CN110523048A - Treadmill speed control method and device based on pressure sensor - Google Patents
Treadmill speed control method and device based on pressure sensor Download PDFInfo
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- CN110523048A CN110523048A CN201810498076.XA CN201810498076A CN110523048A CN 110523048 A CN110523048 A CN 110523048A CN 201810498076 A CN201810498076 A CN 201810498076A CN 110523048 A CN110523048 A CN 110523048A
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- treadmill
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Classifications
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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
-
- 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
- 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
- A63B2220/50—Force related parameters
- A63B2220/56—Pressure
Abstract
The present invention provides a kind of treadmill speed control method and device based on pressure sensor cross movement position recognizer and calculate the two-dimentional specific location that user is on treadmill by acquiring the data of treadmill pressure sensor.Based on position and change in location, the motion state variation for judging user and sports tendency are handled by movement tendency recognizer, and then different speed is provided based on motion state variation and sports tendency control running machine motor controller, movement tendency when analysis is used according to user forwardly and rearwardly, controls the plus-minus of motor speed；Security interval prompt is given according to side-to-side movement tendentiousness when using or is stopped.The present invention obtains motion state variation and the sports tendency of sporter on treadmill using reliable adaptive treadmill speed control method, can effectively control and adjust the speed of treadmill, and give prompting and suggestion to user.
Description
Technical field
The present invention relates to treadmill fields, especially relate to a kind of treadmill speed control method and device based on pressure sensor.
Background technique
Treadmill is more and more popular at present and likes, because not restricted by when and where, as long as at home
As soon as disposing a treadmill, thinks when to run and when run.Most of treadmills belong to semiautomatic control mode, benefit
Control speed and the gradient etc. with gauge outfit key etc., or in the way of APP communication go to give treadmill at different rates and
The gradient.With the higher and higher experience requirements of user, a kind of treadmill that can be adjusted the speed automatically is needed in the market, it being capable of basis
The running tendency of user and the position automatic identification being in of running, control treadmill speed and the gradient etc., can satisfy use
Standard is experienced in the higher and higher running of person, and user's running process is allowed to become more comfortable more convenient.
Summary of the invention
Technical problem to be solved by the invention is to provide a kind of running machine running intelligent speed-control side based on pressure sensor
Method and device, the variation △ of the two-dimensional position information when device is by recording and analyzing user's running on a treadmill, benefit
The motion state and trend of user are judged with adaptable software algorithm, thus give the different strategy of speed control of treadmill and
Necessary prompting and emergency policy are given, in the hope of reaching preferably running experience.For this purpose, the invention adopts the following technical scheme:
A kind of treadmill speed control method based on pressure sensor mainly includes the following steps:
A) in use, the data of each pressure sensor below plate are run in the sensor data acquisition module acquisition of treadmill,
B) data obtained in step (a) are filtered, are denoised using clipping recurrence average filter method, school zero, obtained
Treated pressure data；
C) based on user's treated pressure data, user is calculated by movement position recognizer and is in running
Two-dimentional specific location on machine；
D) pass through c) obtained in user position and change in location, by movement tendency recognizer handle judgement make
The motion state of user changes and sports tendency, and then based on motion state variation and sports tendency control running machine motor control
Device provides different speed；
E) treadmill recycles monitoring pressure in real time data, and repetition is above-mentioned a) -- d) all steps.
Further, above-mentioned steps c) and movement position recognizer d) and movement tendency recognizer realize step such as
Under:
1) sensor data acquisition module end collects the pressure sensor data of four Angle Positions of treadmill by AD, will
The pressure data of left front, the pressure data of right front, the pressure data of left back, right back pressure data set respectively
F1,F2,F3,F4；
2) it calculates user by the pressure data of four positions according to lever stress principle and is located at treadmill treadmill
On two-dimensional position information, using the pressure sensor position of left back as origin, movement position information is defined as (X, Y), run
The length and width of step machine treadmill are respectively defined as L, W, and the total stress size of treadmill is SUM:
Treadmill upper lever Force principle are as follows:
F1=(L-X) * Y/ (L*W) * SUM；
F2=X*Y/ (L*W) * SUM；
F3=(L-X) * (M-Y)/(L*W) * SUM；
F4=X* (M-Y)/(L*W) * SUM；
By the conversion and optimization of lever principle, the calculation formula of following movable person's two-dimensional position information (X, Y) is obtained:
X=F2*L*Qx1/ (F1+F2)；w
X=F4*L*Qx2/ (F3+F4)；
Y=F1*M*Qy1/ (F1+F3)；
Y=F2*M*Qy2/ (F2+F4)；
Qx is that X position calculates adaptation coefficients, and Qy is that Y location calculates adaptation coefficients, is needed according to treadmill brandreth and pressure
Sensor structure carries out practical adjustments, and X and Y can be calculated there are two types of different formula, and two formula are calculated
Location information does sum-average arithmetic processing, avoids the error in some direction from will cause result certain biased；
3) when user runs, by step 2), record user is running (X, Y) location information on plate in real time, simultaneously
The change rate dy of the change rate dx and left and right directions Y of vertical direction X are found by way of differential calculation；
The differential calculation mode for calculating the change rate of X and Y is to calculate the difference variation of R1 and R2 in the short time, specific formula
It is as follows
Dr1=lim (t- > 0) △ R1/ △ t,
Dr2=lim (t- > 0) △ R2/ △ t.
4) by the change rate dx of vertical direction X in step 3), when dx continues to be greater than 0 several times, show that user runs
It is inclined to offset of keeping right, reminds sporter to walk state at this time and deviates to the right；When dx continues several times less than 0, show to make
User, which runs, is inclined to the offset that keeping left, and reminds sporter that running state deviates to the left at this time；When dx is always 0 or 0
When left and right is nearby hovered, shows that user's running is placed in the middle, can should not be reminded；
5) by the change rate dy of vertical direction Y in step 3), when dy continues to be greater than 0 several times, show that user is inclined to
Just in biased forwards, show that user is improving stride or cadence, gauge outfit controller module recognizes sporter's at this time
Motion state simultaneously controls electric machine controller module execution speed-up command；When dy continues several times less than 0, show that user's running is inclined
To deviating backward, shows that user's tendency deviates backward, show that user is reducing stride or cadence, at this time
Gauge outfit controller module, which recognizes the motion state of sporter and controls electric machine controller module, executes deceleration command；When always
0 or at 0 or so, show the not excessive variation of user's cadence and stride, tends towards stability, user does not change speed
Tendency, at this time gauge outfit controller module recognize user motion state and execute at the uniform velocity order；
6) threshold value of change frequency is detected according to different treadmill brandreths and pressure sensor in step 4) and step 5)
Position set-up mode sets different threshold values；
7) by four pressure sensor datas obtained in step 2), the load having on treadmill can be monitored in real time
Situation shows that no runner runs on treadmill, needs at this time when monitoring that load is 0 or swings near 0
Stop treadmill.
Further, treadmill gauge outfit controller includes bluetooth, ANT+ or wifi module.
Further, when user occurs falling and being detached from safe space during running, each pressure sensor
The abnormal variation of pressure can be monitored in time, and can in time be stopped treadmill, it is similar to safety lock function.
Further, in one possible implementation, the pressure value for running plate is changed when being run by user, it can
To analyze the running style data of user, when pressure data reaches whereabouts maximum value, being recorded as this time is that step lands the time, is obtained
To the landing time point t of user, comparison front and back is landed change in location situation △ t when time point and landing twice, is then led to
The treadbelt distance that treadmill is run in this period is crossed, the stride and cadence of user can be calculated:
Cadence=1/ △ t
Stride=△ S/ △ t
Cadence * stride=△ S/ (△ t* △ t)
By analysis cadence and step change situation, adaptive rate controlling operation also may be implemented.
Further, realize that the major way of rate controlling is as follows by variations such as cadence strides:
When the constant stride of user's cadence increases, treadmill gauge outfit controller controls running machine motor and controls mould
Block accelerates its motor；When the constant stride of user's cadence reduces, the control running of treadmill gauge outfit controller
Machine motor control module makes its motor slow down；When user's stride is constant, and cadence increases, treadmill gauge outfit controller
Running machine motor control module is controlled, its motor is accelerated；When user's stride is constant, and cadence reduces, treadmill table
Head controller controls running machine motor control module, its motor is made to slow down；The certain guiding opinion of runner is given simultaneously.Separately
Outside, when user, which is in, runs edges of boards along hazardous location, treadmill gauge outfit controller controls running machine motor control module, makes it
Motor is slowed down or is stopped, and is given user and reminded and warn.
Further, by the analysis of pressure data, it is multinomial that cadence, stride, left-right balance of user etc. can be obtained
Running style data.
Further, the pressure data for obtaining each pressure sensor in quadrangle when running first, records left front, right respectively
Before, it is left back, right after pressure sensor data be F1, F2, F3, F4.It, can by judging the comparison of each pressure value all around
Running state and tendency behavior, specific algorithm to observe runner is as follows:
R1=(F1+F2)-(F3+F4) * P1/ (F1+F2+F3+F4)
R2=(F1+F3)-(F2+F4) * P2/ (F1+F2+F3+F4)
R1 is the comparative situation of stress before and after running plate, and P1 is to run stress processing coefficient before and after plate.
R2 is the comparative situation for running plate or so stress, and P2 is to run plate or so stress processing coefficient.
Wherein, force analysis adaptation coefficients P1 and P2, the value are before and after race plate described in above-mentioned treadmill speed control method
Using the force analysis adaptation coefficients arrived when calculating R1 and R2, which is constant, but actual value need according to treadmill brandreth and
Pressure sensor structure type carries out practical adjustments.Mainly according to four pressure sensors of treadmill from run plate center position and
Pressure sensor stress deformation initial position is related, and specific formula is as follows:
P1=Lcfr*Idp；
P2=Lclr*Idp.
Wherein, Lcfr is front and back pressure sensor from running with a distance from plate center, and Lclr is left and right pressure sensor from race plate
The distance at center, Idp are based on after the completion of pressure sensor structure design, pressure sensor stress deformation initial position.
Further, the numerical value change for analyzing R1 and R2 in real time, calculates the change of R1 and R2 by way of differential calculation
Rate dr1 and dr2.
The differential calculation mode of the change rate of R1 and R2 is calculated, the difference variation of R1 and R2 in the short time is calculated, it is specific public
Formula is as follows
Dr1=lim (t- > 0) △ R1/ △ t,
Dr2=lim (t- > 0) △ R2/ △ t.
Further, by the running state and trend of the available user of dr1 and dr2, to be controlled accordingly
Speed and warning light operation, concrete implementation mode are as follows:
When dr2 continues to be greater than 0 several times, shows that user is inclined to offset of keeping right, remind user to walk state at this time
Deviate to the right.It needs to remind user by gauge outfit panel or APP mode at this time, state of running is to right avertence
It moves, reminds him that should pay attention to avoiding security risk.When dr2 continues several times less than 0, show that user's tendency is leaning on left avertence
It moves, reminds user that running state deviates to the left at this time.It needs to remind use by gauge outfit panel or APP mode at this time
Person, running state deviate to the left, remind him that should pay attention to avoiding security risk.When dr2 is attached 0 or 0 or so always
When closely hovering, shows that user's running is placed in the middle, should not be reminded.
When dr1 continues to be greater than 0 several times, show that user's tendency just in biased forwards, shows that user is improving step
Width or cadence, gauge outfit controller module recognizes the motion state of user and controls electric machine controller module and execute and adds at this time
Speed order；When dr1 continues several times less than 0, shows that user's tendency deviates backward, show that user is reducing stride
Or cadence, gauge outfit controller module, which recognizes the motion state of user and controls electric machine controller module, at this time executes deceleration
Order；When always 0 or at 0 or so, shows the not excessive variation of user's cadence and stride, tend towards stability, use
Person does not change the tendency of speed, and gauge outfit controller module recognizes the motion state of user and executes and at the uniform velocity orders at this time.
Above-mentioned, the threshold value of change rate dr1 and change rate dr2 need to be demarcated by prolonged test of heuristics, each
1 position set-up mode of a different treadmill brandreth 4 and pressure sensor, the coefficient of the threshold calibration are not necessarily, with meter
The force analysis adaptation coefficients P calculated all around is the same, needs practical adjustments and verifying.
Further, when the data for monitoring pressure sensor are 0 or swing near 0, treadmill stops.Show
There is no runner to run on treadmill, need to stop treadmill at this time, can be completed, realize without user oneself operation
Intelligent convenient control.
The invention also includes following technical scheme, a kind of treadmill speed-controlling device based on pressure sensor, including running
Machine brandreth runs plate, treadbelt, motor, pressure sensor, sensor data acquisition module, electric machine controller module, gauge outfit control
Device, sensor data acquisition module acquire the pressure simulation data of each position pressure sensor, gauge outfit controller by AD mode
Module is read by way of serial ports or SPI in sensor data acquisition module to be believed by the pressure on the number of amplification and AD conversion
Number, gauge outfit controller module obtains speed
Controlling value is spent, the speed control value is sent to electric machine controller module by way of serial communication, the motor
Controller module adjusts the speed PWM wave form to motor, for controlling treadmill roller bearing to drive treadbelt to be moved.
Further, which is full-bridge strain pressure transducer.Pressure sensor belongs to high-precision (C1 etc.
Grade).
Further, pressure sensor position is located at the four corners for running plate, is used to form a two-dimensional coordinate system, passes through
Movement position recognizer identifies that user is in the specific location for running plate.
Further, using AD conversion chip as pressure sensor data acquisition module, pressure sensor data acquisition
Module is placed at treadmill gauge outfit, is collected and is run pressure simulation data-signal suffered by plate quadrangle.The invention makes pressure sensor
With quantity and with no restrictions, the configuration used here as four pressure sensors be recorded in a manner of more accurate 2-D data it is negative
Pressure information is carried, use can be extended to its patent formula.
Further, sensor data acquisition module and treadmill gauge outfit control module pass through serial ports or SPI communication mode
Connection.Treadmill gauge outfit controller is enabled to read the running pressure data of user, the center in gauge outfit controller in real time
Sensor data acquisition module includes software Processing Algorithm, and then running pressure data is handled and analyzed, and is obtained more
Effective control data.
Further, treadmill gauge outfit control module is carried out by serial communication mode and running machine motor controller module
Communication, and rate controlling preset value is sent to running machine motor controller module, and then controls treadbelt operation in preset speed.
Further, pressure sensor, which is located at, runs between plate and brandreth, runs plate front and back and is surrounded by treadbelt, is run at left and right sides of plate
It is prominent to be wider than treadbelt, it runs plate or so and support portion use is formed by the connection of multiple ironwares, screw and cushion between edge and brandreth
Plate is run in support, pressure sensor is connected by screw and cushion.
Through the above technical solution and device, the present invention obtain treadmill using reliable adaptive treadmill speed control method
The motion state of upper user changes and sports tendency, can effectively control and adjust the speed of treadmill, and give to user
Give prompting and suggestion.
Detailed description of the invention
Fig. 1 is a kind of treadmill speed-controlling device structural schematic diagram based on pressure sensor provided by the invention.
Wherein, plate 2, treadbelt 3, treadmill brandreth 4, sensor data acquisition module 5, gauge outfit control are run in pressure sensor 1
Device module 6, electric machine controller module 7, motor 8, treadmill roller bearing 9.
Specific embodiment
Referring to attached drawing, a kind of detection device of the treadmill speed control method based on pressure sensor.2 front and back of plate is run by treadbelt
3 surround, and running is treadmill brandreth 4 below plate 2, and treadmill brandreth 4 is connect with race plate 2 by multiple connectors, treadmill brandreth 4
And run between plate 2 other than section connecting element, it is also equipped with there are four pressure sensor 1.1 pair of race plate 2 of pressure sensor does not prop up
Support effect uses, but is connected by screw and cushion, it is ensured that can directly contact and run plate 2 and treadmill brandreth 4, not influence
The variation for running the load pressure on plate 2 can be accurately sensed in the case where the pressure sensor service life.
Sensor data acquisition module 5 acquires the pressure simulation data of pressure each position pressure sensor 1 by AD mode,
The gauge outfit controller module 6 of treadmill read by way of serial ports or SPI in sensor data acquisition module 5 by amplification and
The pressure on the number signal of AD conversion, so that gauge outfit controller module 6 carries out algorithm identification.Center sensing in gauge outfit controller
Device data acquisition module includes software Processing Algorithm, and then running pressure data is handled and analyzed, and is more had
Effect control data.
The speed control value that gauge outfit controller module 6 is obtained according to self-adapting estimation and rate controlling algorithm, passes through serial communication
Mode the speed control value is sent to the electric machine controller module 7 of treadmill, the electric machine controller module 7 is by PWM waveform
Formula adjusts the speed motor 8, to control treadmill roller bearing 9 to drive treadbelt to be moved at a predetermined rate.Roller bearing in figure
Schematic diagram is front end roller bearing, wherein there are also rear end roller bearings to run 2 rear end of plate, to cooperate front end roller bearing to drive treadbelt together, this category
In the structure member of normal treadmill, do is not illustrated more.
Pressure sensor 1 belongs to high-precision (C1 grade) full-bridge strain pressure transducer, is acquired and is run using the sensor
Step machine runs the pressure data of the position carry at four angles on plate 2.
1 position of pressure sensor is located at the four corners for running plate, and a two-dimensional coordinate system is consequently formed, is identified by algorithm
Convenient for the specific location that user is in race plate 2 is recognized accurately.
Pressure sensor 1, which is located at, to be run between plate 2 and treadmill brandreth 4, is surrounded with treadbelt 3 before and after race plate 2, is run plate 2 or so
Two sides are prominent to be wider than treadbelt 3, runs between 2 or so edge of plate and treadmill brandreth 4 by multiple ironwares, screw and rubber buffer
Connection composition, pressure sensor 1 are connected by screw and rubber pad.
By the above running machine structure, a kind of treadmill speed control method based on pressure sensor includes following several steps
It is rapid:
A kind of treadmill speed control method based on pressure sensor mainly includes the following steps:
A) in use, the data of each pressure sensor below plate are run in the sensor data acquisition module acquisition of treadmill,
B) data obtained in step (a) are filtered, are denoised using clipping recurrence average filter method, school zero, obtained
Treated pressure data；
C) based on treated pressure data, user is calculated by movement position recognizer and is on treadmill
Two-dimentional specific location；
D) pass through c) obtained in user position and change in location, by movement tendency recognizer handle judgement make
The motion state of user changes and sports tendency, and then based on motion state variation and sports tendency control running machine motor control
Device provides different speed；
E) treadmill recycles monitoring pressure in real time data, and repetition is above-mentioned a) -- d) all steps.
Further, above-mentioned steps c) and movement position recognizer d) and movement tendency recognizer realize step such as
Under:
1) sensor data acquisition module end collects the pressure sensor data of four Angle Positions of treadmill by AD, will
The pressure data of left front, the pressure data of right front, the pressure data of left back, right back pressure data set respectively
F1,F2,F3,F4；
2) it calculates user by the pressure data of four positions according to lever stress principle and is located at treadmill treadmill
On two-dimensional position information, using the pressure sensor position of left back as origin, movement position information is defined as (X, Y), run
The length and width of step machine treadmill are respectively defined as L, W, and the total stress size of treadmill is SUM:
Treadmill upper lever Force principle are as follows:
F1=(L-X) * Y/ (L*W) * SUM；
F2=X*Y/ (L*W) * SUM；
F3=(L-X) * (M-Y)/(L*W) * SUM；
F4=X* (M-Y)/(L*W) * SUM；
By the conversion and optimization of lever principle, the calculation formula of following movable person's two-dimensional position information (X, Y) is obtained:
X=F2*L*Qx1/ (F1+F2)；w
X=F4*L*Qx2/ (F3+F4)；
Y=F1*M*Qy1/ (F1+F3)；
Y=F2*M*Qy2/ (F2+F4)；
Qx is that X position calculates adaptation coefficients, and Qy is that Y location calculates adaptation coefficients, is needed according to treadmill brandreth and pressure
Sensor structure carries out practical adjustments, and X and Y can be calculated there are two types of different formula, and two formula are calculated
Location information does sum-average arithmetic processing, avoids the error in some direction from will cause result certain biased；
3) when user runs, by step 2), record user is running (X, Y) location information on plate in real time, simultaneously
The change rate dy of the change rate dx and left and right directions Y of vertical direction X are found by way of differential calculation；
4) by the change rate dx of vertical direction X in step 3), when dx continues to be greater than 0 several times, show that user runs
It is inclined to offset of keeping right, reminds sporter to walk state at this time and deviates to the right；When dx continues several times less than 0, show to make
User, which runs, is inclined to the offset that keeping left, and reminds sporter that running state deviates to the left at this time；When dx is always 0 or 0
When left and right is nearby hovered, shows that user's running is placed in the middle, can should not be reminded；
5) by the change rate dy of vertical direction Y in step 3), when dy continues to be greater than 0 several times, show that user is inclined to
Just in biased forwards, show that user is improving stride or cadence, gauge outfit controller module recognizes sporter's at this time
Motion state simultaneously controls electric machine controller module execution speed-up command；When dy continues several times less than 0, show that user's running is inclined
To deviating backward, shows that user's tendency deviates backward, show that user is reducing stride or cadence, at this time
Gauge outfit controller module, which recognizes the motion state of sporter and controls electric machine controller module, executes deceleration command；When always
0 or at 0 or so, show the not excessive variation of user's cadence and stride, tends towards stability, user does not change speed
Tendency, at this time gauge outfit controller module recognize user motion state and execute at the uniform velocity order；
6) threshold value of change frequency is detected according to different treadmill brandreths and pressure sensor in step 4) and step 5)
Position set-up mode sets different threshold values；
7) by four pressure sensor datas obtained in step 2), the load having on treadmill can be monitored in real time
Situation shows that no runner runs on treadmill, needs at this time when monitoring that load is 0 or swings near 0
Stop treadmill.
Treadmill gauge outfit controller includes bluetooth or ANT+ or wifi module.The present invention wirelessly (can include indigo plant
Tooth, ANT+ or wifi module etc.) software algorithm is calculated after obtain the information such as pressure data, rate controlling, the running style of user feedback
To the end APP, PC, cloud server, WEB etc., the good hints and tips of user are thus given, more services are provided.
The treadmill intelligent speed-control method is during realization, when user occurs falling during running and is detached from
When safe space, each sensor 1 of pressure can monitor the abnormal variation of pressure in time, and can in time stop treadmill
Only, similar to safety lock function.
The foregoing is merely the preferred embodiment of the present invention, it is noted that for those of ordinary skills,
Under the premise of not departing from the principle of the present invention, a variety of remodeling or improvement can be carried out to the present invention, these are regarded as the present invention
Protection scope within.
Claims (10)
1. a kind of treadmill speed control method based on pressure sensor, which is characterized in that include the following steps:
A) in use, the data of each pressure sensor below plate are run in the sensor data acquisition module acquisition of treadmill,
B) data obtained in step a) are filtered, are denoised using clipping recurrence average filter method, school zero, after obtaining processing
Pressure data；
C) based on treated pressure data, the two dimension that user is on treadmill is calculated by movement position recognizer
Specific location；
D) pass through c) obtained in user position and change in location, by movement tendency recognizer handle judge user
Motion state variation and sports tendency, and then based on motion state variation and sports tendency control running machine motor controller mention
For different speed；
E) treadmill recycles monitoring pressure in real time data, and repetition is above-mentioned a) -- d) all steps.
2. a kind of treadmill speed control method based on pressure sensor according to claim 1, which is characterized in that above-mentioned step
Rapid movement position recognizer and movement tendency recognizer c) and d) realizes that steps are as follows:
1) sensor data acquisition module end collects the pressure sensor data of four Angle Positions of treadmill by AD, will be left front
Side pressure data, the pressure data of right front, the pressure data of left back, right back pressure data set respectively F1, F2,
F3,F4；
2) it calculates user by the pressure data of four positions according to lever stress principle and is located on treadmill treadmill
Two-dimensional position information, using the pressure sensor position of left back as origin, movement position information is defined as (X, Y), treadmill
The length and width of treadmill are respectively defined as L, W, and the total stress size of treadmill is SUM:
Treadmill upper lever Force principle are as follows:
F1=(L-X) * Y/ (L*W) * SUM；
F2=X*Y/ (L*W) * SUM；
F3=(L-X) * (M-Y)/(L*W) * SUM；
F4=X* (M-Y)/(L*W) * SUM；
By the conversion and optimization of lever principle, the calculation formula of following movable person's two-dimensional position information (X, Y) is obtained:
X=F2*L*Qx1/ (F1+F2)；
X=F4*L*Qx2/ (F3+F4)；
Y=F1*M*Qy1/ (F1+F3)；
Y=F2*M*Qy2/ (F2+F4)；
Qx is that X position calculates adaptation coefficients, and Qy is that Y location calculates adaptation coefficients, is needed according to treadmill brandreth and pressure sensing
Device structure carries out practical adjustments, and X and Y can be calculated there are two types of different formula, by two calculated positions of formula
Information does sum-average arithmetic processing, avoids the error in some direction from will cause result certain biased；
3) when user runs, by step 2), record user is running (X, Y) location information on plate in real time, passes through simultaneously
The mode of differential calculation finds the change rate dy of the change rate dx and left and right directions Y of vertical direction X；
4) by the change rate dx of vertical direction X in step 3), when dx continues to be greater than 0 several times, show that user runs and be inclined to
It is keeping right offset, is reminding sporter to walk state at this time and deviate to the right；When dx continues several times less than 0, show user
The offset that keeping left is inclined in running, reminds sporter that running state deviates to the left at this time；When dx is always 0 or 0 or so
When nearby hovering, shows that user's running is placed in the middle, can should not be reminded；
5) by the change rate dy of vertical direction Y in step 3), when dy continues to be greater than 0 several times, showing user's tendency
Biased forwards show that user is improving stride or cadence, and gauge outfit controller module recognizes the movement of sporter at this time
State simultaneously controls electric machine controller module execution speed-up command；When dy continues several times less than 0, show that user is running tendency just
It is deviating backward, is showing that user's tendency deviates backward, show that user is reducing stride or cadence, at this time gauge outfit
Controller module, which recognizes the motion state of sporter and controls electric machine controller module, executes deceleration command；When always 0 or
Person shows the not excessive variation of user's cadence and stride, tends towards stability, user does not change speed at 0 or so
Tendency, gauge outfit controller module recognizes the motion state of user and executes and at the uniform velocity orders at this time；
6) threshold value of change frequency is detected according to different treadmill brandreths and pressure sensor position in step 4) and step 5)
Set-up mode sets different threshold values；
7) by four pressure sensor datas obtained in step 2), the load feelings having on treadmill can be monitored in real time
Condition shows that no runner runs on treadmill, needs to make at this time when monitoring that load is 0 or swings near 0
Treadmill stops.
3. a kind of treadmill speed control method based on pressure sensor according to claim 1, which is characterized in that treadmill
Gauge outfit controller includes bluetooth, ANT+ or wifi module.
4. a kind of treadmill speed-controlling device based on pressure sensor, which is characterized in that including treadmill brandreth, run plate, treadbelt,
Motor, pressure sensor, sensor data acquisition module, electric machine controller module, gauge outfit controller, sensor data acquisition mould
Block acquires the pressure simulation data of pressure each position pressure sensor by AD mode, gauge outfit controller module by serial ports or
The mode of SPI reads the pressure on the number signal in sensor data acquisition module by amplification and AD conversion, gauge outfit controller
Module obtains speed control value, and the speed control value is sent to electric machine controller module by way of serial communication, the electricity
Machine controller module adjusts the speed PWM wave form to motor, for controlling treadmill roller bearing to drive treadbelt to be moved.
5. a kind of treadmill speed-controlling device according to claim 4, which is characterized in that the pressure sensor is full-bridge strain
Formula pressure sensor.
6. a kind of treadmill speed-controlling device according to claim 4, which is characterized in that pressure sensor position, which is located at, runs plate
Four corners, be used to form a two-dimensional coordinate system, identify that user is in by movement position recognizer and run plate
Specific location.
7. a kind of treadmill speed-controlling device according to claim 4, which is characterized in that using AD conversion chip as pressure
Sensor data acquisition module, pressure sensor data acquisition module are placed at treadmill gauge outfit, are collected and are run suffered by plate quadrangle
Pressure simulation data-signal.
8. a kind of treadmill speed-controlling device according to claim 4, which is characterized in that sensor data acquisition module and race
Step machine gauge outfit control module is connected by serial ports or SPI communication mode.
9. a kind of treadmill speed-controlling device according to claim 4, which is characterized in that treadmill gauge outfit control module passes through
Serial communication mode is communicated with running machine motor controller module, and rate controlling preset value is sent to running machine motor controller
Module, and then treadbelt operation is controlled in preset speed.
10. a kind of treadmill speed-controlling device according to claim 4, which is characterized in that pressure sensor be located at run plate and
Between brandreth, runs plate front and back and surrounded by treadbelt, it is prominent at left and right sides of race plate to be wider than treadbelt, plate or so is run between edge and brandreth
Support portion is formed by the connection of multiple ironwares, screw and cushion and is used to support race plate, pressure sensor passes through screw and cushion
Connection.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201810498076.XA CN110523048A (en) | 2018-05-23 | 2018-05-23 | Treadmill speed control method and device based on pressure sensor |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201810498076.XA CN110523048A (en) | 2018-05-23 | 2018-05-23 | Treadmill speed control method and device based on pressure sensor |
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| CN110523048A true CN110523048A (en) | 2019-12-03 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111388950A (en) * | 2020-03-17 | 2020-07-10 | 王冰心 | Multifunctional running machine |
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| KR20160017385A (en) * | 2014-08-05 | 2016-02-16 | 재단법인대구경북과학기술원 | Treadmill apparatus having an automatic speed control system |
| CN105396261A (en) * | 2015-12-18 | 2016-03-16 | 柳时栋 | Intelligent treadmill and control method thereof |
| CN105854268A (en) * | 2016-03-31 | 2016-08-17 | 乐视控股（北京）有限公司 | Control method and device for running machine atmosphere lamp and running machine |
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| US20130035215A1 (en) * | 2011-08-03 | 2013-02-07 | Icon Health & Fitness, Inc. | Treadmill with foot fall monitor and cadence display |
| KR20160017385A (en) * | 2014-08-05 | 2016-02-16 | 재단법인대구경북과학기술원 | Treadmill apparatus having an automatic speed control system |
| CN104826277A (en) * | 2015-05-26 | 2015-08-12 | 合肥扁豆智能科技有限公司 | Intelligent motion control method and equipment for treadmill |
| CN105396261A (en) * | 2015-12-18 | 2016-03-16 | 柳时栋 | Intelligent treadmill and control method thereof |
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