CN105045379B - A kind of data processing method of riding of virtual body-building bicycle of riding - Google Patents
A kind of data processing method of riding of virtual body-building bicycle of riding Download PDFInfo
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- CN105045379B CN105045379B CN201510228920.3A CN201510228920A CN105045379B CN 105045379 B CN105045379 B CN 105045379B CN 201510228920 A CN201510228920 A CN 201510228920A CN 105045379 B CN105045379 B CN 105045379B
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Abstract
The invention discloses a kind of data processing method of riding of virtual body-building bicycle of riding.The body builder that rides rides on force feedback bicycle, drives virtual cycling, while to riding speed, direction and resistance calculate simultaneously real-time update；Riding speed is calculated by foot-operated frequency, the position of virtual bicycle is updated；Real-time direction of travel information is calculated by force feedback bicycle headstock direction information, direct of travel is updated；By the grade information of virtual bicycle real time position, riding resistance value is calculated with reference to scene windage information, real-time Transmission is updated to force feedback bicycle as bicycle riding resistance.The method of the present invention realizes the transmission and processing of velocity information, directional information and Resistance Pressure information between force feedback bicycle and virtual scene of riding, available for different virtual scenes of riding, solve the problems, such as that existing body-building bicycle and virtual scene of riding the shortage feedback that each works independently are interactive, really ride under scene of arbitrarily virtually riding exercise experience so as to bring the body builder that rides.
Description
Technical field
The present invention relates to a kind of bicycle data processing method, more particularly to a kind of data of riding of virtual body-building bicycle of riding
Processing method.
Background technology
Current virtual reality (Virtual Reality：VR) technology is a kind of all round computer graph technology, multimedia skill
Art, sensor technology, human-computer interaction technology, network technology, stereo display technique and emulation technology etc. it is a variety of science and technology and
The new technology of the computer realm to grow up.Virtual reality technology can be that user provides vision, the sense of hearing, tactile etc. respectively at the same time
Kind directly perceived and natural real-time perception interactive experience, at the same time, the body builder that rides can also actively, observe without restriction
Things in three dimensions.
Virtual body-building of riding is being risen as the important application of virtual reality technology.Virtual body-building of riding passes through commonly
Ride body-building bicycle and virtual reality technology is combined, avoid the indoor uninteresting and outdoor danger ridden ridden, energy
It is enough ensure to ride it is recreational on the basis of the body builder that helps to ride achieve the purpose that body-building plasticity.Existing virtual body-building of riding
There are the problem of body-building bicycle and insufficient virtual scene feedback interaction of riding, riding movement of the body builder on body-building bicycle can not
Show in the scene in real time, the riding resistance information in scene also is difficult to accurately calculate and feed back to the body builder that rides, this just leads
Caused to ride the feeling of immersion deficiency of body builder, and user experience is very poor.
The content of the invention
For existing virtual problem present in body-building of riding, it is an object of the invention to provide a kind of virtual body-building of riding
The data processing method of riding of bicycle, available for the velocity information of body-building bicycle in body-building of virtually riding and scene of virtually riding,
The accurate calculating of directional information and Resistance Pressure information, coordinate force feedback bicycle and 3D virtual implementing helmets use, and can allow body-building of riding
Person achievees the purpose that body-building is moulding while ensureing to ride body-building feeling of immersion.
The method of the present invention use technical solution be：
The body builder that rides rides on force feedback bicycle, drives virtual bicycle to be moved in virtual scene of riding, wherein right
Riding speed, ride direction and riding resistance calculate and real-time update；
Riding resistance：By the grade information of virtual bicycle real time position in the scene, with reference to the windage information in scene into
Resistance Value is calculated in row, and real-time Transmission carries out real-time update to force feedback bicycle as bicycle riding resistance；
Riding speed：The speed of riding of virtual bicycle is calculated in the frequency ridden by body builder's pedal force feedback bicycle of riding
Degree, real-time update is carried out to position of the virtual bicycle in scene of virtually riding；
Ride direction：The real-time direction of travel information of bicycle is calculated by force feedback bicycle headstock direction information, to void
Direct of travel of the quasi-simple car in scene of virtually riding carries out real-time update.
The riding resistance is specifically calculated and updated in the following ways：
1) straight line of world's plane in virtual scene is respectively connected with the center of virtual bicycle headstock and the tailstock,
Two straight lines and the road surface of virtual bicycle current driving meet at 2 points respectively, then calculate virtual bicycle in void using the following formula
Intend the real-time grade information ridden in scene：
Wherein, γ is the angle of world's plane in the road surface of virtual bicycle current driving and scene, and A is by headstock center
And the straight line perpendicular to world's plane and the intersection point on virtual bicycle current driving road surface, B are to be centrally and perpendicular to generation by the tailstock
The straight line of boundary plane and the intersection point on virtual bicycle current driving road surface, yAFor the y-coordinate value of point A, yBFor the y-coordinate value of point B, DAB
For the distance between point A and point B, world's plane is the plane of the y-coordinate axis perpendicular to scene；
2) it is calculated by the windage information of grade information combination virtual scene in real time obtained above using the following formula
The riding resistance value of virtual bicycle, and Resistance Value real-time Transmission is updated to force feedback bicycle：
F=mgsin γ+fmgcos γ+Fwind
Wherein, F is the riding resistance value of virtual bicycle, and m is the gross mass of virtual bicycle, and g is the gravity in current scene
Acceleration, the coefficients of kinetic friction of the f between virtual bicycle and road surface, FwindFor the windage size in scene.
The riding speed is specifically calculated and updated in the following ways：
1) body builder that rides tramples to ride on force feedback bicycle and rides, and calculating virtual bicycle using the following formula exists
Real-time speed value in scene：
Wherein, v is velocity amplitude of the virtual bicycle in scene of virtually riding, and a is the front and back wheel gearratio of virtual bicycle, b
For the gearratio of force feedback bicycle transmission system, n is the tachometer value of driven wheel in force feedback bicycle transmission system, and R is virtual single
The trailing wheel radius of car；
2) the real-time speed value obtained by above-mentioned steps is imparted on virtual bicycle, updates virtual bicycle in the scene
Position, so that bicycle is moved in the scene.
When the body builder that rides stop riding the real-time speed value that makes to be calculated be zero when, then adopted with reference to the riding resistance
Virtual bicycle velocity amplitude in the scene is updated with the following formula, until virtual bicycle stop motion, speed zero：
Wherein, v ' stops virtual velocity amplitude of the bicycle in scene of virtually riding, v after riding for the body builder that ridesendTo ride
Row body builder stops the virtual bicycle velocity amplitude at moment of riding, and F is the riding resistance that virtual bicycle is subject to, and m is virtual bicycle
Gross mass, t be ride body builder stop ride after to current time time.
The direction of riding specifically is updated in the following ways：To it is each when the headstock of force feedback bicycle inscribed
Direction is detected, will be virtually single in subsequent time if the headstock of current time force feedback bicycle is to the left or dextrorotation gyration
The headstock of car is to the left or right rotation equal angular is updated.
The beneficial effects of the invention are as follows：
1st, the method for the present invention realizes velocity information between body-building bicycle and virtual scene of riding, directional information and resistance letter
The processing of breath, a kind of accurate calculation for data of riding is provided for body-building of virtually riding.
2nd, the method for the present invention solves the problems, such as that existing virtual body-building feeling of immersion of riding is insufficient, coordinate force feedback bicycle and 3D
Virtual implementing helmet use, can allow ride body builder ensure ride body-building feeling of immersion while reach the moulding mesh of body-building
's.
Brief description of the drawings
Fig. 1 is the force feedback bicycle structure schematic diagram employed in the present embodiment.
Fig. 2 is the virtual bicycle riding resistance computational short cut schematic diagram at certain moment in the present embodiment.
Fig. 3 is that the virtual bicycle at certain moment in the present embodiment is ridden direction controlling rough schematic view.
Embodiment
Below in conjunction with the accompanying drawings and specific embodiment is described in further detail the present invention.
The present invention includes the data processing of riding of following three aspects：Riding speed control, ride and direction controlling and ride
Row resistance feedback.Riding speed control is calculated by body builder's pedal force feedback bicycle foot-operated frequency (as shown in Figure 1) of riding
To the riding speed of virtual bicycle, the position of virtual bicycle in the scene is updated.Direction controlling ride by force feedback list
The real-time direction of travel information of virtual bicycle is calculated in car headstock direction information, to the direct of travel of virtual bicycle in the scene
It is updated.Riding resistance feedback by virtual bicycle real time position in the scene grade information, with reference to windage in scene etc.
Resistance Pressure information carries out that riding resistance value is calculated, and real-time Transmission is updated to force feedback bicycle as bicycle riding resistance.
The specific embodiment of the present invention is as follows：
Unity3D can be based on using the virtual scene of riding of the method for the present invention design to establish.Designed by the method for the present invention
Virtual scene of riding can be the riding of tourist city, the tour route at characteristic scenic spot, the crawling lane of national park and existing
Grow directly from seeds it is living in the individual character that does not have ride scene.
In the present embodiment, home court scape brings body builder and rides in the boulevard of city by taking modern city style and features as an example
The experience of shuttle.The virtual reality 3D helmets can be coordinated to use, the first visual angle of virtual roller-coaster episode sequence operation uses two
Camera renders, so as to simulate the visual stereo effect that binocular camera is brought.In specific embodiment, Oculus can be used
The plug-in unit of Rift realizes left and right split screen.
1st, riding resistance is specifically calculated and updated in the following ways：
1) straight line of world's plane in virtual scene is respectively connected with the center of virtual bicycle headstock and the tailstock,
Two straight lines and the road surface of virtual bicycle current driving meet at 2 points respectively, then calculate virtual bicycle in void using the following formula
Intend the real-time grade information ridden in scene：
Wherein, γ is the angle of world's plane in the road surface of virtual bicycle current driving and scene, and A is by headstock center
And the straight line perpendicular to world's plane and the intersection point on virtual bicycle current driving road surface, B are to be centrally and perpendicular to generation by the tailstock
The straight line of boundary plane and the intersection point on virtual bicycle current driving road surface, yAFor the y-coordinate value of point A, yBFor the y-coordinate value of point B, DAB
For the distance between point A and point B, world's plane is the plane of the y-coordinate axis perpendicular to scene；
In the present embodiment, as shown in Fig. 2, virtual point A coordinate of the bicycle at current position is (0,1.2,6), point B
Coordinate is (0,1,5), then yA=1.2, yB=1, DAB=1.02, it is calculated in the road surface and scene of virtual bicycle current driving
Angle γ=11.3 ° of world's plane.
2) it is calculated by the windage information of grade information combination virtual scene in real time obtained above using the following formula
The riding resistance value of virtual bicycle, and Resistance Value real-time Transmission is updated to force feedback bicycle：
F=mgsin γ+fmgcos γ+Fwind
Wherein, F is the riding resistance value of virtual bicycle, and m is the gross mass of virtual bicycle, and g is the gravity in current scene
Acceleration, the coefficients of kinetic friction of the f between virtual bicycle and road surface, FwindFor the windage size in scene.
In the present embodiment, the gross mass m=100kg of virtual bicycle, gravity acceleration g=9.8m/s in scene2, road
The coefficient of kinetic friction f=0.2 in face, calm i.e. windage F in scenewind=0, then virtual bicycle is calculated in position shown in Fig. 2
The riding resistance value F=384.36N at place.
2nd, riding speed is specifically calculated and updated in the following ways：
1) body builder that rides tramples to ride on force feedback bicycle and rides, and calculating virtual bicycle using the following formula exists
Real-time speed value in scene：
Wherein, v is velocity amplitude of the virtual bicycle in scene of virtually riding, and a is the front and back wheel gearratio of virtual bicycle, b
For the gearratio of force feedback bicycle transmission system, n is the tachometer value of driven wheel in force feedback bicycle transmission system, and R is virtual single
The trailing wheel radius of car.
In the present embodiment, the front and back wheel gearratio a=2 of virtual bicycle, the gearratio b=of force feedback bicycle transmission system
15, the trailing wheel radius R=0.35m of virtual bicycle, then the real-time speed v (m/s) of virtual bicycle in the scene and force feedback bicycle
The relation of the rotating speed n (rad/s) of driven wheel is in transmission system：
V=4.88 × 10-3n。
2) the real-time speed value obtained by above-mentioned steps is imparted on virtual bicycle, updates virtual bicycle in the scene
Position, so that bicycle is moved in the scene.
In the present embodiment, if virtual bicycle is travelled on level land and calm in scene, riding resistance F only frictions
Power, when the body builder that rides stop riding the velocity amplitude that makes to be calculated be zero when, the renewal of velocity amplitude in the scene of virtual bicycle
Formula is：
V '=vend-1.96t
3rd, direction of riding specifically is updated in the following ways：
To it is each when the headstock direction of force feedback bicycle inscribed be detected, if the headstock of current time force feedback bicycle
To the left or dextrorotation gyration, then subsequent time by the headstock of virtual bicycle to the left or right rotation equal angular is updated, tool
Body can update in the following ways：
1) as zero degree angular direction when setting force feedback bicycle headstock and vehicle body on the same line, headstock is turned to the right as just
Angle, headstock turns to the left makees identical regulation for negative angle, virtual bicycle；
2) obtain force feedback bicycle current time headstock and the angle of vehicle body is denoted as α, obtain virtual bicycle current time car
The angle of head and vehicle body is denoted as β；
3) (if alpha-beta) is just, in subsequent time by the headstock of virtual bicycle to right rotation (alpha-beta) angle value, if (alpha-beta)
Be it is negative, then in subsequent time by the headstock of virtual bicycle to anticlockwise (β-α) angle value.
In the present embodiment, as shown in figure 3, angle α=20 ° of force feedback bicycle current time headstock and vehicle body, virtually
Angle β=10 ° of bicycle current time headstock and vehicle body, then should be by the headstock of virtual bicycle to 10 ° of right rotation in subsequent time.
Virtual bicycle, force feedback bicycle, virtual reality head in conclusion integrated use of the present invention is virtually ridden in scene
Helmet improves the problem of traditional Spinning exercising pattern is single uninteresting, there is provided the unprecedented experience of riding of body builder, allow strong
Body person is easily accomplished the moulding plan of body-building, brings significant effect.
Claims (4)
- A kind of 1. data processing method of riding of virtual body-building bicycle of riding, it is characterised in that：The body builder that rides rides on force feedback bicycle, drives virtual bicycle to be moved in virtual scene of riding, wherein to riding Speed, ride direction and riding resistance calculate and real-time update；Riding resistance：By the grade information of virtual bicycle real time position in the scene, counted with reference to the windage information in scene Calculation obtains Resistance Value, and real-time Transmission carries out real-time update to force feedback bicycle as bicycle riding resistance；Riding speed：The riding speed of virtual bicycle is calculated in the frequency ridden by body builder's pedal force feedback bicycle of riding, Real-time update is carried out to position of the virtual bicycle in scene of virtually riding；Ride direction：The real-time direction of travel information of bicycle is calculated by force feedback bicycle headstock direction information, to virtual single Direct of travel of the car in scene of virtually riding carries out real-time update；The riding resistance is specifically calculated and updated in the following ways：1) with the center of virtual bicycle headstock and the tailstock respectively connection one world's plane in virtual scene straight line, two Straight line and the road surface of virtual bicycle current driving meet at 2 points respectively, then calculate virtual bicycle using the following formula and virtually riding Real-time grade information in row scene：<mrow> <mi>s</mi> <mi>i</mi> <mi>n</mi> <mi>&gamma;</mi> <mo>=</mo> <mfrac> <mrow> <msub> <mi>y</mi> <mi>A</mi> </msub> <mo>-</mo> <msub> <mi>y</mi> <mi>B</mi> </msub> </mrow> <msub> <mi>D</mi> <mrow> <mi>A</mi> <mi>B</mi> </mrow> </msub> </mfrac> </mrow>Wherein, γ is road surface and the angle of world's plane in scene of virtual bicycle current driving, and A is by headstock center and hangs down Directly put down in the straight line and the intersection point on virtual bicycle current driving road surface of world's plane, B to be centrally and perpendicular to the world by the tailstock The straight line in face and the intersection point on virtual bicycle current driving road surface, yAFor the y-coordinate value of point A, yBFor the y-coordinate value of point B, DABFor point The distance between A and point B, world's plane are the plane of the y-coordinate axis perpendicular to scene；2) it is calculated virtually using the following formula by the windage information of grade information combination virtual scene in real time obtained above The riding resistance value of bicycle, and Resistance Value real-time Transmission is updated to force feedback bicycle：F=mg sin γ+fmg cos γ+FwindWherein, F is the riding resistance value of virtual bicycle, and m is the gross mass of virtual bicycle, and g is that the gravity in current scene accelerates Degree, the coefficients of kinetic friction of the f between virtual bicycle and road surface, FwindFor the windage size in scene.
- A kind of 2. data processing method of riding of virtual body-building bicycle of riding according to claim 1, it is characterised in that：Institute The riding speed stated specifically is calculated and updated in the following ways：1) body builder that rides tramples to ride on force feedback bicycle and rides, and virtual bicycle is calculated in scene using the following formula In real-time speed value：<mrow> <mi>v</mi> <mo>=</mo> <mfrac> <mrow> <mi>&pi;</mi> <mi>a</mi> </mrow> <mrow> <mn>30</mn> <mi>b</mi> </mrow> </mfrac> <mi>n</mi> <mi>R</mi> </mrow>Wherein, v is velocity amplitude of the virtual bicycle in scene of virtually riding, and a is the front and back wheel gearratio of virtual bicycle, and b is power The gearratio of bicycle transmission system is fed back, n is the tachometer value of driven wheel in force feedback bicycle transmission system, and R is virtual bicycle Trailing wheel radius；2) the real-time speed value obtained by above-mentioned steps is imparted on virtual bicycle, updates the position of virtual bicycle in the scene Put, so that bicycle is moved in the scene.
- A kind of 3. data processing method of riding of virtual body-building bicycle of riding according to claim 2, it is characterised in that：When The body builder that rides stops riding the real-time speed value that makes to be calculated when being zero, then uses the following formula with reference to the riding resistance Virtual bicycle velocity amplitude in the scene is updated, until virtual bicycle stop motion, speed zero：<mrow> <msup> <mi>v</mi> <mo>&prime;</mo> </msup> <mo>=</mo> <msub> <mi>v</mi> <mrow> <mi>e</mi> <mi>n</mi> <mi>d</mi> </mrow> </msub> <mo>-</mo> <mfrac> <mi>F</mi> <mi>m</mi> </mfrac> <mi>t</mi> </mrow>Wherein, v ' stops virtual velocity amplitude of the bicycle in scene of virtually riding, v after riding for the body builder that ridesendIt is strong to ride Body person stops the virtual bicycle velocity amplitude at moment of riding, and F is the riding resistance that virtual bicycle is subject to, and m is total matter of virtual bicycle Amount, t be ride body builder stop ride after to current time time.
- A kind of 4. data processing method of riding of virtual body-building bicycle of riding according to claim 1, it is characterised in that：The direction of riding specifically is updated in the following ways：To it is each when the headstock direction of force feedback bicycle inscribed It is detected, if the headstock of current time force feedback bicycle is to the left or dextrorotation gyration, in subsequent time by virtual bicycle Headstock is to the left or right rotation equal angular is updated.
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Families Citing this family (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN205948272U (en) * | 2016-03-03 | 2017-02-15 | 河南汇亚电子科技有限公司 | VR spinning |
| CN106362380A (en) * | 2016-08-29 | 2017-02-01 | 北京北软融智数码技术股份公司 | Resistance adjusting method and device and simulation riding system |
| CN106693290B (en) * | 2016-12-07 | 2019-02-15 | 浙江理工大学 | A spinning bike virtual roaming system and virtual roaming implementation method |
| CN109603089B (en) * | 2018-11-20 | 2020-08-11 | 北京农业信息技术研究中心 | Method and device for acquiring riding data of virtual riding system |
| CN109925714B (en) * | 2019-01-09 | 2022-04-05 | 浙江工业大学 | Virtual intelligent riding system based on Unity3D engine |
| CN109754603B (en) * | 2019-01-21 | 2020-11-03 | 石家庄铁道大学 | Bicycle travel time calculation method and device and terminal equipment |
| CN110327587B (en) * | 2019-07-09 | 2021-05-28 | 厦门景杉网络科技有限公司 | Method for simulating route riding of exercise bicycle and exercise bicycle system |
| CN110507963A (en) * | 2019-08-14 | 2019-11-29 | 乐动天下（北京）体育科技有限公司 | A kind of equipment resistance or gradient autocontrol method and system based on VR and AI |
| CN110850986B (en) * | 2019-11-20 | 2021-07-02 | 深圳信息职业技术学院 | VR bicycle riding system |
| CN114712838A (en) * | 2022-04-22 | 2022-07-08 | 永康市智天科技有限公司 | Riding simulation system and method based on three-dimensional real-scene terrain |
| CN117899431A (en) * | 2024-01-04 | 2024-04-19 | 深圳市维体运动科技有限公司 | Resistance adjustment method and device for spinning, electronic equipment and storage medium |
| CN121606878A (en) * | 2026-02-03 | 2026-03-06 | 山东大学 | A Multimodal Cooperative Feedback Virtual Reality Interaction Method and System |
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| CN1552490A (en) * | 2003-05-27 | 2004-12-08 | Method and apparatus for realizing virtual riding bicycle | |
| CN103920287A (en) * | 2014-05-06 | 2014-07-16 | 许昌学院 | Virtual scene network exercise bicycle |
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| US20060063644A1 (en) * | 2003-01-24 | 2006-03-23 | Yang Hao H | Cross reference to related applications |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1552490A (en) * | 2003-05-27 | 2004-12-08 | Method and apparatus for realizing virtual riding bicycle | |
| CN103920287A (en) * | 2014-05-06 | 2014-07-16 | 许昌学院 | Virtual scene network exercise bicycle |
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