Method for synchronizing real riding and riding picture and riding simulation system

Abstract

The invention discloses a real riding and riding picture synchronization method and a riding simulation system. The method comprises the following steps: acquiring pedaling data of pedaling pedals in a real riding process of a user; judging whether the user is performing high-frequency treading or low-frequency treading according to the treading data; if the user is performing high-frequency treading, calculating a difference value between real riding of the user and the riding picture according to the treading data, and correcting the playing speed of the riding picture according to the difference value and the playing progress of the current riding picture; and if the user is performing low-frequency treading, calculating according to the treading data to obtain the specific orientation of the user in the process of treading for one circle, and updating the riding picture progress according to the specific orientation. According to the invention, the synchronization precision of real riding and the riding picture is improved, so that the user experience is improved.

Description

Technical Field

[0001] The invention belongs to the technical field of game fitness, and in particular relates to a method for synchronizing real riding with riding animation and a riding simulation system. Background Art

[0002] Cycling is a healthy and environmentally friendly way of exercise. It has many benefits for physical and mental health, such as enhancing cardiopulmonary function, losing weight and shaping the body, increasing muscle strength, promoting metabolism, making friends, relieving stress and anxiety, etc. Therefore, more and more people choose cycling for exercise.

[0003] However, due to limitations such as venue, weather and time, many people are unable to engage in outdoor cycling activities. Therefore, 3D virtual world cycling software has appeared on the market, which provides a real cycling experience by linking the cycling platform with the screen.

[0004] At present, in the process of simulating outdoor cycling, there is a problem that the cadence image is not synchronized with the actual cycling, resulting in a poor user experience. In view of this, how to design a technology to ensure that the cadence image is synchronized with the actual cycling and improve the user experience is a technical problem to be solved by the present invention. Summary of the invention

[0005] The present invention provides a method for synchronizing real riding with riding animation and a riding simulation system, which can reduce the indoor space occupied by the method for synchronizing real riding with riding animation and improve user experience.

[0006] In order to achieve the above technical objectives, the present invention adopts the following technical solutions:

[0007] In one aspect, the present invention provides a method for synchronizing real riding with riding animation, comprising the following steps:

[0008] Collect the pedaling data of the user during actual riding;

[0009] Determining whether the user is performing high-frequency pedaling or low-frequency pedaling according to the pedaling data;

[0010] If the user is pedaling at a high frequency, the difference between the user's actual riding and the riding animation is calculated based on the pedaling data, and the speed of the riding animation playback is corrected based on the difference and the progress of the current riding animation playback;

[0011] If the user is performing low-frequency pedaling, the specific position of the user during one pedaling circle is calculated based on the pedaling data, and the riding animation progress is updated based on the specific position.

[0012] In the method for synchronizing real riding with riding animation as described above, the pedaling data includes cadence data and pedal posture data during the pedaling process.

[0013] In the method for synchronizing real riding with riding animation as described above, the step of determining whether the user is performing high-frequency pedaling or low-frequency pedaling according to the pedaling data includes:

[0014] If the pedaling frequency data is greater than a set threshold, it is determined that the user is performing high-frequency pedaling;

[0015] If the pedaling frequency data is less than or equal to a set threshold, it is determined that the user is performing low-frequency pedaling.

[0016] In the method for synchronizing the real riding with the riding animation described above, the formula for calculating the difference value between the real riding of the user and the riding animation according to the pedaling data is as follows:

[0017]

[0018] Where gap represents the difference between the user's actual riding and the riding animation; T s Indicates the estimated time of receiving the next cadence data; T d Indicates the current timestamp; T c It indicates the time required for the user to pedal one circle; animEndTime indicates the time when the riding animation ends; animCurrentTime indicates the current progress time of the riding animation.

[0019] In the method for synchronizing real riding with riding animation as described above, the step of correcting the speed of riding animation playback according to the gap value and the current riding animation playback speed comprises:

[0020] If the gap value is greater than the set value, the speed of the cycling animation being played is multiplied by the gap, so that the cycling animation is slowed down and played until it is consistent with the user's actual pedaling frequency;

[0021] If the gap value is less than or equal to the set value, the speed of the cycling animation being played is multiplied by (1+gap), so that the cycling animation is accelerated to catch up with the user's actual pedaling frequency.

[0022] In the method for synchronizing real riding with riding animation as described above, the step of calculating the specific position of the user during one pedaling circle according to the pedaling data includes:

[0023] The sensor that collects the posture data of the pedal obtains the Euler angles of its own X, Y, and Z axes, and generates a circular data graph by corresponding the Euler angles to the specific positions of the pedals. In the circular data graph, the specific positions of the pedals correspond one to one with the angle values ​​of the Euler angles.

[0024] The method for synchronizing the actual riding with the riding animation described above, and the formula for updating the riding animation progress according to the specific position are as follows:

[0025]

[0026] Among them, schedule indicates the progress of the cycling animation after updating; animCurrentTime indicates the time of the current progress of the cycling animation; angel indicates the angle value of the specific position of the pedal during riding.

[0027] In another aspect, the present invention provides a riding simulation system, comprising:

[0028] A riding device, which is used for riding, wherein a pedaling data collection device is provided on the pedals of the riding device;

[0029] A control device, which is used to run a riding simulation game, the control device includes a display screen, the display screen is used to display a riding animation corresponding to the riding simulation game; a synchronization module, which is connected to the riding device and the control device respectively, the synchronization module applies the method for synchronizing real riding with riding animation as described in any of the above items, and the synchronization module is used to adjust the playback speed or playback progress of the riding animation to synchronize the riding animation with real riding.

[0030] In another aspect, the present invention further provides an electronic device, comprising: a processor, and a memory and a transceiver communicatively connected to the processor;

[0031] The memory stores computer-executable instructions; the transceiver is used to send and receive data;

[0032] The processor executes the computer-executable instructions stored in the memory to implement any of the above methods.

[0033] In another aspect, the present invention further provides a computer-readable storage medium, wherein the computer-readable storage medium stores computer-executable instructions, and when the computer-executable instructions are executed by a processor, they are used to implement any of the methods described above.

[0034] Compared with the prior art, the advantages and positive effects of the present invention are: by collecting pedaling frequency data during actual riding, it is possible to distinguish whether the user is performing high-frequency pedaling or low-frequency pedaling. Since the sensitivity to the riding animation is different during high-frequency pedaling or low-frequency pedaling, different riding animation adjustment methods are designed for high-frequency pedaling and low-frequency pedaling to ensure that the actual riding is synchronized with the riding animation, which can effectively increase the user's fun and interactivity, thereby improving the user experience. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor.

[0036] Figure 1 It is a flowchart of an embodiment of a method for synchronizing real riding with riding animation according to the present invention;

[0037] Figure 2 A geomagnetic data map collected by a geomagnetometer in an embodiment of a method for synchronizing real riding with riding animation of the present invention;

[0038] Figure 3 It is an axial schematic diagram of the geomagnetometer itself in the first embodiment of the method for synchronizing real riding with riding animation of the present invention;

[0039] Figure 4 The angle azimuth diagram of the geomagnetic meter moving with the bicycle pedal in the first embodiment of the method for synchronizing real riding with riding animation of the present invention;

[0040] Figure 5 This is a schematic diagram of the direction of rotation of the magnetometer relative to its own axis in an embodiment of the method for synchronizing real riding with riding animation of the present invention. DETAILED DESCRIPTION

[0041] In order to make the purpose, technical solution and advantages of the embodiments of the present invention clearer, the technical solution in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0042] It should be noted that in the description of the present invention, the terms "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer" and the like indicating directions or positional relationships are based on the directions or positional relationships shown in the drawings, which are only for the convenience of description, and do not indicate or imply that the device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the terms "first" and "second" are used for descriptive purposes only, and cannot be understood as indicating or implying relative importance.

[0043] In the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be an indirect connection through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0044] In the present invention, unless otherwise clearly specified and limited, a first feature being "above" or "below" a second feature may include that the first and second features are in direct contact, or may include that the first and second features are not in direct contact but are in contact through another feature between them. Moreover, a first feature being "above", "above" and "above" a second feature includes that the first feature is directly above and obliquely above the second feature, or simply indicates that the first feature is higher in level than the second feature. A first feature being "below", "below" and "below" a second feature includes that the first feature is directly below and obliquely below the second feature, or simply indicates that the first feature is lower in level than the second feature.

[0045] The disclosure below provides many different embodiments or examples to realize different structures of the present invention. In order to simplify the disclosure of the present invention, the parts and settings of specific examples are described below. Of course, they are only examples, and the purpose is not to limit the present invention. In addition, the present invention can repeat reference numbers and / or reference letters in different examples, and this repetition is for the purpose of simplicity and clarity, which itself does not indicate the relationship between the various embodiments and / or settings discussed. In addition, the present invention provides various specific examples of processes and materials, but those of ordinary skill in the art can be aware of the application of other processes and / or the use of other materials.

[0046] like Figure 1 As shown, the present application provides a method for synchronizing real riding with riding animation, which can improve the accuracy of synchronization between real riding and riding animation, ensure the accuracy of the riding process, and improve the user experience, and specifically includes the following steps:

[0047] Collect the pedaling data of the user during actual riding.

[0048] The pedaling data includes the cadence data and the pedal posture data during the pedaling process. The cadence data is collected by installing a cadence sensor on the pedal, and the pedal posture data is collected by installing a nine-axis sensor on the pedal; the nine-axis sensor includes a three-axis accelerometer, a three-axis gyroscope and a three-axis magnetometer. The three-axis accelerometer can measure the acceleration of the pedal, the three-axis gyroscope can measure the angular velocity of the pedal, and the three-axis magnetometer can measure the changes in magnetic field intensity of the pedal at different positions during one lap of riding, where one lap of riding means that the pedal rotates 360° in the vertical plane.

[0049] When the absolute value of the acceleration measured by the accelerometer is less than or equal to 0.1, and the absolute value of the angular velocity measured by the gyroscope is equal to 0, it indicates that the user is not riding, and the character in the riding animation executes the parking scene; when the absolute value of the acceleration measured by the accelerometer is greater than 0.1, and the absolute value of the angular velocity measured by the gyroscope is greater than 0 at the same time, it indicates that the user is riding.

[0050] It is determined whether the user is performing high-frequency or low-frequency pedaling according to the pedaling data. When the user is performing high-frequency pedaling, the user is less sensitive to the cycling animation screen, and when the user is performing low-frequency pedaling, the user is more sensitive to the cycling animation screen. Therefore, it is necessary to first determine whether the user is performing high-frequency or low-frequency pedaling according to the pedaling data, and then set different cycling animation synchronization methods according to different pedaling frequencies.

[0051] The steps for determining whether the user is performing high-frequency pedaling or low-frequency pedaling include:

[0052] If the cadence data is greater than the set threshold, it is determined that the user is performing high-frequency pedaling;

[0053] If the cadence data is less than or equal to the set threshold, it is determined that the user is performing low-frequency pedaling.

[0054] Taking the pedaling frequency threshold of 60 cycles / minute as an example, when the user pedals more than 60 times per minute, it is determined that the user is performing high-frequency pedaling. When the user pedals less than or equal to 60 times per minute, it is determined that the user is performing low-frequency pedaling.

[0055] If the user is pedaling at a high frequency, the difference between the user's actual riding and the riding animation is calculated based on the pedaling data, and the speed of the riding animation playback is corrected based on the difference value and the progress of the current riding animation playback. Specifically:

[0056] First, we use the Kalman filter to predict and update the cadence data, and use the fusion of the prior state estimate and the collected value to correct the animation playback progress, so that the picture can be consistent with the real riding. The specific calculation is as follows:

[0057] According to the cadence data, the current cycling time of the user is calculated. The calculation formula is as follows:

[0058]

[0059] Among them, T c Indicates the time of the user's current riding lap; cadence indicates the cadence, unit: laps / minute. If the calculated time of the current riding lap exceeds the time of the last calculated riding lap by 5 seconds, it means that there is a delay in the data transmission process. Therefore, if this happens, the user's current riding lap time will no longer be calculated. 5 seconds is an empirical value. If it exceeds 5 seconds, the cadence input by the device will be used for calculation again.

[0060] The estimated timestamp required for a lap is calculated based on the current lap time of the user. The calculation formula is as follows:

[0061] T n =T c +T d

[0062] Among them, T n Indicates the estimated timestamp required for a user to pedal one lap; T c Indicates the time required for the user to pedal one circle; T d Indicates the current timestamp.

[0063] The next time the user receives cadence data is calculated based on the estimated timestamp required for the user to pedal one lap, that is, the next time the cycling animation starts playing again. The calculation formula is as follows:

[0064]

[0065] Among them, T s Indicates the time when the user will receive the cadence data next time, that is, the time when the cycling animation will start playing again next time; T n Indicates the estimated timestamp required for a user to pedal one lap; T d Indicates the current timestamp.

[0066] Then, the difference between the user's actual riding and the riding animation is calculated. The calculation formula is as follows:

[0067]

[0068] Where gap represents the difference between the user's actual riding and the riding animation; T s Indicates the estimated time of receiving the next cadence data from the cadence sensor; T d Indicates the current timestamp; T cIt indicates the time required for the user to pedal one circle; animEndTime indicates the time when the riding animation ends; animCurrentTime indicates the current progress time of the riding animation.

[0069] Finally, the steps of correcting the speed of the riding animation playback according to the gap value and the speed of the current riding animation playback include:

[0070] If the gap value is greater than the set value, it means that the speed of the cycling animation is faster than the actual cycling speed. Then the cycling animation is slowed down by multiplying the gap by the current playing speed of the cycling animation to make it consistent with the user's actual pedaling frequency.

[0071] If the gap value is less than or equal to the set value, it means that the speed of the cycling animation is faster than the actual cycling speed. Then the speed of the cycling animation being played is multiplied by (1+gap) to accelerate the cycling animation to catch up with the user's actual pedaling frequency.

[0072] The gap value ranges from 0 to 1. A gap value of 0 means that the riding animation is consistent with the real riding; a gap value of 1 means that the riding animation is twice as fast as the real riding.

[0073] The setting value in this application is 0.5, which is in the middle of 0-1, so that the average speed of slow-motion waiting and fast-motion catching up can be the same, so that the average time for users to wait for adjustment is the shortest. For example, when the difference value is 0.6, and the difference value is greater than the set value of 0.5, then the speed of the cycling animation being played needs to be multiplied by the difference value of 0.6, so that the slow-motion waiting of the cycling animation tends to be consistent with the actual pedaling frequency of the user. If the user is pedaling at a low frequency, the specific position of the user during one pedaling circle is calculated based on the pedaling data, and the cycling animation progress is updated according to the specific position. Specifically:

[0074] First, the magnetic field intensity change data is sampled at high frequency, for example, the magnetic field intensity change data is sampled 100 times per second. The magnetic field intensity change data of the three axes of the magnetometer will form a sine function waveform, and the maximum and minimum values ​​collected are regarded as a cycle (such as Figure 2 The inverse of the cycle time is its frequency. The frequency of each cycle is compared. If it exceeds 50, the cycle data is considered invalid and discarded. This is filtering the magnetic field intensity change data. 50 is an empirical value. It is impossible for a person to produce such a fast pedaling frequency. The cycle data exceeding 50 is discarded to prevent too many mutations. Filtering can eliminate abnormal peak data.

[0075] The cadence sensor sends a cadence data within one second. The cadence data within one second should be the frequency average of all cycles in this second. This is the smoothing and averaging of the magnetic field intensity change data. The smoothing and averaging is to eliminate burrs.

[0076] The nine-axis sensor will obtain the Euler angles of its own X, Y, and Z axes. Specifically, the pitch and roll angles of the object are calculated through the data of the accelerometer and magnetometer, and the yaw angle of the object can be calculated through the data of the gyroscope. These angles can be calculated through methods such as rotation matrix and Euler angles. This is implemented at the bottom layer of the nine-axis sensor. This is an existing technology and will not be explained here. The Euler angle data can be directly read through the registers of the nine-axis sensor. The axial diagram of the sensor itself is shown in the figure below. Figure 3 shown.

[0077] Then, the Euler angles are matched with the specific positions of the pedals to generate a circular data graph, in which the specific positions of the pedals correspond to the angle values ​​of the Euler angles one by one, such as Figure 4 As shown, specifically: the nine-axis sensor is installed at the crank position of the pedal, and its x-axis will be parallel to the crank. The angle of the x-axis is equivalent to the change of its initial angle, which is the yaw angle of the x-axis. With the yaw angle, the position of the pedal can be known. ★ indicates that the yaw angle of the x-axis is 30°, which means that the specific position of the pedal is 30 degrees.

[0078] Finally, the progress of the riding animation is updated according to the specific position. The formula for updating the progress of the riding animation is as follows:

[0079]

[0080] Among them, schedule indicates the progress of the cycling animation after updating; animCurrentTime indicates the time of the current progress of the cycling animation; angel indicates the angle value of the specific position of the pedal during riding.

[0081] For example, if the specific position is at an angle of 30 degrees, the progress of the riding animation after updating is:

[0082]

[0083] In another aspect, the present application provides a riding simulation system, including a riding device, a control device, and a synchronization module, specifically:

[0084] The riding device is used for riding, and the riding device includes riding equipment that can be pedaled, such as a riding simulator or a spinning bike. A pedaling frequency data acquisition device is provided on the pedals of the riding device, and the pedaling data acquisition device includes a pedaling frequency sensor and a nine-axis sensor. The pedaling frequency sensor can collect pedaling frequency data during riding, and the nine-axis sensor can collect acceleration, angular velocity and magnetic field intensity change data during riding.

[0085] The control device is used to run the cycling simulation game. The control device includes a display screen. The display screen can display the cycling animation corresponding to the cycling simulation game. When the user uses the cycling device to ride, the cycling animation displayed on the display screen makes the riding more realistic. The control device can be a computer, a television, a tablet, etc.

[0086] A synchronization module is connected to the riding device and the control device respectively. The synchronization module applies the method for synchronizing real riding with riding animation as described in any of the above items. The synchronization module is used to adjust the playback speed or playback progress of the riding animation to synchronize the riding animation with the real riding, thereby improving interactivity and fun and providing a good user experience.

[0087] In another aspect, the present application also provides an electronic device, comprising: a processor, and a memory and a transceiver communicatively connected to the processor;

[0088] The memory stores computer executable instructions; the transceiver is used to send and receive data;

[0089] The processor executes the computer-executable instructions stored in the memory to implement any of the above methods.

[0090] In another aspect, the present application further provides a computer-readable storage medium, in which computer-executable instructions are stored. When the computer-executable instructions are executed by a processor, they are used to implement any of the methods described above.

[0091] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "illustrative embodiments", "examples", "specific examples", or "some examples" means that the specific features, structures, materials, or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials, or characteristics described may be combined in any one or more embodiments or examples in a suitable manner.

[0092] The above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit the same. Although the present invention has been described in detail with reference to the aforementioned embodiments, it is still possible for a person skilled in the art to modify the technical solutions described in the aforementioned embodiments, or to replace some of the technical features therein by equivalents. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions claimed to be protected by the present invention.

[0093] Wherever possible, the various aspects and features described and shown in the specification may be applied separately and these separate aspects may be made the subject of divisional applications.

Claims

1. A method for synchronizing real riding with riding animation, characterized in that: The following steps are involved: Collect the pedaling data of the user during actual riding; Determining whether the user is performing high-frequency pedaling or low-frequency pedaling according to the pedaling data; If the user is pedaling at a high frequency, the difference between the user's actual riding and the riding animation is calculated based on the pedaling data, and the speed of the riding animation playback is corrected based on the difference and the progress of the current riding animation playback; If the user is performing low-frequency pedaling, the specific position of the user during one pedaling circle is calculated based on the pedaling data, and the riding animation progress is updated based on the specific position.

2. The method for synchronizing real riding with riding animation according to claim 1, characterized in that: The pedaling data includes pedaling frequency data and pedal posture data during the pedaling process.

3. The method for synchronizing real riding with riding animation according to claim 2, characterized in that: The step of judging whether the user is performing high-frequency pedaling or low-frequency pedaling according to the pedaling data comprises: If the pedaling frequency data is greater than a set threshold, it is determined that the user is performing high-frequency pedaling; If the pedaling frequency data is less than or equal to a set threshold, it is determined that the user is performing low-frequency pedaling.

4. The method for synchronizing real riding with riding animation according to claim 3, characterized in that: The formula for calculating the difference between the user's actual riding and the riding animation based on the pedaling data is as follows: Where gap represents the difference between the user's actual riding and the riding animation; T s Indicates the estimated time of receiving the next cadence data; T d Indicates the current timestamp; T c It indicates the time required for the user to pedal one circle; animEndTime indicates the time when the riding animation ends; animCurrentTime indicates the current progress time of the riding animation.

5. The method for synchronizing real riding with riding animation according to claim 4, characterized in that: The step of correcting the speed of riding animation playback according to the difference value and the current speed of riding animation playback comprises: If the gap value is greater than the set value, the speed of the cycling animation being played is multiplied by the gap, so that the cycling animation is slowed down and played until it is consistent with the user's actual pedaling frequency; If the gap value is less than or equal to the set value, the speed of the cycling animation being played is multiplied by (1+gap), so that the cycling animation is accelerated to catch up with the user's actual pedaling frequency.

6. The method for synchronizing real riding with riding animation according to any one of claims 2 to 5, characterized in that: The step of calculating the specific position of the user during one pedaling circle according to the pedaling data comprises: The sensor that collects the posture data of the pedal obtains the Euler angles of its own X, Y, and Z axes, and generates a circular data graph by corresponding the Euler angles to the specific positions of the pedals. In the circular data graph, the specific positions of the pedals correspond one to one with the angle values ​​of the Euler angles.

7. The method for synchronizing real riding with riding animation according to claim 6, characterized in that: The formula for updating the riding animation progress according to the specific position is as follows: Among them, schedule indicates the progress of the cycling animation after updating; animCurrentTime indicates the time of the current progress of the cycling animation; angel indicates the angle value of the specific position of the pedal during riding.

8. A riding simulation system, characterized in that: include: A riding device, which is used for riding, wherein a pedaling data collection device is provided on the pedals of the riding device; A control device, which is used to run a riding simulation game, the control device comprising a display screen, the display screen is used to display a riding animation corresponding to the riding simulation game; A synchronization module is connected to the riding device and the control device respectively, and the synchronization module applies the method for synchronizing real riding with riding animation as described in any one of claims 1 to 7, and the synchronization module is used to adjust the playback speed or playback progress of the riding animation to synchronize the riding animation with real riding.

9. An electronic device, characterized in that: include: A processor, and a memory and a transceiver communicatively connected to the processor; The memory stores computer-executable instructions; the transceiver is used to send and receive data; The processor executes the computer-executable instructions stored in the memory to implement the method according to any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer-executable instructions, which are used to implement the method according to any one of claims 1 to 7 when executed by a processor.

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