CN109621329B

CN109621329B - Strength training system and protection method

Info

Publication number: CN109621329B
Application number: CN201811169320.4A
Authority: CN
Inventors: 郭超逸; 柴双勇
Original assignee: Beijing Lidong Technology Co ltd
Current assignee: Beijing Lidong Technology Co ltd
Priority date: 2017-10-09
Filing date: 2018-10-08
Publication date: 2021-07-06
Anticipated expiration: 2038-10-08
Also published as: CN109621329A; CN109621330B; CN109621330A; CN209422875U; CN209378388U; CN209378389U; CN109621328A

Abstract

The invention provides a strength training system and a protection method, which comprise a movement direction detection method, wherein the movement direction detection method is characterized in that a buffer area is arranged when muscles are converted from centripetal contraction to centrifugal contraction, and the load of the muscles in the buffer area keeps smoothly changing. The strength training system and the protection method provided by the invention are suitable for various fitness equipment, compared with the prior art, the strength training system and the protection method can realize very high position resolution, meet the requirement of accurate control and further avoid causing accidental injury to a user; meanwhile, the correctness of the training action in the whole process can be ensured, better action perception is achieved, and in addition, when an accident condition occurs, such as action error, a user can be prompted in time so as to avoid injury, and the protection effect is good.

Description

Strength training system and protection method

Technical Field

The invention relates to the technical field of sports equipment, in particular to a strength training system and a protection method.

Background

The movement pattern of the muscle can be divided into centripetal contraction and centrifugal contraction according to the movement direction. Centripetal contraction represents the process of active shortening of the muscle, and centrifugal contraction represents the process of passive lengthening of the muscle. Because the working modes of the muscles in the two contraction conditions are different, the muscle can be trained more effectively by distinguishing the two conditions and adjusting the load. It is generally believed that the training load for centrifugal contraction of muscles is greater than the training load for centripetal contraction.

The strength training equipment in the prior art cannot distinguish the movement direction of muscles, and some constant-speed training equipment distinguishes the movement direction by presetting conversion positions, so that the problems that the movement of a human body is fuzzy, the conversion positions of different people are rarely the same, and the conversion positions of the same person in different states can also change are solved. The preset position is added with a setting step, the steering process is externally imposed on people, and people feel unnatural and even cause accidents easily. Another way is to determine the direction of motion by the direction of the instantaneous velocity of motion, which has the problem that the velocity value during motion may be unstable due to signal jitter, especially in the stationary case, the velocity may change frequently in positive and negative, and if the load is changed during direction change, the oscillating load problem may occur. In addition, the strength training device in the prior art also lacks a safe and effective protection mechanism, so that a user cannot accurately predict fatigue in the using process, and muscle damage or other safety problems are easy to occur.

Disclosure of Invention

In view of this, the present invention is directed to a strength training system and a protection method, so as to solve the safety problems of muscle injury caused by the failure of accurate fatigue prediction and shock load easily generated during movement direction conversion during the use process of a user in the prior art.

In order to achieve the purpose, the technical scheme of the invention is realized as follows:

a protection method of a strength training system comprises a motion direction detection and load adjustment algorithm, wherein the motion direction detection and load adjustment algorithm is used for setting a buffer area when muscles are converted from centripetal contraction to centrifugal contraction, and the load of the muscles in the buffer area keeps smoothly changing.

Further, the motion direction detection method comprises:

the centripetal contraction load of the muscle is set to Fa, the centrifugal contraction load is set to Fb, the muscle is provided with a buffer zone with the distance d when the centripetal contraction is converted into the centrifugal contraction, when the movement is in the centripetal contraction stage, the movement stops when the movement position is increased from 0 to X1, and the movement starts to retreat, and the load is smoothly changed from Fa to Fb between the position intervals X1-d and X1.

Further, between the position intervals X1-d and X1, the algorithm of the actual load f (X) at the X position is:

F(X)＝Fa-(Fa-Fb)*(X1-X)/d，

when X1-d < X1, the load changes smoothly when shaking in this interval, further adjusting the user experience to different training actions by changing the buffer distance d as a function of the smooth change.

Further, the strength training system protection method further comprises a limit test method, the limit test method comprises a maximum strength test method and a maximum travel test method, and the maximum strength test method comprises the following steps:

s1, detecting the height and the weight of the user, or actively inputting the height and the weight value by the user;

s2, calculating the starting measuring force of the starting measuring point according to the starting measuring point estimation formula and the height and weight value;

and S3, starting from the start point, starting to perform incremental test every unit weight, and performing incremental test for the next time after completing one time completely until the force is not increased gradually, wherein the control system automatically judges the completion degree of the action and records the last completely completed weight.

Further, the protection method of the strength training system further comprises a fatigue prediction and feedback control method, and the fatigue prediction and feedback control method comprises the following steps:

firstly, in a set strength load range, an athlete does a group of actions at a normal constant speed in a non-fatigue state, the system automatically records a group of rising interval average speeds Vi of each action, and calculates an average value to obtain a reference average speed Vref;

secondly, recording the average speed V of the ascending interval of each group of actions;

finally, fatigue is determined using an average speed dual threshold detection algorithm, and if the average speed of the previous set of actions is below a high threshold and the average speed of the current set of actions completed is below a low threshold, significant fatigue is indicated.

Further, according to the average speed variation relationship between two adjacent groups of ascending intervals, the fatigue degree is divided into three grades:

slight fatigue: the average speed of the last group of ascending intervals is lower than the high threshold, but the finished action of the current group is still higher than the low threshold;

light fatigue: the average speed of the previous group of ascending intervals is lower than a high threshold, but the current group finishes the action and is lower than a low threshold, and the current group still insists on finishing the action training of the current group;

moderate fatigue: the average speed of the previous group of ascending intervals is lower than the high threshold, but the current group has completed the motion and is lower than the low threshold, and has not completed the motion training of the current group.

The protection method of the strength training system provided by the invention realizes artificial, active, naturally-changing and safe load change processes in different muscle running situations for a user, avoids the problem of shock load generated during direction change, can prompt athletes to pay attention to muscle fatigue in time, and further avoids the problem of muscle damage generated during the use process of the user.

The invention also provides a strength training system which comprises a control system, a driving device and a transmission mechanism, wherein the control system is connected with the cloud storage system, the driving device transmits strength to a user through the transmission mechanism, the driving device adopts a servo motor, and an encoder with a position sensor is arranged in the servo motor and used for recording the position of the motor in a certain period and continuously sampling the position of the motor.

Furthermore, the encoder and the servo motor rotate synchronously, the movement position is tracked, and real-time speed and acceleration information is obtained.

Furthermore, the strength training system further comprises a display device, the display device is fixed on the cantilever support, the other end of the cantilever support is fixed on the main body of the sports equipment, an emergency stop switch is arranged on the main body of the sports equipment, and the emergency stop switch is connected with the control system and the driving device.

Furthermore, the strength training system also comprises a motion posture detection device, wherein the motion posture detection device is set as a camera recognition system, a camera is used for recognizing and capturing motion postures, and monitoring the body motion track, speed and strength data of a user in the motion process, and the motion posture detection device is connected with the control system and sends the detected data to the control system.

Compared with the prior art, the strength training system has the following advantages:

the strength training system is suitable for various fitness equipment, and compared with the prior art, the encoder can realize very high position resolution, can meet the requirement of accurate control, and further avoids causing accidental injury to a user; the motion posture detection device can not only ensure the correctness of training motions in the whole process and form better motion perception, but also prompt a user in time when an accident condition occurs, such as motion error, so as to avoid being injured, and has a certain protection effect.

Drawings

The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate an embodiment of the invention and, together with the description, serve to explain the invention and not to limit the invention. In the drawings:

FIG. 1 is a schematic diagram of a strength training system under a small load resistance training scenario according to an embodiment of the present invention;

FIG. 2 is a schematic diagram of a strength training system under a heavy load resistance training scenario according to an embodiment of the present invention;

FIG. 3 is a schematic diagram illustrating the relationship between time, location and load according to an embodiment of the present invention;

FIG. 4 is a graph of motion displacement according to an embodiment of the present invention;

FIG. 5 is a flowchart of a fatigue detection method according to an embodiment of the present invention;

fig. 6 is a schematic diagram of a fatigue detection model according to an embodiment of the present invention.

Detailed Description

The present invention will be described in detail below with reference to the embodiments with reference to the attached drawings.

The position information is one of important sensing parameters of the movement and is the basis for realizing functions of data statistics, accurate control, action recognition and the like. Some conventional exercise devices employ an additional independent sensor to detect distance, a marker, such as a light reflector, a light shield, a light transmitter, a magnetic object, a resistor, etc., is mounted on a linear or rotational member, and a detection sensor, such as an optical transceiver, a hall magnetic sensor, a resistance measurer, etc., is mounted on a fixed member. During the movement, the marker passes through a specific sensor at different movement positions, or periodically counts through the sensor, and position information can be obtained according to the sensor output. The problem of the independent sensor is that the position detection precision is low, and the speed and acceleration data derived from the low-precision position data have low precision, so that the requirement of precise control cannot be met.

Example 1

As shown in fig. 1, the embodiment provides a strength training system, which includes a control system, a driving device, a transmission mechanism, a detection device, and a display device, where the control system is connected to a cloud storage system, so as to implement high-precision output of load strength and speed, and store data in the cloud and view the data at a mobile phone terminal in real time. The driving device adopts a servo motor, an encoder with a position sensor is arranged in the servo motor and used for recording the position of the motor in a certain period and continuously sampling the position of the motor, so that periodic circulation is identified, and the position is continuously recorded in a plurality of rotation periods of the motor. The control system comprises an upper computer control system and a lower computer control system.

Furthermore, the encoder and the motor or the main shaft rotate synchronously, the motion position is tracked, real-time speed and acceleration information can be obtained, and the requirement of accurate control is completely met.

Further, display device fixes on cantilever, and cantilever fixes again in the main part of exerciser, just cantilever sets up to the device of angularly adjustable, and not only beautifully does not influence the use again, when the transform training action, the best visual angle of screen also can change thereupon, and the user only needs slight pulling or adjustment display screen angle can adapt to the visual angle before, can adjust the screen angle according to every user's own health when switching between the different users moreover, can adjust the height at will, far and near, every single move, can adapt to different heights, visual angle, distance etc.

The driving device transmits the strength to the user through the transmission mechanism, the training action of the user can be rotary or linear movement, and the transmission device needs to convert the output force of the motor into a proper output form according to the action mode. Meanwhile, since the training usually requires several tens of kilograms to several hundreds of kilograms of resistance, the transmission mechanism usually amplifies the torque output by the motor through the torque conversion mechanism.

Furthermore, the detection device is installed in the force transmission process, the actual resistance borne by a user is monitored, the detection device can be installed at any position in the force transmission process, and the optimal detection device is arranged at one end close to the user, so that the actual force borne by the user can be better detected.

Furthermore, the control system stores the data in the cloud storage system in real time, and a user can check the data through a mobile phone after logging in the system. Preferably, the user can log in by scanning a code or by fingerprint. The user can check the speed, the strength value, the number of finished actions and other data at any time through the mobile phone in the using process, the movement process is convenient to monitor, and meanwhile, the wide popularization and the use of the strength training system are facilitated.

As shown in fig. 1 and 2, the present embodiment provides a strength training system, in which the number of driving devices and transmission mechanisms can be changed as desired. In a small load resistance training scene, only one set of system of a driving device and a transmission mechanism is needed, and the connection relationship is shown in figure 1; under the condition of needing heavy load resistance training, two sets of driving devices and transmission mechanisms are needed and are respectively placed on the left side and the right side of the system, synchronous control of the two sets of driving devices is actively carried out through a lower computer, and the two sets of driving devices and the transmission mechanisms run synchronously and respectively bear half of force. Meanwhile, the two sets of transmission system machine detection devices synchronously feed back detection signals and converge the detection signals to a lower computer control system for synchronous processing.

Furthermore, a motion gesture detection device is arranged in the strength training system, specifically a camera recognition system, the motion gesture is captured through camera recognition, the body motion track, the speed, the strength data and the like of the user in the motion process are monitored at the same time, the motion track, the speed, the strength data and the like are compared with an internal model of the system, if the motion track, the speed, the strength data and the like exceed a deviation range, the motion is considered to be incorrect, the user is prompted, and the motion is corrected. The setting of motion gesture detection device can not only ensure the exactness of training action in whole process, form better action perception, in addition unexpected condition appears, for example when the action is wrong, can in time indicate the user to avoid being injured.

The muscle strength of the human body is different at different positions and angles, and the variable resistance has better effect in order to stimulate and train the muscle better. The control system of this embodiment stores the resistance along with the change curve of position, and control system records the position of motion according to the encoder, then obtains corresponding strength value with position information on the curve, feeds back this strength value to the motor and adjusts to the output satisfies the curved power value. The system can output corresponding strength values at different positions according to a more ideal position strength training curve, adapts to the angles and strength of muscles at different positions, can better stimulate and exercise the muscles, and has better body-building effect.

Furthermore, in the embodiment, the data collected by the detection device, such as force, speed, time, displacement and the like, some of the data display the change curve in real time, such as a speed-displacement curve and an acceleration-displacement curve, so that more details of the movement can be reflected. The power, the total work and the like related to the movement can be obtained through calculation, and the data are finally summarized and displayed on a display device, so that the data are convenient for a user to view.

Further, the strength training system provided by the embodiment is suitable for various fitness equipment, preferably for smith stands, leg strength trainers and the like.

The strength training system provided by the embodiment is suitable for various fitness equipment, and compared with the prior art, the encoder can realize very high position resolution, can meet the requirement of accurate control, and further avoids causing accidental injury to a user; the motion posture detection device can not only ensure the correctness of training motions in the whole process and form better motion perception, but also prompt a user in time when an accident condition occurs, such as motion error, so as to avoid being injured, and has a certain protection effect.

Example 2

As shown in fig. 3, this embodiment provides a protection method for a strength training system, specifically an adaptive soft motion direction detection and load adjustment algorithm, using the strength training systems of embodiments 1 and 2.

Specifically, a buffer area with a certain distance is adopted when the muscle contraction direction changes, and the load can continuously change among different loads in the buffer area, so that the artificial active, natural and safe load change process is realized.

Specifically, assume that the centripetal contraction load is set to Fa, the load of centrifugal contraction is set to Fb, and the buffer distance is d. When the movement is in the centripetal contraction stage, the movement stops and starts to retreat when the movement position increases from 0 to X1, the load changes smoothly from Fa to Fb, for example, according to a linear change (not shown in the figure) between the position sections X1-d and X1, and when the actual load f (X) ═ Fa- (Fa-Fb) × (X1-X)/d at the X position vibrates in the section when X1-d < X1, the load changes smoothly, and the actual use feeling is very smooth. The time, position and load change during the action is shown in fig. 3. By varying the buffer distance d of the smoothly varying function, the user experience can be further adapted to different training actions.

The motion direction detection and load adjustment algorithm provided by the embodiment realizes artificial, active, natural and safe load transformation process in different muscle running situations for users, avoids the problem of shock load generated during direction conversion, and further avoids muscle damage in the using process.

Example 3

When the athletes are training, the muscles can be tired and lack of strength after the action times reach a certain number, the training weight is required to be reduced or the athletes have a proper rest, otherwise, the muscles can be damaged if the athletes continue to exercise. In order to prompt the athlete to pay attention to muscle fatigue and further avoid the problem that the muscle of the user is damaged in the using process, the embodiment provides a protection method of a strength training system on the basis of the embodiment, and accurate fatigue prediction is achieved.

As shown in fig. 4 to 6, in particular, the embodiment provides a fatigue prediction model, which includes a control system, a driving device, a user, a detection device and a fatigue detection algorithm, wherein a preset force load parameter is stored in the control system, or the preset force load parameter is stored in a cloud system, and the control system can be invoked.

The embodiment introduces the definition of the average speed of the action ascending interval:

as shown in fig. 4, the curve represents a motion displacement graph, the trough represents the starting motion point, the peak represents the extreme position reached by the motion displacement, the motion rising section is from the trough to the peak, the time interval from the trough to the peak is recorded as T (unit ms), and the displacement from the trough to the peak is recorded as S (unit cm). The average speed V is S/T.

Firstly, in a set strength load range, the preferable strength load range is plus or minus 5kg, the athlete does a group of movements with normal constant speed under a non-fatigue state, preferably 5 movements, the system automatically records the average speed Vi of the rising section of each movement of the group, and the average speed Vi is averaged for 5 times to obtain the reference average speed Vref.

Next, the average speed V of the rising interval of each set of actions was recorded, with the interval between each set of actions being 3 minutes or more.

Finally, fatigue is judged by using an average speed dual-threshold detection algorithm, and preferably, a high threshold is set to be 0.65 × Vref, and a low threshold is set to be 0.4 × Vref. If the average speed of the previous set of actions is below the high threshold and the average speed of the current set of actions to be completed is below the low threshold, significant fatigue is indicated. The flow chart is shown in fig. 5.

slight fatigue: the average speed of the last group of rising intervals is below the high threshold, but the current group of completed actions is still above the low threshold.

Light fatigue: the average speed of the previous group of ascending intervals is lower than the high threshold, but the current group has completed the motion and is lower than the low threshold, but still persists in completing the motion training of the current group.

And in the system motion process, displacement and time information are collected in real time, the average speed of a rising interval is calculated, and fatigue is predicted. If fatigue is predicted to occur, the fatigue degree is fed back to the controller to adjust the strength and the speed.

If the fatigue is slight: the force load or speed is immediately reduced by 15 to 20 percent

If the fatigue is light fatigue: the force load or speed is immediately reduced by 30 to 40 percent

If the fatigue is moderate: the motor is immediately stopped and the motion is stopped.

Example 4

The traditional apparatus cannot test the extreme positions of each limb of a person during exercise during training, and the embodiment provides a user extreme test method based on the above embodiment, which comprises a maximum strength and maximum stroke test method and can automatically detect the extreme positions of the limbs of each user. After the system records the data of the limit position, the movement stroke of the equipment can be limited in subsequent control, and the equipment is not allowed to move to the limit position of a user, so that the effect of avoiding accidental injury of the user is achieved.

The maximum stroke test method comprises the following steps: and continuously performing 5 actions with the load within a fixed range of 10-30 kg to obtain the upper limit and the lower limit of each action, removing the maximum value of the upper limit and the minimum value of the lower limit of 5 times, performing statistical analysis on the upper limit data and the lower limit data of the remaining 4 times to obtain a processed upper limit value and a processed lower limit value, and taking the two numbers as the upper limit and the lower limit of the movement stroke.

The maximum force detection method comprises the following steps: estimating the measured force: according to the height and the weight of the user, a maximum force measuring starting point is estimated firstly. The starting point estimation formula of each action is different, and here, taking the flexion as an example, the starting point estimation formula is as follows:

initial measurement weight kg 38(kg) -0.78 height (cm) +1.78 body weight (kg)

And starting the incremental test every 5kg from the starting point, and carrying out the incremental test for the next time when the test is completely finished until the force is gradually increased. The system automatically judges the completion degree of the action and records the weight completely completed at the last time. Rest for 2 minutes between each action.

Starting to take 2kg as the step length, starting to increase the test gradually until the force is not increased gradually, automatically judging the action completion degree by the system, and automatically recording the weight of the last completely completed action. Rest for 2 minutes between every two actions

At this time, the last recorded value is the maximum force magnitude.

According to the embodiment, the maximum strength and the maximum stroke of the user are tested, so that in subsequent control, the control system limits the movement stroke of the equipment and does not allow the equipment to move to the limit position of the user, the user is prevented from being injured accidentally, and a certain protection effect is achieved on the user.

Example 5

Because this system is motor control system, in order to ensure the safety of user's use, this system has adopted two kinds of protection mechanisms:

(1) emergency stop button

The emergency stop knob is added on the outer side of the equipment of the system, the emergency stop switch is associated with the driving system, and when an emergency occurs, the button is quickly pressed, so that the power supply of the driving system can be cut off, and the equipment stops moving. But the upper computer and the lower computer can still work at the moment, when the emergency situation is relieved, the emergency stop knob is recovered to be normal, the driving device is recovered to be normal, the whole system is recovered to be normal, and the operation can be carried out again.

(2) Heartbeat communication detection of upper computer and lower computer

In order to detect the faults of the upper computer and the lower computer or the communication between the upper computer and the lower computer, the system adopts a heartbeat message communication mode between the upper computer and the lower computer, and the upper computer and the lower computer generate heartbeat messages mutually according to fixed time frequency and respond to ensure that the communication between the upper computer and the lower computer is normal. If the lower computer does not receive the response of the upper computer within the specified time after sending the heartbeat message, the communication is considered to be disconnected, and the lower computer automatically stops operating after finishing the current task.

When the upper computer and the lower computer reestablish the heartbeat connection, the previous historical tasks are automatically cleared.

The protection mechanism provided by the embodiment prevents the muscle injury of the user, and simultaneously further ensures the use safety of the strength training system.

The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like that fall within the spirit and principle of the present invention are intended to be included therein.

Claims

1. A protection method of a strength training system is characterized by comprising a motion direction detection and load adjustment algorithm, wherein the motion direction detection and load adjustment algorithm is characterized in that a buffer area is arranged when muscles are converted from centripetal contraction to centrifugal contraction, the load of the muscles in the buffer area keeps smoothly changing,

setting the centripetal contraction load of the muscle to Fa, setting the centrifugal contraction load to Fb, setting a buffer zone with the distance d when the muscle is converted into the centrifugal contraction from the centripetal contraction, stopping the movement when the movement is in the centripetal contraction stage and increasing from 0 to X1 at the movement position, starting to retreat, and smoothly changing the load from Fa to Fb between the position intervals X1-d and X1,

the algorithm for the actual load F (X) at the X position between the position intervals X1-d and X1 is:

F(X)＝Fa-(Fa-Fb)*(X1-X)/d，

2. The strength training system protection method of claim 1, further comprising a limit test method, the limit test method comprising a maximum strength test method and a maximum stroke test method, the maximum strength test method comprising:

3. The strength training system protection method according to claim 1, further comprising a fatigue prediction and feedback control method, wherein the fatigue prediction and feedback control method comprises the steps of:

4. The strength training system protection method according to claim 3, wherein the fatigue degree is divided into three stages according to the average speed variation relationship between two adjacent groups of ascending intervals:

5. A strength training system, characterized in that, the strength training system protection method of any one of claims 1 to 4 is used, the strength training system comprises a control system, a driving device and a transmission mechanism, the control system is connected with a cloud storage system, the driving device transmits strength to a user through the transmission mechanism, the driving device adopts a servo motor, and an encoder with a position sensor is arranged in the servo motor and used for recording the position of the motor in a certain period and continuously sampling the position of the motor.

6. The strength training system of claim 5, wherein the encoder rotates in synchronization with the servo motor, tracks the position of the motion, and derives real-time velocity and acceleration information.

7. The strength training system of claim 5, further comprising a display device, wherein the display device is fixed on a cantilever bracket, the other end of the cantilever bracket is fixed on the main body of the sports equipment, and a sudden stop switch is arranged on the main body of the sports equipment and is connected with the control system and the driving device.

8. The strength training system according to claim 5, further comprising a motion posture detection device, wherein the motion posture detection device is configured as a camera recognition system, captures the motion posture through camera recognition, and simultaneously monitors the body motion track, speed and strength data of the user during the motion process, and is connected with the control system and sends the detected data to the control system.