CN104826277A - Intelligent motion control method and equipment for treadmill - Google Patents
Intelligent motion control method and equipment for treadmill Download PDFInfo
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- CN104826277A CN104826277A CN201510274192.XA CN201510274192A CN104826277A CN 104826277 A CN104826277 A CN 104826277A CN 201510274192 A CN201510274192 A CN 201510274192A CN 104826277 A CN104826277 A CN 104826277A
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Abstract
The invention discloses an intelligent motion control method and equipment for a treadmill. The intelligent motion control method comprises the steps that a current pressure parameter collected by a pressure sensor is acquired; the current gravity center of a human body is estimated according to the current pressure parameter and the position information of the pressure sensor; the moving changing condition of the human body is confirmed according to the current gravity center of the human body and the gravity center of the human body estimated and confirmed before; the operating state of the treadmill is controlled according to the moving changing condition of the human body. According to the intelligent motion control method and equipment for the treadmill, the pressure sensor is adopted to estimate the gravity center of the human body, and a moving state of a person is judged according to the change of the gravity center of the human body, so that control on the treadmill is realized; accurate control on the treadmill can be realized due to the fact that the moving state of the person can be judged out accurately, automatic start and stop of the treadmill are realized, and automatic adjustment of the operating speed in the operating process is realized, so that the intelligent motion-controlled treadmill which is convenient, safe and energy-saving in application is provided for people.
Description
Technical field
The present invention relates to health and fitness facilities and technical field of electronic control, particularly relate to a kind of treadmill intelligent body sense control method and equipment.
Background technology
Along with the raising of people's health sense, the use of various health and fitness facilities is also increasing.Wherein, treadmill is the health and fitness facilities that everybody often selects.At present, people need when using treadmill to use button or knob manually to set the speed of service of treadmill in advance, and afterwards, treadmill is driven to run to be with by motor and runs with the speed of setting, facilitates people to bring in race and runs with this speed.But in running process, people often have the requirement of speed change, now, people still need the button on manual operation treadmill or knob etc. to realize variable speed operation.In the process of running, complete corresponding operation, not only use very inconvenient, and for the not good and unhandy crowd of physical mobility, also there is certain danger.
For this reason, occurred the treadmill that a kind of auto-speed controls at present, the tension force in the art by using tension pick-up to detect treadmill belt judges the acceleration or deceleration of people, to control the speed of treadmill.But, due to the size of tension pick-up itself and the restriction of maturity, corresponding technology is difficult to carry out.Such as, tension pick-up is placed between treadmill belt and running board, then will affects feel when people runs, produce rugged sensation, reduce the experience that people uses treadmill.Secondly, treadmill belt and tension pick-up inevitably produce at the volley and contact, and due to impacts such as the wearing and tearing of moving, greatly can reduce the service life of equipment.Moreover, adopt the mode of tension pick-up simply can only detect the tension force of treadmill belt front end and treadmill belt rear end, because in fact treadmill belt has certain elasticity and deformation quantity, data in use may change along with use, obtain good detection data to need often to calibrate equipment and adjust, operate and comparatively bother.And the mode of the detection that this technology adopts and control rate is too simple, is difficult to adapt to people's demand that state is changeable when moving, is difficult to further finely control treadmill.Such as, remain static or normal walking states according to the people that tension force cannot judge on now treadmill, and then be difficult to realize automatic on off control, start and stop still need manual button, and also cannot accomplish automatically to stop saving energy after people goes down treadmill; The cadence of the people that treadmill is walked and true leg speed cannot be judged, thus precisely cannot control according to the speed of real speed to treadmill; Also cannot draw the foothold coordinate of people on treadmill, thus cannot carry out reminding and preventing for sideslip when running on a treadmill.
Summary of the invention
The object of this invention is to provide a kind of treadmill intelligent body sense control method and equipment, thus accurately can judge the motion state of people on treadmill, the sense of body accurately realized treadmill runs controls.
The object of the invention is to be achieved through the following technical solutions:
A kind of treadmill intelligent body sense control method, comprising:
Obtain the current pressure parameter that pressure sensor gathers;
Positional information according to described current pressure parameter and pressure sensor estimates current human's position of centre of gravity;
The position of human center determined according to described current human's position of centre of gravity and estimating before judges to determine the motion change situation of human body;
The running status of motion change situation to treadmill according to described human body controls.
In the treatment step of described estimation current human position of centre of gravity, the concrete computing formula adopted comprises:
G(x,y)＝∑C
iF
iP
i(x,y)/∑F
i；
Wherein, G (x, y) is the position of human center of estimation, C
ibe the calibration parameter of i-th pressure sensor, F
ibe the pressure parameter value of i-th pressure sensor, P
i(x, y) is the positional information of i-th pressure sensor;
Described judgement determines that the treatment step of the motion change situation of human body comprises:
According to described current human's position of centre of gravity and estimate the position of human center determined before, add up the time of adjacent twice position of human center change, and then convert and determine people's cadence of taking a step on a treadmill;
According to current determine described in the cadence of taking a step compare with the cadence of taking a step determined before, judge to determine people's movement velocity situation of change on a treadmill.
The method also comprises:
According to current human's position of centre of gravity and estimate that the position of human center front and back situation of change on a treadmill determined determines people's movement velocity situation of change on a treadmill further before.
Described judgement determines that the treatment step of the motion change situation of human body comprises:
According to described current human's position of centre of gravity and estimate the position of human center determined before, add up the time of adjacent twice position of human center change, and then convert and determine people's cadence of taking a step on a treadmill;
According to current human's position of centre of gravity and estimate the position of human center determined before, in conjunction with described in the cadence of taking a step calculate the movement velocity of people.
The method also comprises:
When treadmill runs, if the current pressure parameter of the described pressure sensor collection got is for being less than predetermined value, then control treadmill out of service;
And/or,
When treadmill is in halted state, if the current pressure parameter of the described pressure sensor collection got is for being greater than predetermined value, then controls treadmill and start;
And/or,
When treadmill runs, if estimate, the position of human center determined departs from preposition, then point out user's sideslip;
And/or,
According to the step number that the change statistics of position of human center is moved on a treadmill as forefathers, and show.
After the current pressure parameter obtaining pressure sensor collection, the method also comprises:
Calculate the impulsive force of the step of players on treadmill according to described pressure parameter, point out players when described impulsive force is greater than predetermined value;
And/or,
The body weight of players on treadmill is calculated according to described pressure parameter, and output display.
The described running status to treadmill is carried out control and is comprised:
The speed of service of the treadmill belt of treadmill, running status are adjusted;
And/or,
Control operation is carried out to the somatic sensation television game content of the operation on treadmill.
A kind of treadmill equipment, comprise treadmill belt, running board, pressure sensor and running status control device, described running board is arranged at the below in described treadmill belt front, described pressure sensor is arranged at the below of running board, described pressure sensor sends the current pressure parameter collected to described running status control device, and described running status control device adopts above-mentioned treadmill intelligent body sense control method to control the running status of treadmill belt.
Described pressure sensor is arranged at the lower position at four angles of running board and contacts with the supporting construction below running board, or, described pressure sensor to be arranged in the supporting construction below running board and with running board rear-face contact.
As seen from the above technical solution provided by the invention, the technical scheme that the embodiment of the present invention provides have employed pressure sensor estimation gravity center of human body, and judges the motion state of people according to the change of gravity center of human body, to control treadmill.Due to the motion state of people accurately can be judged, thus the accurate control to treadmill can be realized, achieve automatically starting or stoping of treadmill, and the automatic adjustment of the speed of service in running, thus a kind ofly should to use conveniently for people provide, treadmill that safe, energy-conservation intelligent body sense controls.
Accompanying drawing explanation
In order to be illustrated more clearly in the technical scheme of the embodiment of the present invention, below the accompanying drawing used required in describing embodiment is briefly described, apparently, accompanying drawing in the following describes is only some embodiments of the present invention, for those of ordinary skill in the art, under the prerequisite not paying creative work, other accompanying drawings can also be obtained according to these accompanying drawings.
The handling process schematic diagram of the method that Fig. 1 provides for the embodiment of the present invention;
Fig. 2 is the structural representation of treadmill;
Fig. 3 is the arrangement schematic diagram of the pressure sensor in the embodiment of the present invention;
Fig. 4 is the operation control flow schematic diagram of the treadmill in the embodiment of the present invention.
Detailed description of the invention
Below in conjunction with the accompanying drawing in the embodiment of the present invention, be clearly and completely described the technical scheme in the embodiment of the present invention, obviously, described embodiment is only the present invention's part embodiment, instead of whole embodiments.Based on embodiments of the invention, those of ordinary skill in the art, not making the every other embodiment obtained under creative work prerequisite, belong to protection scope of the present invention.
The object of the embodiment of the present invention is to provide the technical scheme that a kind of intelligent body sense controls treadmill operation, thus greatly can improve the experience of treadmill.In this technical scheme, treadmill can start automatically according to the service condition of people, stopping and fluid drive etc. automatically.Namely standby after treadmill energising, in the process, a very important person sets foot on treadmill, just can automatically start treadmill according to the action of people and coordinate the speed of people to run.When people goes down treadmill, treadmill is automatically out of service, is automatically in holding state over time, become to save energy.In the running of treadmill, when people motion speed accelerate time, the automatic pick up speed of treadmill, when people motion slow time, treadmill also underspeeds automatically.
Below in conjunction with accompanying drawing, the embodiment of the present invention is described in further detail.
A kind of treadmill intelligent body sense control method that the embodiment of the present invention provides, as shown in Figure 1, between running board and its supporting construction, array of pressure sensors is arranged in the embodiment of the present invention, and increase processor to gather the pressure parameter numerical value gathered with calculation pressure sensor, by modeling and calculating, the data gathered with pressure sensor are input, the position of centre of gravity of the people run on a treadmill, and then judge according to position of human center the motion change situation determining human body, to control the running status of treadmill.It specifically can comprise following treatment step:
Step 11, obtains the current pressure parameter that pressure sensor gathers;
When people walks on a treadmill or runs, can produce pressure to the hard running board arranged below treadmill belt front, these pressure are reflected on the array of pressure sensors below contact hard running board and just can be collected by pressure sensor;
Step 12, the positional information according to described current pressure parameter and pressure sensor estimates current human's position of centre of gravity;
The pressure parameter value that the pressure sensor nearer apart from the actual position stepped on of people is read is larger, the pressure parameter value that distance pressure sensor far away is read is less, just can calculate when the relative position of forefathers on running board according to this rule, namely determine position of human center; In road-work process, health is generally kept upright state, and therefore in fact position of human center reflects the position on treadmill belt residing for people;
Particularly, in the treatment step of described estimation current human position of centre of gravity, the concrete computing formula adopted can comprise:
G(x,y)＝∑C
iF
iP
i(x,y)/∑F
i；
Wherein, G (x, y) is the position of human center of estimation, C
ibe the calibration parameter of i-th pressure sensor, F
ibe the pressure parameter value of i-th pressure sensor, P
i(x, y) is the positional information of i-th pressure sensor;
By above-mentioned computing formula, corresponding position of human center can be determined, in subsequent processes in each acquisition process cycle.
Step 13, the position of human center determined according to described current human's position of centre of gravity and estimating before judges to determine the motion change situation of human body;
Specifically can judge by following two kinds of modes the motion change situation determining human body in this step:
Method one:
Particularly, in motion process, when the both legs of people alternately step dynamic paces, gravity center of human body can produce a sudden change relative to the position of running board, by following the tracks of the sudden change of position of human center, just can obtain the cadence (frequency of namely taking a step) of people's motion, people's motion is when accelerating, cadence can be accelerated, and when slowing down, cadence can slow down.Therefore described judgement determines that the treatment step of the motion change situation of human body specifically can comprise:
First, according to described current human's position of centre of gravity and estimate the position of human center determined before, add up the time of adjacent twice position of human center change, and then convert and determine people's cadence of taking a step on a treadmill;
Afterwards, according to current determine described in the cadence of taking a step compare with the cadence of taking a step determined before, judge to determine people's movement velocity situation of change on a treadmill.
Position of human center data are the important references indexs in motion process, and further, for accurately judging the motion conditions of human body, the method can also comprise:
According to current human's position of centre of gravity and estimate that the position of human center front and back situation of change on a treadmill determined determines people's movement velocity situation of change on a treadmill further before;
That is: in normal motion, people is in the near center location of treadmill belt substantially, when accelerating, because speed is faster than treadmill belt speed, can to supporting surface produce one backward pedal power, compared with proper motion, position of human center can move to forward treadmill belt front portion; Slow down time, because speed is slower than current treadmill belt speed, can to supporting surface produce one forward pedal power, compared with proper motion, now position of human center can move on to the overall rear of treadmill belt backward.Therefore, can judge according to the front and back situation of change of position of human center on treadmill belt the motion change situation determining people.
Method two:
In the method two, described judgement determines that the treatment step of the motion change situation of human body can comprise:
First, according to described current human's position of centre of gravity and estimate the position of human center determined before, add up the time of adjacent twice position of human center change, and then convert and determine people's cadence of taking a step on a treadmill;
Afterwards, according to current human's position of centre of gravity and estimate the position of human center determined before, in conjunction with described in the cadence of taking a step calculate the movement velocity of people, just can determine the motion change situation of human body according to the movement velocity of people, as acceleration or deceleration, and then adjust the movement velocity of treadmill belt accordingly.
That is, in conjunction with the running cadence calculated and position of human center change, according to cadence and position of human center change indicator, converting, (changing value of position of human center is equivalent to step-length of each step to the actual motion speed obtaining working as forefathers, the step-length walked according to each and cadence just can calculate the actual motion speed of people), and compared with treadmill actual speed (i.e. the speed of service of treadmill belt), carry out carrying out feed speed control to treadmill when speed difference reaches threshold value.The size of described threshold value can regulate the precision of the speed of service to determine according to treadmill.
In said method one and method two, the foundation of the process of corresponding calculating cadence is: people's center of gravity trend when taking a step can produce sudden change, according to this rule, by the step number that can be moved on a treadmill of statistics position of human center sudden change number of times, and then the cadence of taking a step can be determined.
Particularly, when people steps lower left foot, center of gravity can be distributed in runs band region to the left, and when people steps lower right crus of diaphragm, center of gravity can be distributed in runs band region to the right.The distribution of statistics center of gravity, when center of gravity starts to be changed towards right area by treadmill belt left area, in fact now right crus of diaphragm falls on a treadmill.When center of gravity starts to be changed towards left area by right area, be actually left foot and fall on a treadmill.According to the position of human center sequence of the some that statistics obtains, in the sequence, the gravity center shift often detecting region, above-mentioned left and right is namely for people has moved a step on a treadmill, interval time in conjunction with detection just can determine corresponding cadence, and described cadence refers to the step number of motion in the set time or often transports the time moving a step and need.
Step 14, the running status of motion change situation to treadmill according to described human body controls.
In the embodiment of the present invention, for improving the performance of treadmill further, above-mentioned processing method can also comprise following any one or more processing capacity:
(1) when treadmill runs, if the current pressure parameter of the described pressure sensor collection got is for being less than predetermined value, now, judge to determine that people leaves treadmill belt, then control treadmill out of service, to save electric energy;
(2) when treadmill is in halted state, if the current pressure parameter of the described pressure sensor collection got is for being greater than predetermined value, now, show that people has set foot on treadmill belt and prepared setting in motion, then control treadmill to start, thus realize the function of intelligent body sense startup;
In the processing mode of above-mentioned (1) and (2), the position of pressure sensor configuration can be between supporting mechanism and running board, when static, due to running board deadweight, pressure sensor has certain reading, and this reading is meeting automatic straightening in treadmill opening process, reading time vacant based on treadmill, when people sets foot on treadmill setting in motion and people goes down from the treadmill of motion, the reading of pressure sensor can produce larger sudden change, therefore can judge whether treadmill there is people in motion according to reading, when there being people to move on a treadmill, running belt of running machine can bring into operation automatically, when people gets off from treadmill, treadmill can stop motion thereupon, when stop motion reaches certain hour, treadmill can be in holding state to reduce power consumption, thus achieve automatic start-stop control, and do not need again by switch with join speed and control treadmill, achieve body sense completely to control.
(3) when treadmill runs, if estimate, the position of human center determined departs from preposition, as departed from position, treadmill belt central area, then points out user's sideslip, thus can ensure the safety of user in running process; In the process of prompting user, can by voice, underspeed, shake, the mode such as indicator lamp or buzz points out user; Move on a treadmill relative to the center of gravity (i.e. position of human center) of running band due to people can be obtained in real time, thus can judge current runner whether sideslip easily;
(4) according to the step number that the change statistics of position of human center is moved on a treadmill as forefathers, and show; The step number of motion as an important indicator of treadmill exercise, can be recorded in bottom control program, and is shown to person taking exercise by the peripheral hardware of treadmill; The processing procedure that the concrete statistical method of step number can be determined with reference to the cadence described before, in this not go into detail.
Further, in the embodiment of the present invention, after the current pressure parameter obtaining pressure sensor collection, corresponding method can also comprise any one or two kinds of processing modes following:
Mode one: the impulsive force calculating the step of players on treadmill according to described pressure parameter, points out players when described impulsive force is greater than predetermined value;
Mode two: the body weight calculating players on treadmill according to described pressure parameter, and output display.
In the embodiment of the present invention, the described control to treadmill running status can be, but not limited to comprise any one or two kinds of modes following:
Mode one: the speed of service (acceleration or deceleration) of the treadmill belt of treadmill, running status (starting or stoping operation) are adjusted;
Mode two: carry out control operation to the somatic sensation television game content of the operation on treadmill, to realize the manipulation being completed game by motion process.
The technical scheme provided by the invention described above embodiment solves the problem that existing treadmill (comprising machine for walking) controls inconvenience, make treadmill can initiatively, intelligently according to position of human center automatic speed regulation, adapt to the speed of travel of people, realize the pursuit movement of step, with walking with stopping.And accurately can count step, so that motion step number is carried out statistics and analysis as exercise index.Foothold when detection is run simultaneously, judges whether depart from Pao Dai center in running process, improves security.Further, the information such as step impact when collecting running can also be utilized, for correcting running posture provides good reference.The control mode related to is meticulousr, use scenes and purposes abundanter, implement convenient, and whole service life is longer.
The embodiment of the present invention additionally provides a kind of treadmill equipment, with reference to shown in Fig. 2 and Fig. 3, comprise treadmill belt 5, pressure sensor 1, running board 2 and its supporting construction 6, and running status control device, described running board 2 is arranged at the below in treadmill belt 5 front, described pressure sensor 1 is arranged at below running board and (specifically can be arranged in the supporting construction 6 below running board 2, or, as shown in Figure 3, be arranged at the back side of running board 2), described pressure sensor 1 sends the current pressure parameter collected to described running status control device, a kind of treadmill intelligent body sense control method described before described running status control device adopts controls the running status of treadmill belt, thus provide a kind of treadmill that can realize intelligent body sense and control.
Particularly, corresponding running board 2 is arranged in supporting construction 6, and treadmill belt 5 walks around former and later two axis of rolling, parcel running board 2 and supporting construction 6.Pressure sensor 1 can be arranged in supporting construction 6, contacts, contact below it with supporting construction 6 above it with mounted running board 2.The principle calculating position of human center in motion process is: people moves on the front of treadmill belt 5, when people steps down on soft treadmill belt 5, pressure is produced to running board 2, running board 2 is due to pressure generation deformation, deformation is passed on pressure sensor 1, pressure sensor 1 there has been reading (i.e. pressure parameter value), just can calculate position of human center according to this reading.
In above-mentioned treadmill equipment, as shown in Figure 3, the lower position (be namely arranged at running board 2 back side and) that described pressure sensor can be, but not limited to four angles being arranged at running board contacts with supporting construction 6, or, also can be arranged in the supporting construction 6 below running board 2 and with running board 2 rear-face contact, the quantity of pressure sensor can be four or also can for more.Certainly, described pressure sensor also can be set to one, two or three etc., corresponding position also can be arranged according to practical measurement requirement, and is not limited to the lower position at four angles of running board.
The processor of the data that calculation pressure sensor gathers can be comprised in described running status control device, this processor can be integrated with the original motion controller of treadmill, also can separately as controller, be connected with motion controller, so that control according to the operation of data to treadmill of the pressure sensor gathered.
In above-mentioned treadmill equipment, first (suppose that typical frequencies is at 50Hz with the signal of certain frequency collection pressure sensor, then every 20ms gathers a signal data, can ensure that there is good real-time), the signal gathered obtains the position of centre of gravity relative to whole treadmill belt on current treadmill through Modeling Calculation again after by filtering process, concrete Modeling Calculation mode describes in treadmill intelligent body sense control method before, does not repeat them here.
Tradition treadmill (comprising machine for walking) must by Passive Control speed governing such as buttons, and the treadmill equipment that the invention described above embodiment provides can by a small amount of pressure sensor calculating pressure center to estimate position of human center, and carry out speed governing according to position of human center, the speed governing demand of Initial adaption sporter.Sporter just can complete the adjustment of treadmill (containing machine for walking) speed in motion process by the natural trend trend (change of centre of body weight) of motion, interaction is more succinct, nature.
And, due to the pressure sensor adopted in the treadmill equipment that provides in the embodiment of the present invention there is technology maturation, precision is high and with low cost, the realization of the corresponding treadmill equipment thus making the embodiment of the present invention provide is more easily and cost also will be cheaper.
For ease of understanding, be described in further detail below in conjunction with the realization of accompanying drawing to the treadmill equipment that the embodiment of the present invention provides.
Usual treadmill at least comprises treadmill belt 5 and (comprises upper and lower two parts, that is: treadmill belt front is stepped on for the people that runs and is run above, treadmill belt reverse side is used for connecting as one with treadmill belt front being around in scroll forward and backward axle 7) and actuating unit (comprising scroll forward and backward axle 7 and motor etc.), motor in actuating unit and scroll forward and backward axle 7 move for driving treadmill belt, as shown in Figure 2, treadmill also comprises the running board 2 of hard, it is supported by supporting mechanism 6, for bearing the impact of the running of people on treadmill belt, treadmill also comprises motion controller, for controlling start and stop and speed.Be the running board of hard below usual treadmill belt, during running, treadmill belt moves, and running board is static, and running board accepts the impact of all runnings.Treadmill is also configured with other accessories such as handrail, operating desk usually, not shown in Fig. 2.
As shown in Figure 3, in the process that the embodiment of the present invention is implemented, what pressure sensor 1 (in figure being four) was concrete can between running board 2 and its supporting mechanism.Such pressure sensor 1 directly can not contact with moving component, and can bear the impulse force in motion process completely, ensures the accuracy of pressure acquisition.
Still with reference to shown in Fig. 3, pressure sensor 1 is distributed in four corners of running board 2.In Practical Calculation, set up coordinate system to running board, the pressure data according to gathering calculates the two-dimensional coordinate of the current people moved on a treadmill on running board.This two-dimensional coordinate accurately reflects the relative position of gravity center of human body on running board, i.e. position of human center 3.Certainly, pressure sensor also can adopt other arrangements, and typically, for one piece of complete running board, the pressure sensor of 4 corner location has been enough to the calculating of center of gravity.Increase the precision that pressure sensor number can improve data calculating on the one hand, also may have an impact to computational speed etc. on the other hand.Therefore because usually determining that the best pressure sensor quantity that passes configures in needing can to consider two in specific implementation process.
Gather pressure parameter by pressure sensor and control the handling process of treadmill operation as above shown in Fig. 4, first by circuit, array of pressure sensors is connected with processing center, first the pretreatment such as filtering are carried out, with those obvious noises of filtering after collecting pressure parameter data.After this these pressure parameter data are through modeling analysis, and common machine learning and mode identification method can be used to calculate the model of pressure parameter data and center of gravity.After obtaining position of human center data, process can also obtain the cadence of people further, the information such as leg speed and relative position, modeling process is carried out according to these information, namely Modeling Calculation goes out as forefathers actual velocity (concrete account form describes in treadmill intelligent body sense control method before, do not repeat them here), again by the actual motion velocity ratio of the treadmill belt of itself and treadmill comparatively, thus the motor of treadmill is controlled, to realize controlling the speed of service of the treadmill belt of treadmill, to adapt to the actual velocity of people, thus realize the operation that intelligent body sense controls treadmill.
The embodiment of the present invention does not have particular/special requirement to the form of pressure sensor itself and feature in concrete implementation procedure, as long as range and precision (at least can bear the body weight etc. of ordinary person) in the scope required.Also do not have particular/special requirement to the configuration mode of pressure sensor, according to the difference of its configuration mode, Processing Algorithm is also corresponding to be changed to some extent, as long as but according to its arrangement mode modeling, can calculate the center of gravity of the people that moves thereon.Typically be configured to, in four corner placement sensor of one piece of running board, algorithm can be set eaily, obtain position of centre of gravity.But concrete configuration is not limited thereto, the precision of position of centre of gravity also can solve by increasing pressure sensor quantity, but accelerates and also can improve computation complexity.Need to obtain a precision and the suitable configuration of complexity according to actual conditions.
Pressure sensor processing unit generally adopts embedded chip, and rational configuration mode is very low to calculation requirement, and the embedded chip that dominant frequency reaches 70MHz can complete.These parts can replace to any chip with computing capability.
Particularly, the embodiment of the present invention is in application process, pressure sensor can be arranged on four corners of running board, and adopt the controller of individual pressure sensors data, this controller divides with motor controling part and is connected, calculate and control motor acceleration and deceleration and start or stop signal, be published to motor control module, realize the control of the speed of service to treadmill and running status.
In the embodiment of the present invention, between the supporting construction that pressure sensor can be configured in hard plate (running board below treadmill belt) and hard plate, directly contact so can not produce with moving component, thus pressure sensor is increased service life greatly.
In the embodiment of the present invention, the position of centre of gravity utilizing pressure sensor to calculate can also be used for judging currently whether move to treadmill belt edge (i.e. sideslip), thus the people that prompting treadmill moves, further enhancing security.
Further; the pressure data obtained in the embodiment of the present invention can also be converted into the body weight of sporter; thus follow the tracks of body weight information when utilizing treadmill to take exercise; when each motion produces impact to hard plate; impact the step impact force that data also can be converted into the personnel that treadmill moves; thus the impact of motion process to health is estimated; correct prompting further; such as; when step impact force is greater than predetermined value; then remind the personnel of motion, reach the object protecting the vulnerable parts such as knee in motion process.
Moreover, data in the embodiment of the present invention after sampling and processing are through process further, the control that significantly can improve treadmill is experienced, utilizable direction includes but not limited to: treadmill meter step technology, utilize the change of center of gravity can accurate recorder's motor pattern on a treadmill, realize meter step; Treadmill somatic sensation television game technology, according to center of gravity data, by chip and game station adaptation, by body sense, such as, can adjust centre of body weight and controls somatic sensation television game, as balanced class or the game of cool run class etc.
The above; be only the present invention's preferably detailed description of the invention, but protection scope of the present invention is not limited thereto, is anyly familiar with those skilled in the art in the technical scope that the present invention discloses; the change that can expect easily or replacement, all should be encompassed within protection scope of the present invention.Therefore, protection scope of the present invention should be as the criterion with the protection domain of claims.
Claims (10)
1. a treadmill intelligent body sense control method, is characterized in that, comprising:
Obtain the current pressure parameter that pressure sensor gathers;
Positional information according to described current pressure parameter and pressure sensor estimates current human's position of centre of gravity;
The position of human center determined according to described current human's position of centre of gravity and estimating before judges to determine the motion change situation of human body;
The running status of motion change situation to treadmill according to described human body controls.
2. method according to claim 1, is characterized in that, in the treatment step of described estimation current human position of centre of gravity, the concrete computing formula adopted comprises:
G(x,y)＝ΣC
iF
iP
i(x,y)/ΣF
i；
Wherein, G (x, y) is the position of human center of estimation, C
ibe the calibration parameter of i-th pressure sensor, F
ibe the pressure parameter value of i-th pressure sensor, P
i(x, y) is the positional information of i-th pressure sensor.
3. method according to claim 1 and 2, is characterized in that, described judgement determines that the treatment step of the motion change situation of human body comprises:
According to described current human's position of centre of gravity and estimate the position of human center determined before, add up the time of adjacent twice position of human center change, and then convert and determine people's cadence of taking a step on a treadmill;
According to current determine described in the cadence of taking a step compare with the cadence of taking a step determined before, judge to determine people's movement velocity situation of change on a treadmill.
4. method according to claim 3, is characterized in that, the method also comprises:
According to current human's position of centre of gravity and estimate that the position of human center front and back situation of change on a treadmill determined determines people's movement velocity situation of change on a treadmill further before.
5. method according to claim 1 and 2, is characterized in that, described judgement determines that the treatment step of the motion change situation of human body comprises:
According to described current human's position of centre of gravity and estimate the position of human center determined before, add up the time of adjacent twice position of human center change, and then convert and determine people's cadence of taking a step on a treadmill;
According to current human's position of centre of gravity and estimate the position of human center determined before, in conjunction with described in the cadence of taking a step calculate the movement velocity of people.
6. method according to claim 1 and 2, is characterized in that, the method also comprises:
When treadmill runs, if the current pressure parameter of the described pressure sensor collection got is for being less than predetermined value, then control treadmill out of service;
And/or,
When treadmill is in halted state, if the current pressure parameter of the described pressure sensor collection got is for being greater than predetermined value, then controls treadmill and start;
And/or,
When treadmill runs, if estimate, the position of human center determined departs from preposition, then point out user's sideslip;
And/or,
According to the step number that the change statistics of position of human center is moved on a treadmill as forefathers, and show.
7. method according to claim 1 and 2, is characterized in that, after the current pressure parameter obtaining pressure sensor collection, the method also comprises:
Calculate the impulsive force of the step of players on treadmill according to described pressure parameter, point out players when described impulsive force is greater than predetermined value;
And/or,
The body weight of players on treadmill is calculated according to described pressure parameter, and output display.
8. method according to claim 1 and 2, is characterized in that, the described running status to treadmill is carried out control and comprised:
The speed of service of the treadmill belt of treadmill, running status are adjusted;
And/or,
Control operation is carried out to the somatic sensation television game content of the operation on treadmill.
9. a treadmill equipment, it is characterized in that, comprise treadmill belt, running board, pressure sensor and running status control device, described running board is arranged at the below in described treadmill belt front, described pressure sensor is arranged at the below of running board, described pressure sensor sends the current pressure parameter collected to described running status control device, and described running status control device adopts the method described in claim 1 to any one of claim 8 to control the running status of treadmill belt.
10. equipment according to claim 9, it is characterized in that, described pressure sensor is arranged at the lower position at four angles of running board and contacts with the supporting construction below running board, or, described pressure sensor to be arranged in the supporting construction below running board and with running board rear-face contact.
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