CN104826277B - A kind of treadmill intelligence motion sensing control method and apparatus - Google Patents
A kind of treadmill intelligence motion sensing control method and apparatus Download PDFInfo
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Abstract
The invention discloses a kind of treadmill intelligence motion sensing control method and apparatus, it includes：Obtain the current pressure parameter of pressure sensor collection；Positional information estimation current human's position of centre of gravity according to the current pressure parameter and pressure sensor；According to current human's position of centre of gravity and the motion change situation of the position of human center judgement determination human body for estimating determination before；The running status of treadmill is controlled according to the motion change situation of the human body.Present invention employs pressure sensor estimation gravity center of human body, and the motion state of people is judged according to the change of gravity center of human body, be controlled with to treadmill.Due to the motion state of people can be accurately judged to, thus can realize being precisely controlled treadmill, realize automatic or the stopping of treadmill, and the adjust automatically of the speed of service in the process of running, so as to provide the treadmill of a kind of application convenience, safety, the intelligent motion sensing control of energy-conservation for people.
Description
Technical field
The present invention relates to health and fitness facilities and technical field of electronic control, more particularly to a kind of treadmill intelligence motion sensing control side
Method and equipment.
Background technology
With the raising of people's health sense, the use of various health and fitness facilitieses is also increasing.Wherein, treadmill is for everybody
The health and fitness facilities often selected.At present, people need to use button or knob to manually set running in advance when using treadmill
The speed of service of machine, afterwards, treadmill is run by the speed that motor drives treadbelt to set, and facilitates people in treadbelt with the speed
Run.But during running, people often have the requirement of speed change, now, people are stilled need on manually operated treadmill
Button or knob etc. realize variable speed operation.Corresponding operation is completed during running, not only use it is inconvenient,
And not good for physical mobility and unhandy crowd, also with certain danger.
Therefore, a kind of treadmill of auto-speed control is occurred in that at present, in the art by using tension sensor
Detect the tension force of treadmill belt to judge the acceleration or deceleration of people, to control the speed of treadmill.But, due to tension sensor sheet
The limitation of the size and maturity of body so that corresponding technology is difficult to carry out.For example, tension sensor is placed on into treadmill belt
Between running board, then feel when people will be influenceed to run produces rugged sensation, reduces body of the people using treadmill
Test.Secondly, treadmill belt and tension sensor are inevitably produced and contacted during exercise, because abrasion for moving etc. influences, meeting
Substantially reduce the service life of equipment.Furthermore, treadmill belt front end and race can only be simply detected by the way of tension sensor
Tension force of the step with rear end, because treadmill belt is of virtually certain elasticity and deformation quantity, data in use may
Change can be produced with use, to obtain preferable detection data needs that often equipment is calibrated and adjusted, and operates
More to bother.And, the technology using detection and control speed by the way of it is excessively simple, it is difficult to adapt to people motion when shape
The changeable demand of state, it is difficult to further finely controlled to treadmill.For example, now treadmill cannot be judged according to tension force
On people remain static or normal walking states, and then be difficult to automatic start-up and shut-down control, start and stop are still
Manual button is needed, and also cannot accomplish to be automatically stopped after people goes down treadmill to save energy；Treadmill cannot be judged
The cadence of the people of upper walking and true leg speed, so as to cannot precisely be controlled come the speed to treadmill according to real speed
System；Also the point coordinates of stopping over of people on treadmill cannot be drawn, thus cannot on a treadmill run when sideslip carry out remind and
Prevention.
The content of the invention
It is an object of the invention to provide a kind of treadmill intelligence motion sensing control method and apparatus, judge to run such that it is able to accurate
The motion state of people on step machine, realizes the accurately motion sensing control to treadmill operation.
The purpose of the present invention is achieved through the following technical solutions：
A kind of treadmill intelligence motion sensing control method, including：
Obtain the current pressure parameter of pressure sensor collection；
Positional information estimation current human's position of centre of gravity according to the current pressure parameter and pressure sensor；
According to current human's position of centre of gravity and the fortune of the position of human center judgement determination human body for estimating determination before
Dynamic situation of change；
The running status of treadmill is controlled according to the motion change situation of the human body.
The specific computing formula for using includes in the process step of estimation current human's position of centre of gravity：
G (x, y)=∑ CiFiPi(x,y)/∑Fi；
Wherein, G (x, y) is the position of human center of estimation, CiIt is i-th calibration parameter of pressure sensor, FiIt is i-th
The pressure parameter value of individual pressure sensor, Pi(x, y) is i-th positional information of pressure sensor；
The process step of the motion change situation for judging to determine human body includes：
The position of human center of determination is estimated according to current human's position of centre of gravity and before, adjacent human body twice is counted
The time of position of centre of gravity change, and then the determination people cadence taken a step on a treadmill that converts；
The cadence taken a step according to current determination compares with the cadence taken a step for determining before, judges to determine that people is running
Movement velocity situation of change on step machine.
The method also includes：
Estimate according to current human's position of centre of gravity and before the front and rear change on a treadmill of the position of human center of determination
Situation further determines that people's movement velocity situation of change on a treadmill.
The process step of the motion change situation for judging to determine human body includes：
The position of human center of determination is estimated according to current human's position of centre of gravity and before, adjacent human body twice is counted
The time of position of centre of gravity change, and then the determination people cadence taken a step on a treadmill that converts；
The position of human center of determination is estimated according to current human's position of centre of gravity and before, with reference to the cadence meter taken a step
Calculate the movement velocity of people.
The method also includes：
When treadmill runs, if the current pressure parameter of the pressure sensor collection for getting is 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 pressure sensor collection for getting is big
In predetermined value, then treadmill is controlled to start；
And/or,
When treadmill runs, if the position of human center that estimation determines deviates predetermined position, user's sideslip is pointed out；
And/or,
The step number that change statistics according to position of human center is moved on a treadmill as forefathers, and show.
After the current pressure parameter for obtaining pressure sensor collection, the method also includes：
The impulsive force of the step of players on treadmill is calculated according to the pressure parameter, when the impulsive force is more than pre-
Players are pointed out during definite value；
And/or,
The body weight of players on treadmill, and output display are calculated according to the pressure parameter.
The running status to treadmill be controlled including：
The speed of service, running status to the treadmill belt of treadmill are adjusted；
And/or,
Somatic sensation television game content to the operation on treadmill is controlled operation.
A kind of running machine equipment, including treadmill belt, running board, pressure sensor and running status control device, the race
Step plate is arranged at the positive lower section of the treadmill belt, and the pressure sensor is arranged at the lower section of running board, the pressure sensing
The current pressure parameter that device will be collected sends the running status control device to, and the running status control device is using upper
State the running status that treadmill intelligence motion sensing control method controls treadmill belt.
The pressure sensor be arranged at four lower positions at angle of running board and with running board below supporting construction
Contact, or, the pressure sensor 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, technical scheme provided in an embodiment of the present invention employs pressure
Force snesor estimation gravity center of human body, and the motion state of people is judged according to the change of gravity center of human body, it is controlled with to treadmill.
Due to the motion state of people can be accurately judged to, thus can realize being precisely controlled treadmill, realize treadmill
Automatic or stopping, and the speed of service in the process of running adjust automatically so that for people provide a kind of application
Get up convenience, safety, the treadmill of the intelligent motion sensing control of energy-conservation.
Brief description of the drawings
Technical scheme in order to illustrate more clearly the embodiments of the present invention, below will be to that will use needed for embodiment description
Accompanying drawing be briefly described, it should be apparent that, drawings in the following description are only some embodiments of the present invention, for this
For the those of ordinary skill in field, on the premise of not paying creative work, other can also be obtained according to these accompanying drawings
Accompanying drawing.
Fig. 1 is the handling process schematic diagram of method provided in an 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.
Specific embodiment
With reference to the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clear, complete
Ground description, it is clear that described embodiment is only a part of embodiment of the invention, rather than whole embodiments.Based on this
Inventive embodiment, the every other implementation that those of ordinary skill in the art are obtained under the premise of creative work is not made
Example, belongs to protection scope of the present invention.
The purpose of the embodiment of the present invention is to provide a kind of technical scheme of intelligent motion sensing control treadmill operation, such that it is able to
Substantially improve the experience of treadmill.In the technical scheme, treadmill can according to the service condition automatic of people, from
Dynamic stopping and fluid drive etc..I.e. treadmill is standby after being powered, and in the process, a very important person sets foot on treadmill, it is possible to according to
The action of people carrys out automatic treadmill and coordinates the speed of people to be run.When people goes down treadmill, treadmill stops automatically
Only run, be in holding state automatically over time, become to save energy.In the running of treadmill, when people's motion
Speed accelerate when, treadmill accelerates speed automatically, when people motion when slowing, treadmill also reduces speed automatically.
The embodiment of the present invention is described in further detail below in conjunction with accompanying drawing.
A kind of treadmill intelligence motion sensing control method provided in an embodiment of the present invention, as shown in figure 1, in the embodiment of the present invention
Arrange array of pressure sensors between running board and its supporting construction, and increase processor and gather and calculation pressure sensor
The pressure parameter numerical value of collection, by modeling and calculating, the data with pressure sensor collection are input, are obtained on a treadmill
The position of centre of gravity of the people of operation, and then judged to determine the motion change situation of human body according to position of human center, to control to run
The running status of machine.It can specifically include following process step：
Step 11, obtains the current pressure parameter of pressure sensor collection；
When people walks or runs on a treadmill, pressure can be produced to the hard running board that treadmill belt front lower section is set,
Just can be collected by pressure sensor on array of pressure sensors below these pressure reflection to contact hard running board；
Step 12, the positional information estimation current human center of gravity position according to the current pressure parameter and pressure sensor
Put；
The pressure parameter value that the pressure sensor nearer apart from the actual position stepped on of people is read is bigger, the more remote pressure of distance
The pressure parameter value that sensor is read is smaller, and the relative position as forefathers on running board just can be calculated according to the rule
Put, that is, determine position of human center；During road-work, body is typically kept upright state, therefore position of human center
Actually reflect the location of people on treadmill belt；
Specifically, the specific computing formula for using can be wrapped in the process step of estimation current human's position of centre of gravity
Include：
G (x, y)=∑ CiFiPi(x,y)/∑Fi；
Wherein, G (x, y) is the position of human center of estimation, CiIt is i-th calibration parameter of pressure sensor, FiIt is i-th
The pressure parameter value of individual pressure sensor, Pi(x, y) is i-th positional information of pressure sensor；
By above-mentioned computing formula, corresponding position of human center can be determined in each acquisition process cycle, for
In subsequent processes.
Step 13, estimates according to current human's position of centre of gravity and before the position of human center judgement determination people of determination
The motion change situation of body；
Can specifically judge to determine the motion change situation of human body by following two modes in the step：
Method one：
Specifically, in motion process, when the both legs of people alternately step dynamic paces, position of the gravity center of human body relative to running board
A mutation can be produced, by tracking the mutation of position of human center, the cadence (frequency taken a step) of people's motion can be just obtained,
When accelerating, cadence can be accelerated people's motion, and when slowing down, cadence can slow down.Therefore the motion change feelings for judging to determine human body
The process step of condition can specifically include：
First, the position of human center of determination, statistics adjacent two are estimated according to current human's position of centre of gravity and before
The time of secondary position of human center change, and then the determination people cadence taken a step on a treadmill that converts；
Afterwards, the cadence taken a step according to current determination compares with the cadence taken a step for determining before, judges 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, are accurately to judge human body further
Motion conditions, the method can also include：
Estimate according to current human's position of centre of gravity and before the front and rear change on a treadmill of the position of human center of determination
Situation further determines that people's movement velocity situation of change on a treadmill；
I.e.：In normal motion, people is substantially at the near center location of treadmill belt, when accelerating, due to speed
It is faster than running tape speed, supporting surface can be produced one backward pedal power, compared with proper motion, position of human center can be forward
Move to treadmill belt anterior；When slowing down, because speed is slower than current running tape speed, one can be produced to supporting surface forward
Power is pedaled, compared with proper motion, now position of human center can be moved back to the overall rear of treadmill belt.Therefore, according to human body
Position of centre of gravity on the treadmill belt before and after situation of change may determine that the motion change situation for determining people.
Method two：
In the method two, the process step of the motion change situation for judging to determine human body can include：
First, the position of human center of determination, statistics adjacent two are estimated according to current human's position of centre of gravity and before
The time of secondary position of human center change, and then the determination people cadence taken a step on a treadmill that converts；
Afterwards, estimate according to current human's position of centre of gravity and before the position of human center of determination, taken a step with reference to described
Cadence calculates the movement velocity of people, and the movement velocity according to people just can determine the motion change situation of human body, such as accelerate or subtract
Speed, and then the movement velocity of treadmill belt is adjusted accordingly.
That is, with reference to running cadence and the position of human center change being calculated, according to cadence and people's body weight
Heart change in location index, (changing value of position of human center is equivalent to each step for the actual motion speed that conversion obtains as forefathers
Step-length, step-length and cadence according to each step just can calculate the actual motion speed of people), and with treadmill actual speed
(i.e. the speed of service of treadmill belt) is compared, and carries out carrying out feed speed control to treadmill when speed difference reaches threshold value.It is described
The precision that the size of threshold value can adjust the speed of service according to treadmill determines.
In the above method one and method two, the foundation of the corresponding process for calculating cadence is：People's center of gravity trend when taking a step
Mutation can be produced, according to this rule, is mutated what number of times can be moved on a treadmill by counting position of human center
Step number, and then the cadence taken a step can be determined.
Specifically, when people steps lower left foot, center of gravity can be distributed in treadbelt region to the left, when people steps lower right crus of diaphragm, center of gravity meeting
It is distributed in treadbelt region to the right.The distribution of center of gravity is counted, when center of gravity starts to be changed towards right area by treadmill belt left area,
Actually now right crus of diaphragm falls on a treadmill.Center of gravity start by right area towards left area change when, actually left foot falls
On a treadmill.According to a number of position of human center sequence that statistics is obtained, in the sequence, above-mentioned left and right is often detected
The gravity center shift in region is to have moved a step on a treadmill for people, and corresponding step just can be determined with reference to the interval time of detection
Frequently, the cadence refers to the step number moved in the set time or the time for often transporting the needs that move a step.
Step 14, is controlled according to the motion change situation of the human body to the running status of treadmill.
It is the performance for further improving treadmill in the embodiment of the present invention, above-mentioned processing method can also include following
Anticipate one or more processing function：
(1) when treadmill runs, if the current pressure parameter of the pressure sensor collection for getting is less than pre-
Definite value, now, judges to determine that people has been moved off 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 pressure sensor collection for getting
It is, more than predetermined value, now, to show that people has set foot on treadmill belt and prepared setting in motion, then controls treadmill to start, so as to realize
The function that intelligent body-sensing starts；
In the processing mode of above-mentioned (1) and (2), the position of pressure sensor configuration may be at supporting mechanism and run
Between plate, when static, due to running board deadweight, pressure sensor has certain reading, and the reading was opened in treadmill
Can automatic straightening in journey；Based on reading of treadmill when vacant, treadmill setting in motion and people from the running of motion are set foot in people
When being gone down on machine, the reading of pressure sensor can the larger mutation of producing ratio, therefore be may determine that on treadmill according to reading and be
It is not that someone is moving, when someone moves on a treadmill, running belt of running machine can automatically begin to operation, as people from treadmill
On when getting off, treadmill can stop motion therewith, when stop motion reaches certain hour, treadmill may be at standby shape
State is to reduce power consumption, it is achieved thereby that automatic start-stop is controlled, without by switching and controlling treadmill with speed, realizing again
Complete motion sensing control.
(3) when treadmill runs, if the position of human center that estimation determines deviates predetermined position, treadmill belt is such as deviateed
Central area position, then point out user's sideslip, thereby may be ensured that safety of the user during running；In the mistake of prompting user
Cheng Zhong, can point out user by modes such as voice, reduction speed, vibrations, indicator lamp or buzzs；Due to that can obtain in real time
People moves the center of gravity (i.e. position of human center) relative to treadbelt on a treadmill, thus can easily judge current running
Person whether sideslip；
(4) step number that the change statistics according to position of human center is moved on a treadmill as forefathers, and show；Motion
The important indicator that step number can take exercise as treadmill, records in bottom control program, and the peripheral hardware for passing through treadmill
It is shown to person taking exercise；The specific statistical method of step number is referred to the processing procedure that cadence determines for describing before, herein no longer
It is described in detail.
Further, in the embodiment of the present invention, after the current pressure parameter for obtaining pressure sensor collection, corresponding side
Method can also include following any one or two kinds of processing modes：
Mode one：The impulsive force of the step of players on treadmill is calculated according to the pressure parameter, when the impact
Power points out players when being more than predetermined value；
Mode two：The body weight of players on treadmill, and output display are calculated according to the pressure parameter.
In the embodiment of the present invention, the control to treadmill running status can be, but not limited to include it is following any one or
Two ways：
Mode one：The speed of service (acceleration or deceleration), running status to the treadmill belt of treadmill (start or stop fortune
OK) it is adjusted；
Mode two：Somatic sensation television game content to the operation on treadmill is controlled operation, to realize passing through motion process
Complete the manipulation of game.
The technical scheme provided by the embodiments of the present invention is solved existing treadmill (including machine for walking) and controlled not
Just problem so that treadmill can actively, intelligently according to position of human center automatic speed regulation, adapt to the speed of travel of people,
The pursuit movement of step is realized, with walking with stopping.And step can be accurately counted, in order to motion step number is carried out as index is tempered
Statistics and analysis.Whether foothold when running is detected simultaneously, judges deviate treadbelt center during running, improve safety
Property.Further, the information such as step impact when collection can also be utilized to run, for correcting running posture provides good ginseng
Examine.The control mode being related to is finer, and usage scenario and purposes are more enriched, and implements more to facilitate, and integrally use
Life-span is longer.
The embodiment of the present invention additionally provides a kind of running machine equipment, shown in reference picture 2 and Fig. 3, including treadmill belt 5, pressure
Sensor 1, running board 2 and its supporting construction 6, and running status control device, described running board 2 are being arranged at treadmill belt 5 just
The lower section in face, the pressure sensor 1 is arranged at running board lower section and (can specifically be arranged at the supporting construction 6 of the lower section of running board 2
On, or, as shown in figure 3, being arranged at the back side of running board 2), the current pressure parameter that the pressure sensor 1 will be collected
Send the running status control device to, the running status control device is using a kind of treadmill intelligent body for describing before
Sense control method controls the running status of treadmill belt, so that there is provided a kind of treadmill that can realize intelligent motion sensing control.
Specifically, corresponding running board 2 is arranged in supporting construction 6, and treadmill belt 5 bypasses 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, and its top connects with mounted running board 2
Touch, contacted with supporting construction 6 below.The principle of calculating position of human center is in motion process：People is in the front of treadmill belt 5
Upper motion, produces pressure, running board 2 to produce deformation, shape due to pressure running board 2 when people is stepped down on soft treadmill belt 5
Change is passed on pressure sensor 1, and reading (i.e. pressure parameter value) is there has been on pressure sensor 1, just can be counted according to the reading
Calculate position of human center.
In above-mentioned running machine equipment, as shown in figure 3, the pressure sensor can be, but not limited to be arranged at running board
Four lower positions at angle (be arranged at the back side of running board 2 and) are contacted with supporting construction 6, or, it is also possible to it is arranged at running
In the supporting construction 6 of the lower section of plate 2 and with the rear-face contact of running board 2, the quantity of pressure sensor can be for four or can also
For more.Certainly, the pressure sensor is it can also be provided that one, two or three etc., corresponding position can also root
It is configured according to practical measurement requirement, and is not limited to four lower positions at angle of running board.
The processor of the data of calculation pressure sensor collection, the treatment can be included in the running status control device
Device can be integrated with the original motion controller of treadmill, it is also possible to separately as controller, is connected with motion controller, so as to
It is controlled in the operation according to the data of the pressure sensor for gathering to treadmill.
In above-mentioned running machine equipment, first with the signal of certain frequency collection pressure sensor (assuming that typical frequencies
In 50Hz, then a signal data is gathered per 20ms, it is ensured that with good real-time), the signal of collection is by filter
The position of centre of gravity on current treadmill relative to whole treadmill belt is obtained by Modeling Calculation again after ripple treatment, specific modeling meter
Calculation mode has been described above in treadmill intelligence motion sensing control method before, will not be repeated here.
Traditional treadmill (including machine for walking) must be by passive control speed governing etc. button, and the embodiments of the present invention are carried
The running machine equipment of confession can lead to too small amount of pressure sensor and calculate Center of Pressure to estimate position of human center, and according to people
Body position of centre of gravity carries out speed governing, actively adapts to the speed governing demand of sporter.Nature of the sporter in motion process by moving
Variation tendency (change of centre of body weight) just can complete the adjustment of treadmill (containing machine for walking) speed, and interaction is simpler
It is clean, natural.
Be additionally, since the pressure sensor used in running machine equipment provided in an embodiment of the present invention have technology into
Ripe, high precision and it is with low cost the characteristics of so that the realization of corresponding running machine equipment provided in an embodiment of the present invention is more
Easily and cost also will be cheaper.
For ease of understanding, the realization below in conjunction with accompanying drawing to running machine equipment provided in an embodiment of the present invention makees further
Describe in detail.
Usual treadmill at least include treadmill belt 5 (including upper and lower two parts, i.e.,：Treadmill belt front is used for the people that runs
Step on and run above, treadmill belt reverse side is used to be connected as one with treadmill belt front to be around in scroll forward and backward axle 7) and actuating unit
(including scroll forward and backward axle 7 and motor etc.), the motor in actuating unit is used to drive treadmill belt to move with scroll forward and backward axle 7, such as
Shown in Fig. 2, the treadmill also running board 2 including hard, it is supported by supporting mechanism 6, the running for bearing people on treadmill belt
Impact, treadmill also include motion controller, for controlling start and stop and speed.Usual treadmill belt lower section is the running of hard
Plate, during running, treadmill belt motion, running board is static, and running board receives the impact of all runnings.Treadmill is generally also configured with helping
Other accessories such as hand, operating desk, not shown in Fig. 2.
As shown in figure 3, during the embodiment of the present invention is implemented, pressure sensor 1 (being four in figure) specifically may be used
With between running board 2 and its supporting mechanism.So pressure sensor 1 will not be with moving component directly contact, and can be with
The impulse force in motion process is born completely, it is ensured that the accuracy of pressure acquisition.
Referring now still to shown in Fig. 3, pressure sensor 1 is distributed in four corners of running board 2.In actually calculating, to running
Plate sets up coordinate system, and the pressure data according to collection is calculated two dimension of the current people for moving on a treadmill on running board
Coordinate.The two-dimensional coordinate accurately reflects relative position of the gravity center of human body on running board, i.e. position of human center 3.Certainly, press
Force snesor can also use other arrangements, typically, the running board complete for a piece, 4 pressure of corner location
Sensor is enough to complete the calculating of center of gravity.On the one hand increase pressure sensor number can improve the precision of data calculating, another
Aspect is likely to produce influence to calculating speed etc..Therefore need that two aspect factors can be considered in specific implementation process
To determine most preferably to pass pressure sensor quantity configuration.
Gathering pressure parameter by pressure sensor controls the handling process of treadmill operation as shown in figure 4 above, leads to first
With processing center be connected array of pressure sensors by oversampling circuit, collects and the pre- place such as be filtered first after pressure parameter data
Reason, to filter those obvious noises.Hereafter these pressure parameter data are by modeling analysis, it is possible to use common engineering
Habit and mode identification method are calculated the model of pressure parameter data and center of gravity.Obtaining position of human center data laggard
Step treatment can also obtain the information such as cadence, leg speed and the relative position of people, and treatment is modeled according to these information, that is, model
Calculate when forefathers actual velocity (specific calculation before treadmill intelligence motion sensing control method in retouched
State, will not be repeated here), then actual motion speed ratio by it with the treadmill belt of treadmill is compared with so as to the motor to treadmill
It is controlled, to realize being controlled the speed of service of the treadmill belt of treadmill, to adapt to the actual velocity of people, so that
Realize the operation of intelligent motion sensing control treadmill.
The embodiment of the present invention do not have to pressure sensor form in itself and feature during concrete implementation it is special will
Ask, as long as range and precision (can at least bear body weight of ordinary person etc.) in the range of requiring.Pressure sensor is matched somebody with somebody
Mode is put also without particular/special requirement, according to the difference of its configuration mode, Processing Algorithm is also accordingly varied from, but as long as can be according to
Modeled according to its arrangement mode, be calculated the center of gravity for moving over people.Typically it is configured to, at one piece the four of running board
Individual corner placement sensor, can eaily set algorithm, obtain position of centre of gravity.But concrete configuration not limited to this, center of gravity
The precision of position can also be solved by increasing pressure sensor quantity, but accelerating can also improve computation complexity.
Need to obtain a precision according to actual conditions and complexity is suitably configured.
Pressure sensor processing component typically uses embedded chip, rational configuration mode to require very low, master to calculating
Frequently completed by reaching the embedded chip of 70MHz.These parts can be substituted for any chip with computing capability.
Specifically, in application process, pressure sensor may be mounted at four corners of running board to the embodiment of the present invention,
And using the controller of individual pressure sensors data, the controller is connected with motor control part, is calculated controlled motor
Acceleration and deceleration and signal is started or stoped, be published to motor control module, realize the speed of service and running status to treadmill
Control.
In the embodiment of the present invention, pressure sensor can be only fitted to the support knot of hard plate (running board below treadmill belt)
Between structure and hard plate, so directly contact will not be produced with moving component, so that pressure sensor service life is significantly
Increase.
In the embodiment of the present invention, the position of centre of gravity being calculated using pressure sensor can be also used for judging it is current whether
Running belt edge (i.e. sideslip) is moved to, so as to point out the people moved on treadmill, security is further enhancing.
Further, the pressure data for being obtained in the embodiment of the present invention can also be converted into the body weight of sporter, so that
Body weight information is tracked when being taken exercise using treadmill, when motion produces impact to hard plate every time, impact data can also convert
The step impact force of the personnel moved on into treadmill, so as to the impact to motion process to body is estimated, and further
Correction is reminded, for example, when step impact force is more than predetermined value, then reminding the personnel of motion, reaches and knee is protected in motion process
The purpose of the vulnerable parts such as lid.
Furthermore, the data after gathering and process in the embodiment of the present invention can greatly improve running by further treatment
Machine control experience, it is possible to use direction include but is not limited to:Treadmill meter walks technology, can be accurate using the change of center of gravity
Recorder's motor pattern on a treadmill, realizes meter step；Treadmill somatic sensation television game technology, can pass through according to center of gravity data
Chip is adapted to game station, by body-sensing, for example, adjusts centre of body weight to control somatic sensation television game, and such as balanced class or cool run class is swum
Play etc..
The above, the only present invention preferably specific embodiment, but protection scope of the present invention is not limited thereto,
Any one skilled in the art in the technical scope of present disclosure, the change or replacement that can be readily occurred in,
Should all be included within the scope of the present invention.Therefore, protection scope of the present invention should be with the protection model of claims
Enclose and be defined.
Claims (10)
1. a kind of treadmill intelligence motion sensing control method, it is characterised in that including：
Obtain the current pressure parameter of pressure sensor collection；
Positional information estimation current human's position of centre of gravity according to the current pressure parameter and pressure sensor；
Motion according to current human's position of centre of gravity and the position of human center judgement determination human body for estimating determination before becomes
Change situation；
The running status of treadmill is controlled according to the motion change situation of the human body.
2. method according to claim 1, it is characterised in that in the process step of the estimation current human position of centre of gravity
The specific computing formula for using includes：
G (x, y)=Σ CiFiPi(x,y)/ΣFi；
Wherein, G (x, y) is the position of human center of estimation, CiIt is i-th calibration parameter of pressure sensor, FiIt is i-th pressure
The pressure parameter value of force snesor, Pi(x, y) is i-th positional information of pressure sensor.
3. method according to claim 1 and 2, it is characterised in that the judgement determines the motion change situation of human body
Process step includes：
The position of human center of determination is estimated according to current human's position of centre of gravity and before, adjacent gravity center of human body twice is counted
The time of change in location, and then the determination people cadence taken a step on a treadmill that converts；
The cadence taken a step according to current determination compares with the cadence taken a step for determining before, judges to determine people in treadmill
On movement velocity situation of change.
4. method according to claim 3, it is characterised in that the method also includes：
Estimate according to current human's position of centre of gravity and before the position of human center of determination front and rear situation of change on a treadmill
Further determine that people's movement velocity situation of change on a treadmill.
5. method according to claim 1 and 2, it is characterised in that the judgement determines the motion change situation of human body
Process step includes：
The position of human center of determination is estimated according to current human's position of centre of gravity and before, adjacent gravity center of human body twice is counted
The time of change in location, and then the determination people cadence taken a step on a treadmill that converts；
The position of human center of determination is estimated according to current human's position of centre of gravity and before, people is calculated with reference to the cadence taken a step
Movement velocity.
6. method according to claim 1 and 2, it is characterised in that the method also includes：
When treadmill runs, if the current pressure parameter of the pressure sensor collection for getting is less than predetermined value,
Control treadmill is out of service；
And/or,
When treadmill is in halted state, if the current pressure parameter of the pressure sensor collection for getting is more than pre-
Definite value, then control treadmill to start；
And/or,
When treadmill runs, if the position of human center that estimation determines deviates predetermined position, user's sideslip is pointed out；
And/or,
The step number that change statistics according to position of human center is moved on a treadmill as forefathers, and show.
7. method according to claim 1 and 2, it is characterised in that obtaining the current pressure ginseng of pressure sensor collection
After number, the method also includes：
The impulsive force of the step of players on treadmill is calculated according to the pressure parameter, when the impulsive force is more than predetermined value
When point out players；
And/or,
The body weight of players on treadmill, and output display are calculated according to the pressure parameter.
8. method according to claim 1 and 2, it is characterised in that the running status to treadmill is controlled bag
Include：
The speed of service, running status to the treadmill belt of treadmill are adjusted；
And/or,
Somatic sensation television game content to the operation on treadmill is controlled operation.
9. a kind of running machine equipment, it is characterised in that control to fill including treadmill belt, running board, pressure sensor and running status
Put, the running board is arranged at the positive lower section of the treadmill belt, and the pressure sensor is arranged at the lower section of running board, described
The current pressure parameter that pressure sensor will be collected sends the running status control device, the running status control dress to
Put the running status that treadmill belt is controlled using the method described in claim 1 to any one of claim 8.
10. equipment according to claim 9, it is characterised in that the pressure sensor is arranged at four angles of running board
Lower position and contacted with the supporting construction below running board, or, the pressure sensor is arranged at below running board
In supporting construction and with running board rear-face contact.
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