positional relationship indicated in the drawings for ease of description and simplicity of description, and do not indicate or imply that the referenced device or element must have a particular orientation, be constructed and operated in a particular orientation, and thus, the above terms should not be construed as limiting the present invention.

Example 1

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

The bicycle body 1 has a structure basically consistent with that of the existing bicycle, and comprises a bicycle frame 12, front wheels 11, rear wheels 13, pedals 14, a seat 15, a handle 16 and the like, and is characterized in that sensors and structural improvements such as a connecting frame 17, a rotating speed sensor 4, a magnetic assembly 5 and the like are additionally arranged on the bicycle body 1.

Preferably, the rotation speed sensor 4 may be a common hall sensor, or may be another sensor capable of monitoring the rotation speed of the multiple rear wheels 13, so that the rotation speed of the rear wheels 13 can be accurately obtained and fed back to the front driving frame 2 or the control end 9 installed on the front driving frame 2, the rotation speed of the rear wheels 13 is controlled to be consistent with that of the front wheels 11 through the control end 9, the control end 9 can also obtain data of the sensor, and the data can be calculated according to the data of the sensor, for example, the data of the posture sensor is obtained to calculate the inclination state of the bicycle body 1, for example, the data of the human body condition sensor (such as a heart rate sensor, a blood oxygen sensor, etc.) is obtained to calculate the heart rate and the motion state of the user, etc.

Preferably, the principle of the magnetic assembly 5 is prior art, also can be magnetic powder controller, and is the same basically with the function of brake, and the damping size is adjusted to the frictional force of rear wheel 13 in main control, and the difference lies in that has more accurate damping adjustment ability than traditional mechanical brake, can simulate real road conditions better.

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 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 the rotation of the handle 16 of the bicycle body 1, wherein the frame 12 of the bicycle body 1 is welded with the connecting frame 17, a connecting plate 171 is disposed at the bottom of the connecting frame 17, the center bottom of the connecting plate 171 is connected with the center of the top of the rear support frame 3 through the universal joint 6, the elastic adjusters 7 are respectively disposed at two sides of the connecting plate 171 in the width direction and penetrate through the connecting plate 171 to be connected with the top ball of the rear support frame 3, the connecting frame 17 comprises the connecting plate 171, and a bottom tube 172 and a rear fork 173 connected with the connecting frame 17, and the other ends of the bottom tube 172 and the rear fork 173 are both 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.

Wherein, the rear fork 173 is unanimous with the rear fork 173 function of current bicycle, links firmly rear fork 173 extension and the extra connecting plate 171 that increases in this application, increases a bottom tube 172 simultaneously and connects frame 12 bottom and connecting plate 171, so under the condition that reduces structure complexity as far as possible, also can guarantee that bicycle body 1 bulk strength is enough for rear wheel 13 can smoothly move and not hinder, guarantees simultaneously that the user can ride the motion safely on bicycle body 1.

Specifically, the front driving frame 2 is in communication connection with the bicycle body 1 to keep the rotation speed of the front wheel 11 and the rear wheel 13 the same, wherein the front driving frame 2 comprises a frame 21, a running platform 22 arranged on the frame 21, a first driver 23 for driving the running platform 22 to rotate so as to drive the front wheel 11 to rotate, and a second driver 24 for driving the running platform 22 to move up and down, and the center line of the running platform 22 coincides with the center line of the bicycle body 1. The structure of the running platform is similar to that of a running platform 22 of an existing running machine, the size of the running platform is far smaller than that of the running platform 22 of the running machine, the rotating speed of the running platform 22 is controlled through a first driver 23, so that the rotating speeds of the front wheel 11 and the rear wheel 13 can be guaranteed to be consistent as long as the rotating speed of the rear wheel 13 is obtained, and the difficulty in implementation is low. Simultaneously also mean that this application can replace front drive frame 2 with the race platform 22 of current treadmill, only need realize race platform 22 rotational speed and rear wheel 13 rotational speed in coordination can, realize that the degree of difficulty is low, the range of application is wide. The second driver 24 (a lifting structure, such as a scissors support, which is common in the treadmill technical field) drives the running platform 22 to move up and down, so that the height of the front wheel 11 of the bicycle body 1 can be adjusted, and the function of climbing up and down slopes or other uneven road conditions can be simulated.

Preferably, the actual size of the front drive frame 2 is not so large as illustrated in the drawings, and in fact, because the contact area of the front wheels 11 with the front drive frame 2 is small, the volume of the front drive frame 2 can be made small, and thus lower cost can be achieved.

So, when normal operation, the user only need ride bicycle body 1 like usual by bike on, and cooperation VR or display screen carry out the motion, can carry out functions such as online match. Along with the user operation, if turn the operation, front wheel 11 can rotate and horizontal hunting on front drive frame 2, bicycle body 1 can incline, can realize the operation of the various angles of bicycle body 1, incline, control and incline, turn operation etc. around, and the rotational speed of front wheel 11 and rear wheel 13 remains unanimous throughout, and the multiple mode cooperation can be close real riding experience, so can be applied to virtual reality motion such as more amazing mountain cross-country simulation.

In this embodiment, the first driver 23 and the second driving rack are both motors commonly used in the art, and the transmission structure is also a conventional technical means, both of which are the prior art, and are not described herein again.

In this embodiment, the center of the universal joint 6 coincides with the center line of the bicycle body 1, and the left and right sides of the universal joint 6 are respectively provided with an elastic adjuster 7, wherein the universal joint 6 is a commercially available product, as shown in fig. 6, the elastic adjuster 7 includes a driving motor 71, a guide rod 72 and a spring 73, the driving motor 71 is mounted on a connecting plate 171 through a fixing plate, the top end of the guide rod 72 is drivingly connected with the driving motor 71, the bottom end of the guide rod passes through the connecting plate 171 to be connected with the rear support frame 3, and the spring 73 is mounted on the guide rod 72, so that as long as the driving motor 71 drives the guide rod 72 to adjust the length of the guide rod 72, the extension and retraction stroke of the spring 73 changes, thereby realizing the function of adjusting the magnitude of the elastic buffer force, and the driving motor 71 can also be controlled through the control end 9, which is convenient 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 driving frame 2 are rigidly connected (welded or screwed) by the extension tube 8, so that the stability of the bicycle body 1 can be significantly improved without causing an excessive tilting and falling.

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

In the case of the example 2, the following examples are given,

based on embodiment 1, as shown in fig. 7, the present application further provides a control method for a multiple degree of freedom bicycle, including the following steps:

acquiring simulated scene information in real time and adjusting the elastic buffering force of the elastic regulator 7 and the damping force of the magnetic assembly 5 according to the scene information;

wherein, simulation scene information can be acquireed in VR equipment or other game devices, for example acquire meadow scene, highway scene or mountain scene etc. and big wind scene in addition, so can adjust elastic buffering power size and damping size according to various road conditions, and elastic buffering power size can also carry out the adaptation by the user of the different weights of root moreover.

Acquiring the rotating speed of the rear wheel 13 in real time and adjusting the front driving frame according to the rotating speed of the rear wheel 13 so as to keep the rotating speed of the front wheel 11 consistent with the rotating speed of the rear wheel 13;

because the bicycle body 1 is to be stationary in place and the rear wheels 13 are suspended, the front wheels 11 must rotate along with the rear wheels 13 and swing along with the handlebars 16 for a more realistic riding.

And acquiring the attitude information of the bicycle body 1 in real time and adjusting the display content of the simulation scene according to the attitude information.

In this embodiment, if the bicycle body 1 is in a turn, the bicycle body is necessarily slightly inclined, the handle 16 is also rotated, and the display state of the bicycle body 1 in the simulated scene is adjusted in real time by acquiring the posture information (X-Y-Z three-axis motion data) of the bicycle body 1 at the moment, so that the display state is synchronized with the reality and is more vivid.

Through above-mentioned step, can simulate real scene better and adjust bicycle damping and elastic buffer, adjust reality content (show on VR or display screen) according to 1 gesture of bicycle body simultaneously, so can provide very real simulated environment, compare the mode that prior art unilateral let the user adapt to through VR, this application can two-way feedback, more true.

In this embodiment, not only through a simple display screen and VR, but also more weather simulation devices such as fans and speakers can be used to provide a more real environment, and the bicycle can be used not only for simulating real riding and performing various on-line events, but also as a common spinning bike for performing common body-building exercises.

The present invention is not described in detail in the prior art, and therefore, the present invention is not described in detail.

It is understood that the terms "a" and "an" should be interpreted as meaning that a number of one element or element is one in one embodiment, while a number of other elements is one in another embodiment, and the terms "a" and "an" should not be interpreted as limiting the number.

Although the terms of bicycle body 1, front driving frame 2, rear supporting frame 3, rotation 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, pedals 14, stool 15, handle 16, connecting frame 17, frame 21, running board 22, first driver 23, second driver 24, connecting plate 171, bottom tube 172, rear fork 173, driving motor 71, guide rod 72, spring 73, etc. are used more herein, the possibility of using other terms is not excluded. These terms are used merely to more conveniently describe and explain the nature of the present invention; they are to be construed as being without limitation to any additional limitations that may be imposed by the spirit of the present invention.

The present invention is not limited to the above preferred embodiments, and any other various products can be obtained by anyone in light of the present invention, but any changes in shape or structure thereof, which are similar or identical to the technical solution of the present invention, fall within the protection scope of the present invention.

Claims (9)

1. The multi-degree-of-freedom bicycle is characterized by comprising a bicycle body, a front driving frame and a rear supporting frame, wherein the front driving frame is used for driving a front wheel of the bicycle body to rotate;

the rear wheel of the bicycle body is in a suspended state, and the front wheel of the bicycle body is arranged at the top of the front driving frame, so that the front wheel can rotate on the front driving frame and move along with the rotation of the handle of the bicycle body;

the front driving frame is in communication connection with the bicycle body so as to keep the rotating speeds of the front wheels and the rear wheels the same;

the rear supporting frame is connected with the bicycle body through a universal joint, the center of the universal joint is superposed with the center line of the bicycle body, and the left side and the right side of the universal joint are respectively provided with an elastic regulator;

each elastic regulator is connected with the bicycle body and the rear supporting frame to provide an elastic buffering function, and each elastic regulator can regulate an elastic stroke to change the elastic buffering force;

each elastic regulator comprises a driving motor, a guide rod and a spring, the driving motor is connected with a connecting plate of the bicycle body through a fixing plate, the top end of the guide rod is in driving connection with the driving motor, the bottom end of the guide rod penetrates through the connecting plate to be connected with the rear support frame ball, and the spring is installed on the guide rod.

2. The multi-degree-of-freedom bicycle according to claim 1, wherein the bicycle body is provided with a connecting frame, a connecting plate is arranged at the bottom of the connecting frame, the bottom of the connecting plate is connected with the center of the top of the rear supporting frame through a universal joint, and the elastic adjusters are respectively arranged at two sides of the connecting plate in the width direction and penetrate through the connecting plate to be connected with the top ball of the rear supporting frame.

3. The multi-degree-of-freedom bicycle according to claim 2, wherein the connecting frame comprises a connecting plate, and a bottom tube and a rear fork connected with the connecting frame, and the other ends of the bottom tube and the rear fork are connected with a frame of the bicycle body, so that the rear wheel is suspended in a gap of the rear fork.

4. The multi-degree-of-freedom bicycle according to claim 1, wherein the front driving frame comprises a frame, a treadmill arranged on the frame, and a first driver for driving the treadmill to rotate so as to drive the front wheel to rotate, and a center line of the treadmill is coincident with a center line of the bicycle body.

5. The multi-degree-of-freedom bicycle of claim 4, wherein the front drive frame further comprises a second driver for driving the treadmill to move up and down to achieve the adjustment of the tilt angle of the bicycle body.

6. The multiple degree of freedom bicycle of claim 1, wherein the rear support frame and the front drive frame are connected by an extension tube to achieve a rigid connection of the rear support frame and the front drive frame.

7. The multi-degree-of-freedom bicycle according to any one of claims 1 to 6, wherein a magnetic assembly is arranged on the bicycle body to adjust the damping of the rear wheels.

8. The multi-degree-of-freedom bicycle according to any one of claims 1 to 6, wherein a rotation speed sensor for acquiring the rotation speed of the rear wheels is provided on the bicycle body, and the rotation speed sensor is in communication connection with the front drive frame.

9. The control method of a multiple degree of freedom bicycle according to any one of claims 1 to 8, characterized by comprising the steps of:

acquiring simulated scene information in real time and adjusting the elastic buffering force of the elastic regulator and the damping force of the magnetic component according to the scene information;

acquiring the rotating speed of a rear wheel in real time and adjusting the front driving frame according to the rotating speed of the rear wheel so as to keep the rotating speed of the front wheel consistent with the rotating speed of the rear wheel;

acquiring the posture information of the bicycle body in real time and adjusting the display content of the simulation scene according to the posture information.

Images