CN108371784A - A kind of control method and device of body-sensing intelligent running machine - Google Patents
A kind of control method and device of body-sensing intelligent running machine Download PDFInfo
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- CN108371784A CN108371784A CN201810334396.1A CN201810334396A CN108371784A CN 108371784 A CN108371784 A CN 108371784A CN 201810334396 A CN201810334396 A CN 201810334396A CN 108371784 A CN108371784 A CN 108371784A
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- treadmill
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- shelter
- echelette
- paces
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B22/00—Exercising apparatus specially adapted for conditioning the cardio-vascular system, for training agility or co-ordination of movements
- A63B22/02—Exercising apparatus specially adapted for conditioning the cardio-vascular system, for training agility or co-ordination of movements with movable endless bands, e.g. treadmills
- A63B22/0235—Exercising apparatus specially adapted for conditioning the cardio-vascular system, for training agility or co-ordination of movements with movable endless bands, e.g. treadmills driven by a motor
- A63B22/0242—Exercising apparatus specially adapted for conditioning the cardio-vascular system, for training agility or co-ordination of movements with movable endless bands, e.g. treadmills driven by a motor with speed variation
- A63B22/025—Exercising apparatus specially adapted for conditioning the cardio-vascular system, for training agility or co-ordination of movements with movable endless bands, e.g. treadmills driven by a motor with speed variation electrically, e.g. D.C. motors with variable speed control
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B24/00—Electric or electronic controls for exercising apparatus of preceding groups; Controlling or monitoring of exercises, sportive games, training or athletic performances
- A63B24/0087—Electric or electronic controls for exercising apparatus of groups A63B21/00 - A63B23/00, e.g. controlling load
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B71/00—Games or sports accessories not covered in groups A63B1/00 - A63B69/00
- A63B71/06—Indicating or scoring devices for games or players, or for other sports activities
- A63B71/0619—Displays, user interfaces and indicating devices, specially adapted for sport equipment, e.g. display mounted on treadmills
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B24/00—Electric or electronic controls for exercising apparatus of preceding groups; Controlling or monitoring of exercises, sportive games, training or athletic performances
- A63B24/0087—Electric or electronic controls for exercising apparatus of groups A63B21/00 - A63B23/00, e.g. controlling load
- A63B2024/0093—Electric or electronic controls for exercising apparatus of groups A63B21/00 - A63B23/00, e.g. controlling load the load of the exercise apparatus being controlled by performance parameters, e.g. distance or speed
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B2220/00—Measuring of physical parameters relating to sporting activity
- A63B2220/20—Distances or displacements
- A63B2220/22—Stride length
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B2220/00—Measuring of physical parameters relating to sporting activity
- A63B2220/62—Time or time measurement used for time reference, time stamp, master time or clock signal
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B2220/00—Measuring of physical parameters relating to sporting activity
- A63B2220/80—Special sensors, transducers or devices therefor
- A63B2220/805—Optical or opto-electronic sensors
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B2220/00—Measuring of physical parameters relating to sporting activity
- A63B2220/80—Special sensors, transducers or devices therefor
- A63B2220/83—Special sensors, transducers or devices therefor characterised by the position of the sensor
- A63B2220/833—Sensors arranged on the exercise apparatus or sports implement
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B2225/00—Miscellaneous features of sport apparatus, devices or equipment
- A63B2225/20—Miscellaneous features of sport apparatus, devices or equipment with means for remote communication, e.g. internet or the like
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- Health & Medical Sciences (AREA)
- General Health & Medical Sciences (AREA)
- Physical Education & Sports Medicine (AREA)
- Cardiology (AREA)
- Vascular Medicine (AREA)
- Engineering & Computer Science (AREA)
- Human Computer Interaction (AREA)
- Rehabilitation Tools (AREA)
Abstract
A kind of body-sensing intelligent running machine, including treadmill, roller and rear race roller are run before being separately installed in the front and back end of treadmill, preceding race roller and rear run are surrounded with treadbelt on roller, preceding race roller is by motor drag, front protection cover is installed above motor, display panel is integrated on front protection cover, echelette device is installed in the edge strip of treadbelt both sides, echelette device is used to detect the gait of human body and gait information is passed to controller, the actual speed that controller is often walked using runner carries out per leg speed degree adjustment treadmill, and when according to the step pitch and step for blocking situation and runner of echelette, the operating status of treadmill is controlled in conjunction with treadmill current operating conditions.This invention simplifies the traditional structures of treadmill, and make each step of runner that treadbelt can be made to generate adaptive change, to reach the technique effect for allowing treadmill that runner is followed to walk, while further improving the safety of treadmill.
Description
Technical field
The present invention relates to fitness equipment and motion sensing control technical field more particularly to a kind of controls of body-sensing intelligent running machine
Method and apparatus.
Background technology
In field of exercise equipment, treadmill is product that is most representative and most being welcome by everybody.Traditional treadmill
User is needed first to set a working condition, then user moves with the working condition.When user needs to change itself
Motion state when, then need user with the working condition of the whole treadmill of hand adjustment.When treadmill is set in a certain working condition
Afterwards, that is, it is fixed on the working condition, any exception that cannot occur to user responds, and practical effect is exactly to make
User chases running machine running.Set safety lock is only just had an effect in user's disequilibrium and reaching a certain level, and because
It is inconvenient for use when wearing, it is often directly locked, does not shield really by user.These characteristics make the use of treadmill
It is inconvenient, and there is certain danger when in use.
There are one control panels for traditional treadmill all bands, are used for ease of runner, need a supporting rack that will control
Panel is placed in the place being readily accessible to when runner's movement, this significantly increases the size of treadmill short transverse, makes running
The storage of machine becomes difficult, it is necessary to a special using area is opened up in limited living space for treadmill.Treadmill
Telecontrol equipment it is relatively fixed, room for improvement is little, to make treadmill more attract user, manufacturer have in control panel and
Its supporting rack surrounding is made an issue of, and the control panel of treadmill is caused to become increasingly complex, and cost is higher and higher, unrelated with running
Additional function is also more and more, virtually increases the danger that treadmill uses.
Currently, there is a kind of treadmill it is not necessary that speed control can be carried out to treadmill with hand operation, in the technology
Treadmill treadmill is divided into accelerating region, holding area and deceleration area in scheme, acceleration control is carried out when human body is located at accelerating region,
Deceleration control is carried out when human body is located at accelerating region, is at the uniform velocity controlled when human body is located at holding area.Such control mode
Needing human body to be located at specific region could complete specifically to control, it is desired nonetheless to which intentionally for it, intelligence degree is or not runner
It is high；Moreover, when human body is located at specific region, control mode is also fixed.When human body is strayed into the region, due to generating
The control effect that runner had not expected, makes runner more panic, easily generates dangerous consequences instead；Furthermore it should
Technology only obtains the location information of human body, can not precisely be judged the real-time gait of human body, it is difficult to be carried out to treadmill
Further precise controlling, it is more difficult to realize the motion sensing control to treadmill.
Invention content
The object of the present invention is to provide a kind of control method and device of body-sensing intelligent running machine, the speed for making runner often walk
Degree all generates control action to the speed of service of treadmill, and with the working condition of the gait control treadmill of runner, makes race
Step machine can follow the paces of runner, improve automation and the intelligence degree of treadmill, change the tradition of treadmill
Control mode.Meanwhile the automation and intelligence of treadmill also make the control panel of treadmill become extra, only retain and show work(
It can and be integrated on front protection cover.This makes treadmill become extremely slim, when greatly reducing treadmill and using and preserve
Occupied space, storage become easy, and make the traditional structure of treadmill that great change have occurred.
The purpose of the present invention is what is be achieved through the following technical solutions.
A kind of control method of body-sensing intelligent running machine, which is characterized in that including：
When according to the step pitch and step for blocking situation acquisition runner of echelette；
The actual speed often walked according to runner is calculated when the step pitch and step of the runner；
The actual speed often walked according to the runner carries out per leg speed degree adjustment treadmill；
When according to the step pitch and step for blocking situation and the runner of the echelette, in conjunction with treadmill current operating conditions
Control the operating status of treadmill.
The processing step blocked when situation obtains runner's step pitch and step according to echelette, including：
Echelette scan round simultaneously records the position number that is blocked；
Initial time and the finish time in runner's single step period are determined with the mutation of blocking position serial number；
Search the maximum value and minimum value of blocking position serial number in the single step period；
Step pitch is calculated by following formula：
Ls=(Nmax-Nmin) * D；
Wherein Ls is step pitch, and Nmax is the maximum value of blocking position serial number in the single step period, and Nmin is to block position in the single step period
The minimum value of serial number is set, D is the equidistant distance of equidistant arrangement optical grating element；
It is calculated by following formula when step：
Ts=Tend-Tstart；
Wherein Ts be step when, Tend be the single step period finish time, Tstart be the single step period at the beginning of carve.
Further include：
Shelter length is measured and recorded, if shelter length is more than preset shelter length range threshold values, is determined as exception
Paces；
Shelter number is measured and records, if shelter number is more than 2 or does not detect and block within the preset period
Object is determined as abnormal paces；
The shelter duration is measured and records, if the shelter duration is more than preset shelter duration ranges valve
Value is judged to stopping paces.
The processing step of the operating status of the control treadmill, including：
After the power is turned on, into standby mode, if detecting, treadmill end position has shelter to treadmill, and in the running generator terminal
From at the time of the shelter of portion position occurs, paces, and the step pitch and step of the paces are detected in preset time interval
When be within the scope of default startup threshold values, then control treadmill startup, into operating status；
And/or
When treadmill is in operating status, if detecting abnormal paces, controls treadmill and stop and enter standby mode；
And/or
When treadmill is in operating status, if ratio valve when ratio when detecting current step and when preceding hyposynchronization is in default step
It is worth except range, then controls treadmill and stop and enter standby mode；
And/or
When treadmill is in operating status, if detecting, the ratio of current stride and previous step pitch is in default step pitch ratio valve
It is worth except range, then controls treadmill and stop and enter standby mode；
And/or
When treadmill is in operating status, if detecting stopping paces, controls treadmill and stop and enter halted state；
And/or
It when treadmill is in halted state, records the stop position of shelter and starts halted state timer, if stopping shape
State timer expiry then enters standby mode；If detecting that stop position changes during halted state timer timing,
It then presses the changed direction controlling treadmill of stop position with pre-set velocity to start by the direction, reenters operating status.
Further include：
The operation data of treadmill is uploaded to other smart machines and carries out data analysis；
With other smart machines be arranged treadmill operating parameter and under reach treadmill.
A kind of body-sensing intelligent running machine, including：The front and back end of treadmill, the treadmill is separately installed with front roll and rear rolling
Cylinder, is surrounded with treadbelt on the front roll and back roll, and the front roll is by motor drag, before being equipped with above the motor
Shield is integrated with display panel on the front protection cover, and the display panel is for showing treadmill operation information；The treadbelt two
Echelette device is installed, the echelette device is used to detect the gait of human body and passes gait information in the edge strip of side
Controller is passed, the controller is controlled by motor using any one the method for claim 1 to claim 5 and run
The operation of machine.
The echelette device, including equidistant light emitting array and equidistantly by optical arrays, the equidistant light emitting array and institute
It states and is equidistantly separately mounted to by optical arrays in the edge strip of treadbelt both sides, the equidistant light emitting array and described equidistantly by optical arrays
Element corresponds, and the centre-height of the array element is higher than treadbelt 3mm ~ 30mm, the equidistant distance of the array element
For 10mm ~ 30mm.
The display panel is also equipped with the control button for adjusting treadmill.
The motor is brushless motor.
Further include：The display panel is also equipped with the wireless communication apparatus for carrying out data exchange with external equipment.
When the present invention directly measures the step pitch and step of each step of runner using echelette, run to obtain runner
The actual speed of each step on platform；It is used in combination this often to walk actual speed to carry out per leg speed degree adjustment treadmill, runner's is each
Step can make treadbelt generate adaptive change, it is ensured that the promptness of control, realize that treadmill can follow in sb's footsteps follows
The motion sensing control of runner's paces；Meanwhile further intelligent control is carried out to treadmill using the characteristics of body gait.From
And provide a kind of use more convenient, safer, the better treadmill of Product Experience for people.
The present invention is integrated with display panel on the front protection cover of treadmill, it is no longer necessary to traditional control panel and control plane
Plate bracing frame makes treadmill become slim succinct；The present invention also uses the brush motor that brushless motor is used instead of tradition,
While same strong impetus is provided, motor outer diameter and motor volume are greatly reduced, makes the head section of treadmill can be with
Maintain an equal level with edge strip, further reduces treadmill thickness, the storage of treadmill is made to become extremely to be easy.
Description of the drawings
In order to illustrate the technical solution of the embodiments of the present invention more clearly, attached needed in being described below to embodiment
Figure is briefly described, it should be apparent that, drawings in the following description are only some embodiments of the invention, for this field
Those of ordinary skill for, without creative efforts, can also be obtained according to these attached drawings other accompanying drawings.
Fig. 1 is the processing flow schematic diagram of providing method of the embodiment of the present invention；
Fig. 2 is the schematic diagram that the present invention obtains runner's gait parameter using echelette；
Fig. 3 is the internal structure chart of treadmill device of the present invention；
Fig. 4 is the external structure of treadmill device of the present invention.
Specific implementation mode
With reference to the attached drawing in the embodiment of the present invention, technical solution in the embodiment of the present invention is clearly and completely retouched
It states, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.Based on the present invention
Embodiment, every other embodiment obtained by those of ordinary skill in the art without making creative efforts,
Belong to protection scope of the present invention.
The purpose of the embodiment of the present invention is to provide a kind of technical solution of body-sensing intelligent running machine, so as to allow treadmill
And then runner walks, while differentiating the abnormal paces of runner, is more protected to runner.Treadmill after being powered in the program
Into standby mode, in this case, user is needed to trigger preset entry condition, treadmill could start and enter automatically
Operating status；Under operation, the actual speed that treadmill is often walked according to user automatically carries out per leg speed degree treadmill
Adjustment, often walk adjustment treadmill speed can allow treadmill treadbelt automatic following runner paces, thoroughly change running
The traditional control mode of machine.Meanwhile treadmill monitors the paces of user automatically, if paces are abnormal, treadmill will stop automatically
Only and enter standby mode；Into after standby mode, runner is if it is desired to restart treadmill then and need to meet again and is default
Entry condition；When treadmill is then run because treadmill caused by user halts or stops taking a step to wait normal gaits stops
It walks chance record stop position and enters halted state；Under halted state, treadmill can start a timer and timing, fixed
When the time can just enter standby mode to treadmill.In halted state timing time, as long as treadmill detects one normally
Paces then can start treadmill with forward or reverse again by the direction of the paces.
The method of the present invention embodiment is described in further detail below in conjunction with attached drawing.
A kind of body-sensing intelligent running machine control method provided in an embodiment of the present invention, as shown in Fig. 1, the embodiment of the present invention
In in the both sides of treadbelt be disposed with echelette to detect the occlusion state of infrared beam, runner is extracted by processor and is often walked
Gait information, to obtain the actual speed that runner often walks, the actual speed often walked with runner carries out often treadmill
Leg speed degree adjusts, and carries out intelligent control to treadmill the characteristics of combination body gait.It can specifically include following processing step
Suddenly：
When step 101, according to the step pitch and step for blocking situation acquisition runner of echelette；
When people walks or runs on a treadmill, the echelette light beam of intensive equidistant arrangement must have part can be by the foot of runner
Portion is blocked, and at the time of occurring, disappear according to the blocking position of infrared beam and shelter, it is a large amount of can to extract runner
Gait information, including step pitch, step when, sole length, sole landing the duration, shelter number etc..
Specifically, as shown in Fig. 2, the dotted line of intensive equidistant arrangement is the equidistant light emitting array of echelette（201）Transmitting
Infrared beam, by infrared beam from running drive end unit be numbered, first light beam（204）Compile is position number 0, Article 2
Light beam（205）It is position number 1 to compile, and so on, it is position number N sequentially to number to the last item light beam.When shelter goes out
It is existing, there will be a continuous infrared beam to be blocked, equidistantly by optical arrays（202）The light receiving unit of middle corresponding position will not receive red
Outer light beam.As long as this is continuously multiplied by equidistant distance by the serial number difference of gear receiving terminal, you can the length for obtaining shelter is such as blocked
Object（207）Position number 32 is blocked（211）To position number 47（212）Light beam, if optical grating element equidistantly distance be 18mm,
Then shelter length=(47-32) * 18mm=270mm.The natural gait of people is that full sole lands when low speed, measured shelter
Length is sole length.A sole length range threshold value is preset, too small and excessive shelter can be determined as by we
Illegal shelter can both prevent children, pet and the apparent shelter triggering treadmill for being not belonging to human foot length, also might be used
To increase system survivability, enhance stability.Satisfactory shelter length can be demarcated as sole length standard
Value, the extraction for later gait parameter provide reference；Secondly, there are several sections being continuously in the light, you can obtained several screenings
Block material, such as shelter（207）Cause position number 32（211）To position number 47（212）Light beam be blocked, shelter
（208）Cause position number 5（209）To position number 19（210）Light beam be blocked；
In certain time period, treadmill can only be operated toward a direction, and therefore, human foot is formed by blocking position serial number must
Variation will be recurred, by tracking the blocking position serial number of shelter, when we can obtain the step pitch and step of runner.When
When one shelter occurs suddenly, we can be determined that as the beginning of a paces, and when it suddenly disappears, we can be determined that
For the end of a paces.And the time difference of its start time and finish time are when walking；Start blocking position serial number and knot
The serial number difference of beam blocking position serial number is multiplied by raster unit, and equidistantly distance is step pitch.When stopping for treadmill, two screenings
The time difference that block material successively occurs is when walking, and range difference is step pitch.
Step 102, the actual speed often walked according to runner is calculated when the step pitch and step of the runner；
When the step pitch and step that often walk according to runner, pass through formula：Speed=distance/time, you can obtain the reality that runner often walks
Border speed.
Step 103, the actual speed often walked according to the runner carries out per leg speed degree adjustment treadmill；
When treadmill is static, an adult does not have to effective running region that two steps can step entire treadmill.That is,
If realizing the motion sensing control to treadmill, treadmill speed must just be carried out per successive step.The reality that runner is often walked
Border speed passes through common PID velocity close-loop controls as scalar quantity, the present speed of treadmill as actual amount, you can real
Now the speed of treadmill is carried out per leg speed degree adjustment.
When step 104, according to the step pitch and step for blocking situation and the runner of the echelette, in conjunction with treadmill
Current operating conditions control the operating status of treadmill.
Treadmill is set there are three main working condition：Standby mode, halted state and operating status, according to human body paces
Feature so that treadmill is switched between each working condition in conjunction with treadmill current operating conditions, further increase treadmill
Intelligence degree.Processing method in conjunction with abovementioned steps further includes following processing function：
1) after the power is turned on, into standby mode, if detecting, treadmill end position has shelter to treadmill, and in the treadmill
From at the time of the shelter of end position occurs, paces, and the shelter of the paces are detected in preset time interval
It is within the scope of default startup threshold values when length, step pitch and step, then controls treadmill startup.Into operating status.Running
Machine can only accommodate one to two paces of human body when static, human body paces should be accurately judged to again in one to two paces
The characteristics of avoiding false triggering as possible, needing only possible more extraction human body paces.Human body always sets foot on race from the end of treadmill
Step machine, therefore detect that treadmill end position has shelter as one of entry condition；Human body is wanted to run, and necessarily exists
Set foot on after treadmill to make and take a step to act, thus at the time of the shelter of the treadmill end position occurs from, default
Time interval in detect two of paces as entry condition；After human body, which is made, takes a step action, a paces are can detect,
And can completely be detected by echelette there are one sole, it, can will obviously not to being restricted when shelter length, step pitch and step
Belong to human foot length, human body take a step step pitch and step when trigger event foreclose, therefore the shelter length of paces, step
Away from being used as the three of entry condition with being in when step within the scope of default startup threshold values.By the limitation of above 3 entry conditions,
Can prevent children, pet, accidental falling object, do not meet setup rule be not intended to trample false triggering treadmill, meet big absolutely
Requirement in most cases.
2) it when treadmill is in operating status, if detecting abnormal paces, controls treadmill and stops and enter standby
State.Characteristic when can on a treadmill be moved according to human body sums up some universal phenomena, such as：Even if before runner's bipod
After overlap to form a shelter, the length of the shelter is also impossible to 2 times more than sole length, therefore, the length of shelter
Degree is more than that 2 times of the sole length standard value obtained in a step 101 can determine that as abnormal paces；Runner transports on a treadmill
When dynamic, it is impossible to form 2 or more shelters, therefore there are 2 or more shelters to can determine that as abnormal paces；Runner exists
When being moved on treadmill, it is impossible to empty for a long time, therefore no shelter can determine that as abnormal paces in a period of time；It runs
When step person moves on a treadmill, a shelter can not possibly exist for a long time, and human body walks and often walks the time generally not when running
It can be more than 2 seconds, therefore a shelter existence time is more than that can determine that within 2 seconds as abnormal paces.There are abnormal paces to illustrate to run
There is abnormality in person or treadmill, should stop the operation of treadmill immediately.
3) when treadmill is in operating status, if ratio when detecting current step and when preceding hyposynchronization is in default step
Except ratio threshold range, then controls treadmill and stop and enter standby mode.In running, action has continuous human body
Property, be not in large-scale suddenly change.Ratio when current step and when preceding hyposynchronization has reacted the amplitude of variation of human body paces,
Ratio threshold range when the step of the front and back paces of rationally setting, can detect the abnormal paces of human body, stop treadmill in time in time
Operation.
4) when treadmill is in operating status, if detecting, the ratio of current stride and previous step pitch is in default step pitch
Except ratio threshold range, then controls treadmill and stop and enter standby mode.The ratio of current stride and previous step pitch is same
The amplitude of variation of human body paces is reacted, the step pitch ratio threshold range of the front and back paces of rationally setting can also detect human body in time
Abnormal paces, in time stop treadmill operation.
5) it when treadmill is in operating status, if detecting stopping paces, controls treadmill and stops and enter stopping
State.When human body moves on a treadmill, it is sometimes desirable to suspend, the most natural state of human body can be in shape of halting at this time
State, paces are characterized as in treadbelt that, only there are one shelter, which is more than or equal to sole length standard value, and is less than foot
Slap length standard value degree 2 times.It can determine that, to stop gait, treadmill stops, and subsequently enters halted state at this time.
6) it when treadmill is in halted state, records the stop position of shelter and starts halted state timer, if
Halted state timer expiry then enters standby mode；If detecting stop position during halted state timer timing
Variation is then pressed the changed direction controlling treadmill of stop position and is started by the direction with pre-set velocity, reenters operation
State.Halted state with standby mode is maximum is distinguished as：Standby mode, which need to meet setup rule, could start treadmill, and stop
Only state, which only needs stop position to change, can restart treadmill, to reach with walking with stopping, use free to advance or retreat effect
Fruit, it may also be used for be not required in the virtual reality moved left and right.
By above-mentioned processing mode, we realize the intelligent start/stop of treadmill, by the differentiation to abnormal paces, more preferably
Ensure that user's is safe to use, realize complete intelligent motion sensing control.
The technical solution provided by the embodiments of the present invention solves the problems, such as that existing treadmill control is inconvenient so that runs
What step machine can follow in sb's footsteps follows the paces of human body.Realize gait from motion tracking, with walking with stopping.By to abnormal paces
Differentiation, preferably ensure that the safety of user, further improve the intelligence degree of treadmill.And it can be accurately
When the step of human body is provided, the gait parameters such as step pitch, real-time speed, step number, refer to, can be also uploaded for further convenient for user
Movement statistics and analysis.Involved control mode is more accurate, and usage scenario and purposes are more abundant, and algorithm is more simple
It is clean, implement more convenient.
The embodiment of the present invention additionally provides a kind of treadmill device, with reference to shown in Fig. 3 and Fig. 4, including：Treadmill（1）, described
Treadmill（1）Front and back end be separately installed with front roll（2）And back roll（3）, the front roll（2）And back roll（3）It is upper to surround
There is treadbelt（4）, the front roll（2）By motor（5）Dragging, the motor（5）Top front protection cover is installed（6）, before described
Shield（6）On be integrated with display panel（7）, the display panel（7）For showing treadmill operation information；The treadbelt（4）
The edge strip of both sides（8）Echelette device is inside installed（9）, the echelette device（9）For detecting the gait of human body simultaneously
Gait information is passed into controller（10）；The controller（10）The motor is passed through using the method（5）Control running
The operation of machine.To provide a kind of treadmill that intelligent motion sensing control may be implemented.
In above-mentioned running machine equipment, as shown in Fig. 2, the echelette emission array（201）With the echelette
Receiving array（202）The both sides of the treadbelt (4) are separately mounted to, transmitting and receiving unit correspond, corresponding infrared
Light beam should be higher than that treadbelt（4）Distance between 3mm ~ 30mm, too small vertical range not only makes infrared beam that may be run
The influence of band, moreover, human foot is there is arch, it is too low all there are one the design of fovea superior among the sole of many shoes
Vertical range will make a sole form two shelters, and control is caused to fail；And excessively high vertical range can make infrared beam
Tiptoe portion is crossed, the acquisition of entire sole length is unfavorable for, it can be according to the global design of treadmill and the design alternative of edge strip
Rational grating vertical height；And transmitting and receiving unit equidistant arrangement, equidistant distance is 10mm ~ 30mm, this can pass through
Position number difference calculates step pitch.The accuracy of detection of step pitch can be improved by reducing equidistant distance, but can be increased under same grating length
Add the number of raster unit, increases hardware cost and manufacture difficulty；The accuracy of detection of step pitch can be reduced by increasing equidistant distance, but
The number that raster unit can be reduced under same grating length, reduces hardware cost and manufacture difficulty.Equidistantly distance 10mm ~ 30mm is
One relatively reasonable equidistant arrangement distance can be selected according to the actual effective running zone length of treadmill.
In above-mentioned treadmill device, carries out echelette scanning at a certain time interval first, such as scanned per 10ms
Once, it can both ensure the real-time of gait data, the computational burden of system central processor will not be increased very much.The step of acquisition
State data are transferred directly to controller（10）In central processing unit, to the extracting method of gait parameter in intelligent body before
Feel described in treadmill control method, details are not described herein.
The controller（10）Traditional control operation and motor are not only taken（5）Driving, while receiving infrared light
The gait parameter that grid transmit, and directly it is integrated into original control operation and motor driving using gait parameter as the parameter of control
In.This is larger to simplify system software, further improves the real-time and reliability of system control, reduces race of the present invention
The realization difficulty of step machine.
Treadmill in the embodiment of the present invention does not have control panel, and display panel is integrated on front protection cover, directly exists
Treadmill operation information is shown on front protection cover.The occupied space for greatly reducing treadmill, changes the knot of traditional treadmill
Structure.Meanwhile treadmill becomes slimming, at will which past idle space one is filled in all right, and treadmill storage is made to become simple and easy to do.
Outer rotor brushless motor is used in the embodiment of the present invention, compares brushed DC motor used in traditional treadmill,
Due to without commutator, not only reducing the interference of system, and the overall noise of treadmill is reduced, it can be achieved that treadmill
Mute operation.The abrasion of brushless motor is mainly on bearing, and from a mechanical point of view, brushless motor is almost that one kind is exempted to tie up
The motor of shield further increases the service life of treadmill.In contrast, the power consumption of brushless motor only has brush electricity
The 1/3 of machine keeps the treadmill of the embodiment of the present invention more energy saving.Under identical torque request, outer rotor brushless motor volume
Smaller can make the treadmill more ultrathin of the embodiment of the present invention.Meanwhile the big torque of outer rotor brushless motor, quickly sound
Should be able to power be also realize technical solution of the present invention necessary guarantee.
In the above-described embodiments, a blue-tooth device or other wireless communication apparatus can also be integrated on a display panel,
So that treadmill is interacted with other peripheral equipments, further increase the intelligence degree and playability of treadmill, increase to
The attraction at family.
Several buttons can also be increased on a display panel, the operational mode for adjusting treadmill adjusts above-mentioned implementation
Some parameter presets mentioned in example and threshold value, make the ground of the more useful force of professional user.
Traditional treadmill must be by the actives such as button speed governing and control treadmill, and treadmill runs on fixation after adjustment
Pattern.And the running machine equipment that the embodiments of the present invention provide can often walk treadmill by the actual speed of human body
Speed adjusts, and actively follows the paces of human body.And the work shape of treadmill can be automatically controlled by the peculiar gait of human body
State.Runner is not necessarily to specially interact with treadmill during the motion, only can be so as to run by natural motion change trend
Step machine follows automatically, and runner is made to run by all means, and at will running can.
Moreover, obtaining the echelette of body gait parameter in embodiments of the present invention by market using very universal red
Outside line constitutes pipe, and technology maturation, of low cost, reliability is high, buying is convenient so that running provided in an embodiment of the present invention
Machine device be more easy to realize and it is of low cost.
The foregoing is only a preferred embodiment of the present invention, but scope of protection of the present invention is not limited thereto,
Any one skilled in the art is in the technical scope of present disclosure, the change or replacement that can be readily occurred in,
It should be covered by the protection scope of the present invention.Therefore, protection scope of the present invention should be with the protection model of claims
Subject to enclosing.
Claims (10)
1. a kind of control method of body-sensing intelligent running machine, which is characterized in that including：
When according to the step pitch and step for blocking situation acquisition runner of echelette；
The actual speed often walked according to runner is calculated when the step pitch and step of the runner；
The actual speed often walked according to the runner carries out per leg speed degree adjustment treadmill；
When according to the step pitch and step for blocking situation and the runner of the echelette, in conjunction with treadmill current operating conditions
Control the operating status of treadmill.
2. according to the method described in claim 1, it is characterized in that, described obtain runner according to the situation of blocking of echelette
Processing step when step pitch and step, including：
Echelette scan round simultaneously records the position number that is blocked；
Initial time and the finish time in runner's single step period are determined with the mutation of blocking position serial number；
Search the maximum value and minimum value of blocking position serial number in the single step period；
Step pitch is calculated by following formula：
Wherein Ls is step pitch, and Nmax is the maximum value of blocking position serial number in the single step period, and Nmin is to block position in the single step period
The minimum value of serial number is set, D is the equidistant distance of equidistant arrangement optical grating element；
It is calculated by following formula when step：
Wherein Ts be step when, Tend be the single step period finish time, Tstart be the single step period at the beginning of carve.
3. according to the method described in claim 2, it is characterized in that, further including：
Shelter length is measured and recorded, if shelter length is more than preset shelter length range threshold values, is determined as exception
Paces；
Shelter number is measured and records, if shelter number is more than 2 or does not detect and block within the preset period
Object is determined as abnormal paces；
The shelter duration is measured and records, if the shelter duration is more than preset shelter duration ranges valve
Value is judged to stopping paces.
4. method according to claim 1 or 3, it is characterised in that：The processing step of the operating status of the control treadmill
Suddenly, including：
After the power is turned on, into standby mode, if detecting, treadmill end position has shelter to treadmill, and in the running generator terminal
From at the time of the shelter of portion position occurs, paces, and the step pitch and step of the paces are detected in preset time interval
When be within the scope of default startup threshold values, then control treadmill startup, into operating status；
And/or
When treadmill is in operating status, if detecting abnormal paces, controls treadmill and stop and enter standby mode；
And/or
When treadmill is in operating status, if ratio valve when ratio when detecting current step and when preceding hyposynchronization is in default step
It is worth except range, then controls treadmill and stop and enter standby mode；
And/or
When treadmill is in operating status, if detecting, the ratio of current stride and previous step pitch is in default step pitch ratio valve
It is worth except range, then controls treadmill and stop and enter standby mode；
And/or
When treadmill is in operating status, if detecting stopping paces, controls treadmill and stop and enter halted state；
And/or
It when treadmill is in halted state, records the stop position of shelter and starts halted state timer, if stopping shape
State timer expiry then enters standby mode；If detecting that stop position changes during halted state timer timing,
It then presses the changed direction controlling treadmill of stop position with pre-set velocity to start by the direction, reenters operating status.
5. according to the method described in claim 1, it is characterized in that, further including：
The operation data of treadmill is uploaded to other smart machines and carries out data analysis；
With other smart machines be arranged treadmill operating parameter and under reach treadmill.
6. a kind of body-sensing intelligent running machine, including：The front and back end of treadmill, the treadmill is separately installed with front roll and back roll,
It is surrounded with treadbelt on the front roll and back roll, the front roll is equipped with preceding shield by motor drag above the motor
Cover, which is characterized in that display panel is integrated on the front protection cover, the display panel is for showing treadmill operation information；
Echelette device is installed, the echelette device is used to detect the gait of human body and will in the edge strip of the treadbelt both sides
Gait information passes to controller；The controller passes through the motor control using any one the method for claim 1 to 5
The operation of treadmill processed.
7. treadmill according to claim 6, which is characterized in that the echelette device, including equidistant light emitting array
Equidistantly by optical arrays, the equidistant light emitting array and it is described be equidistantly separately mounted to by optical arrays in the edge strip of treadbelt both sides,
The equidistant light emitting array and it is described equidistantly corresponded by the element of optical arrays, the centre-height of the array element be higher than
The equidistant distance of the treadbelt 3mm ~ 25mm, the array element are 10mm ~ 30mm.
8. the treadmill described according to claim 6 or 7, which is characterized in that the display panel is also equipped with to be run for adjusting
The control button of step machine operational mode and state.
9. treadmill according to claim 8, which is characterized in that the motor is brushless motor.
10. treadmill according to claim 6, which is characterized in that further include：The display panel be equipped with for and it is outer
Portion's equipment carries out the wireless communication apparatus of data exchange.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810334396.1A CN108371784A (en) | 2018-04-14 | 2018-04-14 | A kind of control method and device of body-sensing intelligent running machine |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810334396.1A CN108371784A (en) | 2018-04-14 | 2018-04-14 | A kind of control method and device of body-sensing intelligent running machine |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109696866A (en) * | 2018-12-20 | 2019-04-30 | 王云翔 | Game body-sensing treadmill electric-control system |
| CN110787414A (en) * | 2019-11-28 | 2020-02-14 | 广州卓远虚拟现实科技有限公司 | Treadmill speed control method and device and intelligent treadmill |
-
2018
- 2018-04-14 CN CN201810334396.1A patent/CN108371784A/en active Pending
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109696866A (en) * | 2018-12-20 | 2019-04-30 | 王云翔 | Game body-sensing treadmill electric-control system |
| CN110787414A (en) * | 2019-11-28 | 2020-02-14 | 广州卓远虚拟现实科技有限公司 | Treadmill speed control method and device and intelligent treadmill |
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Application publication date: 20180807 |