Resistance level adjustment method, controller, stationary bicycle, and storage medium

Abstract

A resistance level adjustment method, a controller, a stationary bicycle, and a storage medium. The method comprises: acquiring resistance level adjustment information, wherein the resistance level adjustment information is information sent by a superordinate computer received when the value of a preset flag bit is a first numerical value, or the resistance level adjustment information is information generated when the value of a preset flag bit is a second numerical value and it is detected that a resistance level shifter is triggered (S110); determining a target resistance level of a stationary bicycle on the basis of the resistance level adjustment information (S120); and adjusting the current resistance level of the stationary bicycle to the target resistance level (S130).

Description

Gear adjustment method, controller, exercise bicycle and storage medium

[0001] This application claims priority to the Chinese patent application No. 202410625817.1, filed on May 20, 2024, with the Chinese Patent Office, the content of which is incorporated herein by reference in its entirety. TECHNICAL FIELD

[0002] The present application relates to the technical field of fitness equipment, for example, to a gear adjustment method, a controller, an exercise bicycle and a storage medium. BACKGROUND

[0003] As a kind of efficient and safe indoor fitness equipment, exercise bicycle (also known as spinning bicycle) has become the health life choice of more and more people.

[0004] Most conventional exercise bicycles do not have gear adjustment function. Even if they have gear adjustment function, the function is relatively single. For example, the exercise bicycle directly installs the adjustment device on the frame with the toothed disc flywheel. However, such exercise bicycle only realizes gear adjustment in physical structure, the gear is fixed and the adjustment range is narrow, which cannot meet the increasingly diversified riding needs of users. SUMMARY

[0005] The present application provides a gear adjustment method, a controller, an exercise bicycle and a storage medium, which can realize stepless adjustment of various gears of the exercise bicycle and improve the riding experience of users.

[0006] According to an aspect of the present application, a gear adjustment method is provided, which is applied to a controller of an exercise bicycle, the exercise bicycle is provided with an upper computer and a gear dial, the upper computer is in communication connection with the controller; the method comprises:

[0007] obtaining gear adjustment information, wherein the gear adjustment information is information received by the upper computer when a preset flag bit has a first value, or the gear adjustment information is information generated when the preset flag bit has a second value and the gear dial is detected to be triggered;

[0008] determining a target gear of the exercise bicycle according to the gear adjustment information;

[0009] adjusting the current gear of the exercise bicycle to the target gear.

[0010] Optionally, when the gear adjustment information is information received by the upper computer when the preset flag bit has the first value, the gear adjustment information comprises the target gear.

[0011] When the gear adjusting information is information generated when the preset flag bit is the second value and the gear dial is detected to be triggered, the gear adjusting information includes change information, and the target gear is determined based on the change information and the current gear.

[0012] Optionally, the exercise bicycle is provided with a motor.

[0013] After adjusting the current gear of the exercise bicycle to the target gear, the method further includes:

[0014] Obtaining vehicle parameters of the exercise bicycle and working parameters of the exercise bicycle in a current control period, wherein the vehicle parameters include total weight of the exercise bicycle, wheel radius of the exercise bicycle and torque coefficient of the motor, and the working parameters include current torque current of the motor, current speed of the motor and comprehensive resistance received by the exercise bicycle.

[0015] According to the current torque current, the torque coefficient and the current speed, determining a first power exerted on the exercise bicycle by the user.

[0016] According to the comprehensive resistance, the wheel radius and the current speed, determining a second power exerted on the exercise bicycle by the comprehensive resistance.

[0017] According to the total weight, the wheel radius, the first power, the second power and the target gear, determining a given speed of the motor in a next control period, and controlling the motor to operate at the given speed in the next control period.

[0018] Optionally, the comprehensive resistance includes at least one of the following: external resistance received by the exercise bicycle, constant resistance set by the user, and slope resistance when the exercise bicycle simulates slope riding.

[0019] The slope resistance is determined based on the riding slope and the total weight.

[0020] Optionally, according to the total weight, the wheel radius, the first power, the second power and the target gear, determining the given speed of the motor in the next control period includes:

[0021] According to the first power and the second power, determining an energy of the exercise bicycle in the current control period.

[0022] According to the total weight and the energy, determining an ideal speed of the exercise bicycle.

[0023] According to the ideal speed, the wheel radius and the target gear, determining the given speed.

[0024] Optionally, obtaining the current torque current and the current speed includes:

[0025] In the current control period, three-phase currents of the motor in a three-phase stationary coordinate system are collected.

[0026] The three-phase current is subjected to a Clarke transformation to obtain two-phase currents of the motor in a two-phase stationary coordinate system;

[0027] According to the two-phase currents and a given two-phase voltage of a current control period, a current speed and a position of a rotor of the motor are determined;

[0028] The position of the rotor of the motor and the two-phase currents are subjected to a Park transformation to obtain a current torque current.

[0029] Optionally, the exercise bicycle further comprises a three-phase bridge connected with the motor.

[0030] In a next control period, the motor is controlled to operate at a given speed, comprising:

[0031] In the next control period, a given torque current of the motor is determined according to the given speed and the current speed; a first voltage is determined according to the given torque current and the current torque current.

[0032] A second voltage is determined according to a given excitation current of the motor and a current excitation current, wherein the current excitation current is obtained by subjecting the position of the rotor of the motor and the two-phase currents to the Park transformation.

[0033] The position of the rotor of the motor, the first voltage and the second voltage are subjected to an inverse Park transformation to obtain a given two-phase voltage of the motor in the next control period.

[0034] The given two-phase voltage of the next control period is processed by a space vector pulse width modulation (SVPWM) module to obtain a switching signal, and the switching signal is input to the three-phase bridge to control the three-phase bridge to drive the motor to operate at the given speed.

[0035] According to another aspect of the present application, a controller is provided, comprising:

[0036] at least one processor; and a memory connected with the at least one processor in communication; wherein,

[0037] The memory stores a computer program executable by the at least one processor, and the computer program is executed by the at least one processor to enable the at least one processor to perform the gear adjustment method of any embodiment of the present application.

[0038] According to another aspect of the present application, an exercise bicycle is provided, comprising the controller of any embodiment of the present application, and a host computer, a gear dial, a motor and a three-phase bridge.

[0039] The host computer and the gear dial are arranged on the exercise bicycle, and the host computer is connected with the controller in communication.

[0040] The controller, the motor and the three-phase bridge are arranged in the exercise bicycle, and the motor is connected with the three-phase bridge.

[0041] According to another aspect of the present application, there is provided a computer readable storage medium storing computer instructions for causing a processor to implement the gear adjustment method of any of the embodiments of the present application when executed.

[0042] The technical solution of the embodiments of the present application acquires gear adjustment information, and then determines a target gear of the exercise bike according to the gear adjustment information, and finally adjusts the current gear of the exercise bike to the target gear. Since the gear adjustment information is information received from the upper computer when the preset flag bit has the first value, or information generated when the preset flag bit has the second value and the gear dial is triggered, the exercise bike provided by the present application can support both user-defined gear adjustment and mechanical gear adjustment. Moreover, the adjustment range of the gear is very wide regardless of the adjustment mode, and is no longer limited to the traditional fixed gear adjustment mode. Thus, the exercise bike can be infinitely adjusted in various gears, and the user's riding experience is improved. BRIEF DESCRIPTION OF DRAWINGS

[0043] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed in the embodiment description will be briefly introduced. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative effort.

[0044] FIG. 1 is a flowchart of a gear adjustment method according to an embodiment of the present application;

[0045] FIG. 2 is a flowchart of a gear adjustment method according to another embodiment of the present application;

[0046] FIG. 3 is a motor control logic diagram according to the embodiment of the present application;

[0047] FIG. 4 is a structural diagram of a gear adjustment device according to an embodiment of the present application;

[0048] FIG. 5 is another structural diagram of a gear adjustment device according to an embodiment of the present application;

[0049] FIG. 6 is a structural diagram of a controller according to an embodiment of the present application;

[0050] FIG. 7 is a structural diagram of an exercise bike according to an embodiment of the present application. DETAILED DESCRIPTION

[0051] In the following, the technical solutions in the embodiments of the present application will be described clearly and completely in conjunction with the drawings in the embodiments of the present application, so that those skilled in the art can better understand the present application. Obviously, the described embodiments are only some of the embodiments of the present application, but not all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative work should fall within the scope of protection of the present application.

[0052] It should be noted that the terms "first", "second", "current", "given", and the like in the description and claims of the present application and the above drawings are used to distinguish similar objects, and do not necessarily indicate a specific order or sequence. It should be understood that the data thus used can be interchanged under appropriate circumstances, so that the embodiments of the present application described herein can be implemented in an order other than that illustrated or described herein. In addition, the terms "include" and "have" and any variations thereof are intended to cover non-exclusive inclusion, for example, a process, method, system, product or device that includes a series of steps or units does not necessarily have to be limited to those steps or units clearly listed, but can include other steps or units not clearly listed or inherent to these processes, methods, products or devices.

[0053] Embodiment one

[0054] FIG. 1 is a flowchart of a gear adjustment method according to an embodiment of the present application. The embodiment can be applied to the case of adjusting the gear of a stationary bicycle when a user uses the stationary bicycle. The method can be executed by a controller, which can be implemented in the form of hardware and / or software. The controller can be configured in the stationary bicycle. The stationary bicycle is provided with a host computer and a gear dial. The host computer is in communication connection with the controller. As shown in FIG. 1, the method comprises:

[0055] S110, obtaining gear adjustment information, wherein the gear adjustment information is information received by the host computer when the preset flag bit is set to a first value, or the gear adjustment information is information generated when the preset flag bit is set to a second value and the gear dial is detected to be triggered.

[0056] In the present application, the stationary bicycle can be a stationary bicycle used indoors, or a bicycle with a fitness function used outdoors. The stationary bicycle at least comprises a controller, a host computer and a gear dial. The host computer is in communication connection with the controller. The host computer can be a display screen with touch function / input keys, for the user to perform various operations, such as gear adjustment, setting constant resistance, querying riding data, etc. The display screen can also display various riding data of the stationary bicycle (such as power consumption, current speed, etc.).

[0057] In an embodiment, the gears described in the present application can be understood as the reduction ratio of the exercise bicycle. A preset flag is arranged in the controller, and the preset flag is used to indicate whether the exercise bicycle adopts the self-defined gear adjustment mode or the mechanical gear adjustment mode. Specifically, when the preset flag has a first value, it indicates that the exercise bicycle adopts the self-defined gear adjustment mode; when the preset flag has a second value, it indicates that the exercise bicycle adopts the mechanical gear adjustment mode. Optionally, the first value is 1, and the second value is 0.

[0058] Generally, after the controller is powered on, the preset flag is initialized. After the initialization of the preset flag, the preset flag defaults to the second value, i.e., the preset flag = 0, and the exercise bicycle adopts the mechanical gear adjustment mode. If the user wants to adopt the self-defined gear adjustment mode at this time, the host computer can be operated to make the host computer send flag change information to the controller, and after the controller receives the flag change information, the preset flag is changed from the second value to the first value.

[0059] Similarly, if the preset flag is the first value and the user wants to adopt the mechanical gear adjustment mode, the host computer can send the flag change information to the controller again, and after the controller receives the flag change information, the preset flag is changed from the first value to the second value. Of course, the preset flag can also be initialized by restarting the exercise bicycle.

[0060] In a possible implementation, when the preset flag has the first value, the method for the controller to obtain the gear adjustment information can be that: receiving the gear adjustment information triggered by the user based on the host computer.

[0061] In another possible implementation, when the preset flag has the second value, the method for the controller to obtain the gear adjustment information can be that: judging whether the gear dial is triggered; if the gear dial is triggered, generating the gear adjustment information according to the triggered gear dial.

[0062] It should be noted that the number of gear dials can be two or four. When the number of gear dials is two, the two gear dials are a left dial and a right dial; when the number of gear dials is four, the four gear dials are a left plus dial, a left minus dial, a right plus dial, and a right minus dial. In the present application, only one gear dial can be triggered at a time.

[0063] S120, determining a target gear of the exercise bicycle according to the gear adjustment information.

[0064] For the case that the gear adjustment information is the information received from the upper computer when the preset flag bit is the first value, since the fitness bike adopts the self-defined gear adjustment mode, the user can define the output target gear, and thus the gear adjustment information can directly include the target gear. The controller directly reads from the gear adjustment information to determine the target gear of the fitness bike.

[0065] For the case that the gear adjustment information is the information generated when the preset flag bit is the second value and the gear dial is triggered, since the fitness bike adopts the mechanical gear adjustment mode, the controller can know which gear dial is triggered, and thus generates the gear adjustment information including the change information according to the triggered gear dial. Then the controller determines the target gear according to the change information and the current gear of the fitness bike.

[0066] For example, assuming that the number of gear dials is two and the current gear of the fitness bike is 1, the current gear is converted into the ratio form as 1:1. When the left dial is dialled to the plus gear direction (i.e. triggered), the change information is left gear plus 1, and the target gear is 2:1. When the left dial is dialled to the minus gear direction (i.e. triggered) again, the change information is left gear minus 1, and the target gear is 1:1. The right dial is the same.

[0067] Assuming that the number of gear dials is four and the current gear of the fitness bike is 1, the current gear is converted into the ratio form as 1:1. When the left plus dial is triggered, the change information is left gear plus 1, and the target gear is 2:1. When the left plus dial is triggered again, the change information is left gear plus 1, and the target gear is 3:1. When the right plus dial is triggered, the change information is right gear plus 1, and the target gear is 3:2. The remaining dials are the same.

[0068] It should be noted that the gear in the ratio form cannot be zero, i.e. the values on the left and right sides of the ratio symbol are at least 1. When the value on the left / right side is 1, the gear will not decrease even if the corresponding dial is triggered again.

[0069] S130, adjust the current gear of the fitness bike to the target gear.

[0070] The current gear of the fitness bike is adjusted to the target gear, so that the fitness bike can work according to the target gear. In this way, the traditional fixed gear adjustment mode is avoided, the adjustment range of the gear is expanded, the endless adjustment of various gears of the fitness bike is realized, and the riding experience of the user is improved.

[0071] Embodiment Two

[0072] Fig. 2 is a flowchart of a gear adjustment method according to an embodiment of the present application. The embodiment is based on the embodiment 1, and can further realize resistance adjustment and electrode control. As shown in Fig. 2, the method comprises the following steps.

[0073] In S201, gear adjustment information is acquired. The gear adjustment information is information received from the host computer when the preset flag bit has the first value, or the gear adjustment information is information generated when the preset flag bit has the second value and the gear dial is triggered.

[0074] In the embodiment, the exercise bicycle comprises a controller, a host computer, a gear dial, a motor and a three-phase bridge. The host computer is in communication connection with the controller. The host computer can be a display screen with touch function / input button, for the user to perform various operations, such as gear adjustment, setting constant resistance, setting riding slope, querying riding data, etc. The display screen can also display various riding data of the exercise bicycle (such as power consumption, current speed, etc.). The motor has driving function and power generation function, the three-phase bridge (such as three-phase inverter bridge) is connected with the motor, and the controller is used to control the three-phase bridge, so that the three-phase bridge drives the motor to work.

[0075] In an embodiment, the gear described in the present application can be understood as the gear ratio of the exercise bicycle. A preset flag bit is arranged in the controller, and the preset flag bit is used to indicate whether the exercise bicycle adopts the self-defined gear adjustment mode or the mechanical gear adjustment mode. Specifically, when the preset flag bit has the first value, it indicates that the exercise bicycle adopts the self-defined gear adjustment mode; when the preset flag bit has the second value, it indicates that the exercise bicycle adopts the mechanical gear adjustment mode. Optionally, the first value is 1, and the second value is 0.

[0076] In a possible implementation, when the preset flag bit has the first value, the method for the controller to acquire the gear adjustment information can be: receiving the gear adjustment information triggered by the user based on the host computer.

[0077] In another possible implementation, when the preset flag bit has the second value, the method for the controller to acquire the gear adjustment information can be: judging whether the gear dial is triggered; if the gear dial is triggered, generating the gear adjustment information according to the triggered gear dial.

[0078] It should be noted that the number of gear dials can be two or four. When the number of gear dials is two, one of the two gear dials is a left dial and the other is a right dial; when the number of gear dials is four, the four gear dials are respectively a left plus dial, a left minus dial, a right plus dial and a right minus dial. In the present application, only one gear dial can be triggered at a time.

[0079] S202, determine the target gear of the exercise bike according to the gear adjustment information.

[0080] For the case that the gear adjustment information is the information received by the host computer and the value of the preset flag bit is the first value, since the exercise bike adopts the self-defined gear adjustment mode, the user can define the output target gear, and therefore the gear adjustment information can directly contain the target gear. The controller directly reads the target gear from the gear adjustment information, and thus determines the target gear of the exercise bike.

[0081] For the case that the gear adjustment information is the information generated when the value of the preset flag bit is the second value and the gear dial is triggered, since the exercise bike adopts the mechanical gear adjustment mode, the controller can know which gear dial is triggered, and thus generates the gear adjustment information according to the triggered gear dial, the gear adjustment information including the change information. Then the controller determines the target gear according to the change information and the current gear of the exercise bike.

[0082] S203, adjust the current gear of the exercise bike to the target gear.

[0083] S204, obtain the vehicle parameters of the exercise bike and the working parameters of the exercise bike in the current control period, wherein the vehicle parameters include the total weight of the exercise bike, the wheel radius of the exercise bike and the torque coefficient of the motor, and the working parameters include the current torque current of the motor, the current speed of the motor and the comprehensive resistance received by the exercise bike.

[0084] The controller controls the motor according to the control period, and the length of the control period can be determined according to the actual demand or the hardware condition of the controller, for example, the length of the control period is 1ms, 10ms, 50ms, 100ms, 500ms, 1s, 3s, 5s, etc. When the hardware condition of the controller is good (such as fast operation) or the user has high requirements on the riding experience of the exercise bike, the control period can be set to be relatively short, so that the smooth control of the exercise bike can be realized; on the contrary, when the control period is relatively long, the requirement on the hardware condition of the controller will be correspondingly reduced, and thus the production cost can be saved.

[0085] The current control period is a control period corresponding to the current execution of step S204, and the next control period is a control period next to the current control period. Therefore, the current control period and the next control period are a relative concept in time. For example, assuming that the length of a control period is 1 s, the current time is 12:00:00, and the user starts riding the exercise bike from the current time, the motor of the exercise bike starts to work. 12:00:00-12:00:01 is the current control period, and 12:00:01-12:00:02 is the next control period. When the time goes to 12:00:01, 12:00:01-12:00:02 becomes the current control period, and 12:00:02-12:00:03 is the next control period, and so on.

[0086] In an embodiment, the vehicle parameters of the exercise bike include the total weight of the exercise bike, the wheel radius of the exercise bike, and the torque coefficient of the motor. The total weight includes the self-weight of the exercise bike and the weight (including but not limited to the weight of the bike and the weight of the user). The torque coefficient of the motor refers to the size of the torque generated under unit current, which is one of the key parameters of the motor performance, reflecting the torque output capability of the motor in the working state. Generally speaking, the higher the torque coefficient of the motor, the greater the torque output by the motor under the same current, and the higher the working efficiency.

[0087] The vehicle parameters usually do not change in one use of the user. The wheel radius of the exercise bike and the torque coefficient of the motor can be pre-stored in the controller, which can be directly read by the controller. The total weight of the exercise bike can be measured by measuring the weight of the exercise bike, and then adding the pre-stored self-weight of the exercise bike.

[0088] In an embodiment, the working parameters of the exercise bike in the current control period include the current torque current of the motor, the current speed of the motor, and the comprehensive resistance received by the exercise bike.

[0089] For the comprehensive resistance received by the exercise bike, the comprehensive resistance can include at least one of the following: external resistance received by the exercise bike, constant resistance set by the user, and slope resistance when the exercise bike simulates slope riding. The external resistance received by the exercise bike includes but is not limited to wind resistance and wheel friction resistance.

[0090] Specifically, when the comprehensive resistance includes the external resistance F1, the controller can measure the size of the external resistance through a sensor or the like; when the comprehensive resistance includes the constant resistance F2 set by the user, the controller can directly read the size of the constant resistance; when the comprehensive resistance includes the slope resistance F3 when the exercise bicycle simulates slope riding, the riding slope of the simulated slope riding can be preset / user set, and the slope resistance can be calculated according to the formula by determining the riding slope: F3 = mg sin θ, wherein m is the total weight, g is the gravity coefficient, and θ is the riding slope. That is, the comprehensive resistance F = F1 + F2 + F3, when the value of F1 is 0, it means that the comprehensive resistance does not include the external resistance, when the value of F2 is 0, it means that the comprehensive resistance does not include the constant resistance, and when the value of F3 is 0, it means that the comprehensive resistance does not include the slope resistance.

[0091] Since the type of resistance included in the comprehensive resistance can not be able to, the size of the resistance can change, different comprehensive resistances can describe different riding scenes of the exercise bicycle. Especially when the comprehensive resistance includes the slope resistance, the simulation of the slope riding scene by the exercise bicycle can be realized, the user is provided with the selection of multiple riding scenes, and the user experience is improved.

[0092] In an embodiment, FIG. 3 is a motor control logic diagram provided by the second embodiment of the present application. In combination with FIG. 3, for the current torque current and the current speed of the motor, the following four steps can be adopted to obtain:

[0093] Step A1) In the current control period, the three-phase current of the motor in the three-phase stationary coordinate system is collected.

[0094] Generally, two phases of the three-phase current can be taken without any doubt to obtain the third phase, and therefore, the three-phase current is denoted as ia and ib in FIG. 3.

[0095] Step A2) The three-phase current is subjected to Clarke transformation to obtain the two-phase current of the motor in the two-phase stationary coordinate system.

[0096] The two-phase current is denoted as iα and iβ in FIG. 3.

[0097] Step A3) According to the two-phase current and the given two-phase voltage in the current control period, the current speed and the position of the motor rotor are determined.

[0098] The given two-phase voltage in the current control period is the given two-phase voltage determined when the motor is controlled to operate at the given speed in the previous control period in the current control period. The given two-phase voltage is the voltage in the two-phase stationary coordinate system. The given two-phase voltage is denoted as Uα and Uβ in FIG. 3.

[0099] The position and speed estimation is performed on the two-phase currents iαand iβ, and the given two-phase voltages Uαand Uβof the current control period, and the current rotational speed ω and the position γ of the rotor of the motor can be determined.

[0100] In step A4), a Park transformation is performed on the position of the rotor of the motor and the two-phase currents, and the current torque current is obtained.

[0101] In FIG. 3, the current torque current is denoted as I q . Thus, the current torque current I q of the motor and the current rotational speed ω can be obtained.

[0102] In addition, with reference to FIG. 3, in step A4), the current excitation current of the motor is also obtained when the Park transformation is performed on the position of the rotor of the motor and the two-phase currents, and the current excitation current is denoted as I d .

[0103] S205, determining a first power exerted on the exercise bike by the user according to the current torque current, the torque coefficient and the current rotational speed.

[0104] According to the law of conservation of energy, it can be known that energy neither comes into being nor disappears, it only changes from one form to another or transfers from one object to another, and the total amount of energy remains unchanged. That is to say, for the exercise bike, the total energy change can only equal to the amount of energy transmitted into or out of the exercise bike. Therefore, in the present application, the work done by the user on the exercise bike and the work done by the comprehensive resistance on the exercise bike need to be considered.

[0105] For the work done by the user on the exercise bike, the current torque current, the torque coefficient and the current rotational speed can be used to determine. For example, the current output torque of the motor is first determined according to the current torque current and the torque coefficient, and then the first power is determined according to the current output torque and the current rotational speed.

[0106] Suppose the torque coefficient is denoted as Kt, and the current output torque T of the motor is equal to the product of the torque coefficient Kt and the current torque current I q . That is, T = Kt * I q . Since the first power reflects the work done by the user on the exercise bike, the first power P1 is equal to the negative of the product of the current output torque T of the motor and the current rotational speed ω. That is, P1 = -T * ω. Generally, the unit of the first power is watt (w).

[0107] S206, determining a second power exerted on the exercise bike by the comprehensive resistance according to the comprehensive resistance, the wheel radius and the current rotational speed.

[0108] The work done by the comprehensive resistance on the exercise bicycle can be determined according to the comprehensive resistance, the wheel radius and the current rotating speed. For example, the current speed of the exercise bicycle can be determined according to the wheel radius and the current rotating speed first, and then the second power can be determined according to the comprehensive resistance and the current speed.

[0109] Suppose the wheel radius is R, the current speed of the exercise bicycle is v, the total weight of the exercise bicycle is W, the first power is P1, the second power is P2, and the target gear is G. Since the second power reflects the work done by the comprehensive resistance on the exercise bicycle, the second power P2 is equal to the product of the comprehensive resistance F and the current speed v. That is, P2=F*v.

[0110] Generally, the unit of the wheel radius is meter (m), the unit of the current speed is meter / second (m / s). The unit of the comprehensive resistance is Newton (N), and the unit of the second power is watt (w).

[0111] It should be noted that there is no execution sequence relationship between steps S205 and S206 in this embodiment. That is, step S205 can be executed first, and then step S206 can be executed; or step S206 can be executed first, and then step S205 can be executed; or steps S205 and S206 can be executed simultaneously.

[0112] S207, according to the total weight, the wheel radius, the first power, the second power and the target gear, determine the given rotating speed of the motor in the next control period, and control the motor to run at the given rotating speed in the next control period.

[0113] According to the law of conservation of energy, the change of the total energy of the exercise bicycle can only be equal to the amount of energy transmitted into or out of the exercise bicycle. Therefore, in one control period of the present application, the work done by the user on the exercise bicycle, the work done by the comprehensive resistance on the exercise bicycle and the work done by the motor are balanced. Therefore, the energy of the exercise bicycle in the current control period can be determined according to the first power and the second power.

[0114] Specifically, the energy E of the exercise bicycle in the current control period is ∫(P1+P2)·dt, wherein ∫()·dt represents the total power done by the external environment on the exercise bicycle in the current control period t.

[0115] Since the energy of the exercise bicycle is mainly kinetic energy, the ideal speed v0 of the exercise bicycle can be calculated according to the kinetic energy formula.

[0116] Generally, the unit of the total weight is kilogram (kg), and the unit of the ideal speed v0 is meter / second (m / s).

[0117] Finally, the given rotating speed is determined according to the ideal speed, the wheel radius and the target gear G. The given rotating speed

[0118] In combination with FIG. 3, the "controlling the motor to operate at the given rotating speed in the next control period" in step S207 can be implemented by the following four steps:

[0119] Step B1) determining a given torque current of the motor according to the given rotating speed and the current rotating speed in the next control period; and determining a first voltage according to the given torque current and the current torque current.

[0120] Specifically, the given rotating speed ωRef and the current rotating speed ω can be multiplied first, and then a linear controller (PI controller) operation is performed on the operation result to obtain the given torque current I q Ref of the motor; and the given torque current I q Ref and the current torque current I q are multiplied, and then a linear controller (PI controller) operation is performed on the operation result to obtain the first voltage U q .

[0121] Step B2) determining a second voltage according to the given exciting current and the current exciting current of the motor, wherein the current exciting current is obtained by performing a Park transformation on the position of the motor rotor and the two-phase current.

[0122] Specifically, the given exciting current I d Ref of the motor and the current exciting current I d are multiplied first, and then a linear controller (PI controller) operation is performed on the operation result to obtain the second voltage U d . Generally, the given exciting current I d Ref is set to 0.

[0123] It should be noted that the first voltage U q and the second voltage U d are voltages in the two-phase rotating coordinate system.

[0124] Step B3) performing an inverse Park transformation on the position of the motor rotor, the first voltage and the second voltage to obtain a given two-phase voltage of the motor in the next control period.

[0125] Step B4) processing the given two-phase voltage in the next control period by using a space vector pulse width modulation (SVPWM) module to obtain a switching signal, and inputting the switching signal into a three-phase bridge to control the three-phase bridge to drive the motor to operate at the given rotating speed.

[0126] It should be noted that the given speed ωRef of the motor is 0 at the initial moment when the user rides the exercise bicycle. Once the user starts riding, the motor starts working as long as the sum of the first power applied by the user to the exercise bicycle and the second power applied by the comprehensive resistance to the exercise bicycle is not 0. Of course, if the sum of the first power applied by the user to the exercise bicycle and the second power applied by the comprehensive resistance to the exercise bicycle is equal to 0, the work done by the external to the exercise bicycle is balanced, and the motor does not work. The current torque I q is negative, indicating that the motor is in a power generation state; the current torque I q is positive, indicating that the motor is in a driving state.

[0127] In this way, the given speed of the motor in the next control period is determined in accordance with the law of conservation of energy, avoiding waste of energy, thereby achieving precise control of the motor. In addition, when determining the given speed of the motor in the next control period, various riding data of the exercise bicycle can be obtained, facilitating user inquiry.

[0128] The embodiment of the application provides a gear adjusting method, which is applied to a controller of a fitness bicycle, the fitness bicycle is provided with an upper computer and a gear dial, and the upper computer is in communication connection with the controller; the method comprises the following steps: acquiring gear adjusting information, wherein the gear adjusting information is information received by the upper computer and sent by the upper computer when a preset flag bit is a first value, or the gear adjusting information is information generated when the preset flag bit is a second value and the gear dial is detected to be triggered; determining a target gear of the fitness bicycle according to the gear adjusting information; and adjusting a current gear of the fitness bicycle to the target gear. The technical scheme of the embodiment of the application acquires the gear adjusting information, then determines the target gear of the fitness bicycle according to the gear adjusting information, and finally adjusts the current gear of the fitness bicycle to the target gear. Since the gear adjusting information is information received by the upper computer and sent by the upper computer when the preset flag bit is the first value, or is information generated when the preset flag bit is the second value and the gear dial is detected to be triggered, the fitness bicycle provided by the application can support user-defined input gear adjustment and mechanical gear adjustment. Moreover, the adjustment range of the gear is very wide regardless of the adjustment mode, and is no longer limited to the traditional fixed gear adjustment mode. Thus, the fitness bicycle is realized to be infinitely adjusted in various gears, and the riding experience of the user is improved. Further, in the first aspect, since the working parameter comprises a comprehensive resistance received by the fitness bicycle, different comprehensive resistances can describe different riding scenes of the fitness bicycle, and thus the fitness bicycle is realized to simulate various riding scenes. In the second aspect, the motor is controlled according to a control period, and the length of the control period can be determined according to actual requirements or hardware conditions of the controller. When the control period is relatively short, the fitness bicycle can be realized to be smoothly controlled. When the control period is relatively long, the demand of the fitness bicycle on the computing power can be reduced. In the third aspect, the given rotating speed of the motor in the next control period is determined based on the total weight, the wheel radius, the first power and the second power, the energy conservation law is followed, and the waste of energy is avoided, so that the motor is realized to be accurately controlled. In addition, when the given rotating speed of the motor in the next control period is determined, various riding data of the fitness bicycle can be obtained, and the user can be facilitated to query.

[0129] Embodiment three

[0130] Fig. 4 is a structural schematic diagram of a gear adjusting device provided by the embodiment three of the application. As shown in Fig. 4, the device comprises an information acquisition module 401, a gear determination module 402 and a gear adjusting module 403.

[0131] The information acquisition module 401 is configured to acquire gear adjusting information, wherein the gear adjusting information is information received by the upper computer and sent by the upper computer when a preset flag bit is a first value, or the gear adjusting information is information generated when the preset flag bit is a second value and the gear dial is detected to be triggered;

[0132] The gear determination module 402 is configured to determine a target gear of the exercise bicycle according to the gear adjustment information.

[0133] The gear adjustment module 403 is configured to adjust the current gear of the exercise bicycle to the target gear.

[0134] Optionally, when the gear adjustment information is the information received from the host computer and the preset flag bit has the first value, the gear adjustment information comprises the target gear.

[0135] When the gear adjustment information is the information generated when the preset flag bit has the second value and the gear dial is triggered, the gear adjustment information comprises change information, and the target gear is determined based on the change information and the current gear.

[0136] Optionally, in combination with FIG. 4, FIG. 5 is a structural schematic diagram of another gear adjustment device provided by the third embodiment of the present application. As shown in FIG. 5, the device further comprises a control module 404.

[0137] The control module 404 is configured to obtain vehicle parameters of the exercise bicycle and working parameters of the exercise bicycle in a current control period, wherein the vehicle parameters comprise a total weight of the exercise bicycle, a wheel radius of the exercise bicycle and a torque coefficient of the motor, and the working parameters comprise a current torque current of the motor, a current rotating speed of the motor and a comprehensive resistance received by the exercise bicycle; based on the current torque current, the torque coefficient and the current rotating speed, a first power exerted on the exercise bicycle by a user is determined; based on the comprehensive resistance, the wheel radius and the current rotating speed, a second power exerted on the exercise bicycle by the comprehensive resistance is determined; based on the total weight, the wheel radius, the first power, the second power and the target gear, a given rotating speed of the motor in a next control period is determined, and the motor is controlled to operate at the given rotating speed in the next control period.

[0138] Optionally, the comprehensive resistance comprises at least one of the following: an external resistance received by the exercise bicycle, a constant resistance set by the user, and a slope resistance when the exercise bicycle simulates slope riding; wherein the slope resistance is determined based on a riding slope and the total weight.

[0139] Optionally, the control module 404 is configured to determine an energy of the exercise bicycle in the current control period based on the first power and the second power; determine an ideal speed of the exercise bicycle based on the total weight and the energy; and determine the given rotating speed based on the ideal speed, the wheel radius and the target gear.

[0140] Optionally, the control module 404 is configured to, in the current control period, collect three-phase currents of the motor in a three-phase stationary coordinate system; perform a Clarke transformation on the three-phase currents to obtain two-phase currents of the motor in a two-phase stationary coordinate system; determine a current rotating speed and a position of a rotor of the motor according to the two-phase currents and a given two-phase voltage in the current control period; and perform a Park transformation on the position of the rotor of the motor and the two-phase currents to obtain a current torque current.

[0141] Optionally, the control module 404 is configured to, in the next control period, determine a given torque current of the motor according to the given rotating speed and the current rotating speed; determine a first voltage according to the given torque current and the current torque current; determine a second voltage according to a given excitation current of the motor and a current excitation current, wherein the current excitation current is obtained by performing the Park transformation on the position of the rotor of the motor and the two-phase currents; perform an inverse Park transformation on the position of the rotor of the motor, the first voltage and the second voltage to obtain a given two-phase voltage of the motor in the next control period; perform processing on the given two-phase voltage in the next control period by using a space vector pulse width modulation (SVPWM) module to obtain a switching signal, and input the switching signal into the three-phase bridge to control the three-phase bridge to drive the motor to operate at the given rotating speed.

[0142] The gear adjusting device provided in the embodiments of the present application can perform the gear adjusting method provided in any of the embodiments of the present application, and has the corresponding function modules and beneficial effects of the performing method.

[0143] Embodiment Four

[0144] FIG. 6 is a structural schematic diagram of a controller provided in Embodiment Four of the present application. The controller is intended to represent various forms of digital computers, such as laptops, desktops, tablets, personal digital assistants, servers, blade servers, mainframes, and other appropriate computers. The components shown here, their connections and relationships, and their functions, are meant to be examples only, and are not intended to limit the implementations of the present application described and / or claimed in this document to the embodiments presented herein.

[0145] As shown in FIG. 6, the controller 10 includes at least one processor 11, and a memory, such as a read-only memory (ROM) 12, a random access memory (RAM) 13, etc., which is communicatively connected to the at least one processor 11, wherein the memory stores a computer program that can be executed by the at least one processor. The processor 11 can perform various appropriate actions and processes according to the computer program stored in the read-only memory (ROM) 12 or loaded from the storage unit 18 into the random access memory (RAM) 13. In the RAM 13, various programs and data required for the operation of the controller 10 can also be stored. The processor 11, the ROM 12, and the RAM 13 are connected to each other through a bus 14. An input / output (I / O) interface 15 is also connected to the bus 14.

[0146] Various components in the controller 10 are connected to the I / O interface 15, including an input unit 16, such as a gear dial of a stationary bicycle, a host computer, etc., an output unit 17, such as various types of displays, speakers, etc., a storage unit 18, such as a magnetic disk, an optical disk, etc., and a communication unit 19, such as a network card, a modem, a wireless communication transceiver, etc. The communication unit 19 allows the controller 10 to exchange information / data with other devices through a computer network, such as the Internet, and / or various telecommunication networks.

[0147] The processor 11 can be various general-purpose and / or special-purpose processing components with processing and computing capabilities. Some examples of the processor 11 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various special-purpose artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, a digital signal processor (DSP), and any appropriate processor, controller, microcontroller, etc. The processor 11 performs various methods and processes described above, such as the gear adjustment method.

[0148] FIG. 7 is a structural schematic diagram of a stationary bicycle according to an embodiment of the present application. As shown in FIG. 7, the stationary bicycle includes the controller 10 described in the above embodiments, a motor 20, a three-phase bridge 30, a host computer 40, and a gear dial (not shown in FIG. 7); wherein the host computer 40 and the gear dial are arranged on the stationary bicycle, and the host computer 40 is communicatively connected to the controller 10. The controller 10, the motor 20, and the three-phase bridge 30 are arranged in the stationary bicycle, and the motor 20 is connected to the three-phase bridge 30. The motor 20 has a driving function and a power generation function, and the controller 10 is configured to control the three-phase bridge 30 so as to drive the motor 20 to work.

[0149] In some embodiments, the method of adjusting the gear position can be implemented as a computer program tangibly embodied in a computer readable storage medium, e.g., storage unit 18. In some embodiments, parts or all of the computer program can be loaded and / or installed onto controller 10 via ROM 12 and / or communication unit 19. When the computer program is loaded onto RAM 13 and executed by processor 11, one or more steps of the method of adjusting the gear position described above can be performed. Alternatively, in other embodiments, processor 11 can be configured to perform the method of adjusting the gear position by other means, e.g., with the aid of firmware.

[0150] Various implementations of the systems and techniques described above can be realized in digital electronic circuitry, integrated circuitry, a field programmable gate array (FPGA), an application specific integrated circuit (ASIC), a system on a chip (SOC), a programmable logic device (PLD), a computer hardware, firmware, software, and / or combinations thereof. These various implementations can include implementation in one or more computer programs that are executable and / or interpretable on a programmable system including at least one programmable processor, which can be special or general purpose, coupled to receive data and instructions from, and to transmit data and instructions to, a storage system, at least one input device, and at least one output device.

[0151] Computer programs used to implement the methods of the present application can be written in any combination of one or more programming languages. These computer programs can be provided to a processor of a general purpose computer, special purpose computer, or other programmable data processing apparatus to produce a machine, such that the computer program, when executed by the processor of the machine, implements the functions / acts specified in the flowcharts and / or block diagrams. The computer program can be executed entirely on a machine, partially on a machine, partially on a machine and partially on a remote machine or entirely on a remote machine or server.

[0152] In the context of this application, a computer readable storage medium can be a tangible medium that can contain or store computer programs for use by or in connection with an instruction execution system, apparatus, or device. Computer readable storage media can include, but are not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, apparatus, or devices, or any suitable combination of the foregoing. Alternatively, a computer readable storage medium can be a machine readable signal medium. More specific examples of the machine readable storage medium will include a one or more lines of a electrical connection, a portable computer diskette, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or Flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

[0153] To provide for interaction with a user, the systems and techniques described here can be implemented on a controller having a display (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user and a keyboard and a pointing device (e.g., a mouse or a trackball) by which the user can provide input to the controller. Other kinds of devices can be used to provide for interaction with a user as well; for example, feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form, including acoustic, speech, or tactile input.

[0154] The systems and techniques described here can be implemented in a computing system that includes a back end component (e.g., as a data server), or that includes a middleware component (e.g., an application server), or that includes a front end component (e.g., a user computer having a graphical user interface or a Web browser through which a user can interact with an implementation of the systems and techniques described here), or any combination of such back end, middleware, or front end components. The components of the system can be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include a local area network (LAN), a wide area network (WAN), a blockchain network, and the Internet.

[0155] The computing system can include clients and servers. A client and server are generally remote from each other and typically interact through a communication network. The relationship of client and server arises by virtue of computer programs running on the respective computers and having a client-server relationship to each other. A server can be a cloud server, also known as a cloud computing server or cloud host, which is a host product in the cloud computing service system, to solve the defects of large management difficulty and weak business scalability in traditional physical host and VPS service.

[0156] The embodiments of the present application also provide a computer program product, comprising a computer program which, when executed by a processor, implements the behavior operation determination method provided by any of the embodiments of the present application.

[0157] The computer program product can be written in one or more programming languages or combinations of languages to implement the techniques of the present application, including an object-oriented programming language such as Java, Smalltalk, C++, or the like, and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code can execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server. In the latter scenario, the remote computer can be connected to the user's computer through any type of network, including a local area network (LAN) or a wide area network (WAN), or the connection can be made to an external computer (for example, through the Internet using an Internet Service Provider).

[0158] It should be understood that the various forms of flow shown above can be re-ordered, added to, or deleted from without departing from the spirit of the present application. For example, the steps recited in the present application can be executed in parallel, in series, or in different orders, as long as the desired results of the technical solutions of the present application can be achieved.

Claims

1. A gear adjustment method applied to a controller of an exercise bicycle, wherein the exercise bicycle is provided with a host computer and a gear dial, and the host computer is in communication connection with the controller; the method comprising: obtaining gear adjustment information, wherein the gear adjustment information is information received by the controller from the host computer when a preset flag bit has a first value, or the gear adjustment information is information generated when the preset flag bit has a second value and the gear dial is detected to be triggered; determining a target gear of the exercise bicycle according to the gear adjustment information; adjusting a current gear of the exercise bicycle to the target gear.

2. The method of adjusting the gear position according to claim 1, wherein, When the gear adjustment information is information received by the controller from the host computer when the preset flag bit has the first value, the gear adjustment information comprises the target gear. When the gear adjustment information is information generated when the preset flag bit has the second value and the gear dial is detected to be triggered, the gear adjustment information comprises change information, and the target gear is determined based on the change information and the current gear.

3. The method of adjusting the gear position according to claim 1, wherein, The exercise bicycle is provided with a motor; After adjusting the current gear of the exercise bicycle to the target gear, the method further comprises: obtaining vehicle parameters of the exercise bicycle and working parameters of the exercise bicycle in a current control period, wherein the vehicle parameters comprise a total weight of the exercise bicycle, a wheel radius of the exercise bicycle and a torque coefficient of the motor, and the working parameters comprise a current torque current of the motor, a current rotating speed of the motor and a comprehensive resistance received by the exercise bicycle; determining a first power exerted on the exercise bicycle by a user according to the current torque current, the torque coefficient and the current rotating speed; determining a second power exerted on the exercise bicycle by the comprehensive resistance according to the comprehensive resistance, the wheel radius and the current rotating speed; determining a given rotating speed of the motor in a next control period according to the total weight, the wheel radius, the first power, the second power and the target gear, and controlling the motor to operate at the given rotating speed in the next control period.

4. The method of adjusting the gear position according to claim 3, wherein, The comprehensive resistance comprises at least one of the following: an external resistance received by the exercise bicycle, a constant resistance set by a user, and a slope resistance when the exercise bicycle simulates slope riding; The slope resistance is determined based on a riding slope and the total weight.

5. The method of adjusting the gear position according to claim 3, wherein, The determination of the given rotating speed of the motor in the next control period according to the total weight, the wheel radius, the first power, the second power and the target gear comprises: determining an energy of the exercise bicycle in the current control period according to the first power and the second power; determining an ideal speed of the exercise bicycle according to the total weight and the energy; determining the given rotating speed according to the ideal speed, the wheel radius and the target gear.

6. The method of adjusting the gear position according to claim 3, wherein, The obtaining of the current torque current and the current rotating speed comprises: acquiring three-phase currents of the motor in a three-phase stationary coordinate system in the current control period; performing Clarke transformation on the three-phase current to obtain two-phase current of the motor in two-phase stationary coordinate system; determining the current rotating speed and position of the motor rotor according to the two-phase current and given two-phase voltage of current control period; performing Park transformation on the position of the motor rotor and the two-phase current to obtain the current torque current.

7. The method of adjusting the gear position according to claim 6, wherein, The fitness bicycle further comprises a three-phase bridge connected with the motor. The controlling the motor to operate at the given rotating speed in the next control period comprises: determining given torque current of the motor according to the given rotating speed and the current rotating speed in the next control period; and determining first voltage according to the given torque current and the current torque current; determining second voltage according to given excitation current and current excitation current of the motor, wherein the current excitation current is obtained by performing Park transformation on the position of the motor rotor and the two-phase current; performing inverse Park transformation on the position of the motor rotor, the first voltage and the second voltage to obtain given two-phase voltage of the motor in the next control period; processing the given two-phase voltage of the next control period by using a space vector pulse width modulation (SVPWM) module to obtain switching signal, and inputting the switching signal into the three-phase bridge to control the three-phase bridge to drive the motor to operate at the given rotating speed. 8.A controller, comprising: at least one processor; and a memory connected with the at least one processor in communication; wherein the memory stores a computer program executable by the at least one processor, and the computer program is executed by the at least one processor to enable the at least one processor to execute the gear adjustment method of any one of claims 1-7. 9.A fitness bicycle, comprising the controller of claim 8, and a host computer, a gear dial, a motor and a three-phase bridge; wherein the host computer and the gear dial are arranged on the fitness bicycle, and the host computer is connected with the controller in communication; the controller, the motor and the three-phase bridge are arranged in the fitness bicycle, and the motor is connected with the three-phase bridge. 10.A computer readable storage medium, which stores computer instructions for enabling a processor to execute the gear adjustment method of any one of claims 1-7 when executed.

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