CN111530035A - Treadmill control method and device, electronic equipment and system - Google Patents
Treadmill control method and device, electronic equipment and system Download PDFInfo
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- CN111530035A CN111530035A CN202010327292.5A CN202010327292A CN111530035A CN 111530035 A CN111530035 A CN 111530035A CN 202010327292 A CN202010327292 A CN 202010327292A CN 111530035 A CN111530035 A CN 111530035A
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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
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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
- A63B24/0062—Monitoring athletic performances, e.g. for determining the work of a user on an exercise apparatus, the completed jogging or cycling distance
Abstract
The embodiment of the invention discloses a treadmill control method, a treadmill control device, electronic equipment and a treadmill control system, wherein the treadmill control method comprises the following steps: determining an initial speed heart rate model for treadmill control, and controlling the treadmill according to the initial speed heart rate model; acquiring treadmill speed data and heart rate measurement data; determining an optimized speed heart rate model according to the treadmill speed data and the heart rate measurement data; and controlling the speed of the treadmill according to the optimized speed and heart rate model. Therefore, the embodiment of the invention improves the control precision of the treadmill and also improves the user experience.
Description
Technical Field
The invention relates to the field of automatic control, in particular to a treadmill control method, a treadmill control device, electronic equipment and a treadmill control system.
Background
In recent years, in consideration of air pollution, traffic safety, sports safety and sudden epidemics, more and more people choose to use a treadmill as a means of exercise.
At present, the traditional treadmill speed control system mostly inputs the mileage and the speed matching of the treadmill by manual work of a user; or after the user identity is identified, the program selects the appropriate matching scheme.
However, the traditional treadmill speed control system, no matter manually inputting the speed matching, or selecting the speed matching scheme by the program, is essentially open-loop control, and the biggest defect is that the program cannot adjust the treadmill speed in real time according to the physical conditions of the user at each time when the user runs, which easily causes sports injuries or deficiencies and affects the exercise effect.
Disclosure of Invention
Because the existing methods have the problems, embodiments of the present invention provide a treadmill control method, device, electronic device, and system.
In a first aspect, an embodiment of the present invention provides a treadmill control method, including:
determining an initial speed heart rate model for controlling the treadmill, and controlling the speed of the treadmill according to the initial speed heart rate model;
acquiring speed data and heart rate measurement data of the treadmill according to a set acquisition rule;
determining an optimized speed heart rate model according to the treadmill speed data and the heart rate measurement data acquired each time;
and controlling the speed of the treadmill according to the optimized speed and heart rate model obtained each time.
Optionally, the performing treadmill speed control according to the initial speed-heart rate model includes:
determining a corresponding first treadmill controller according to the initial speed and heart rate model;
inputting the corrected value of the heart rate setting data into the first treadmill controller to obtain a corresponding speed initial value, and controlling the speed of the treadmill to be the speed initial value; wherein the correction value is a difference between the heart rate setting data and the heart rate measurement data.
Optionally, the acquiring the heart rate measurement data comprises:
and acquiring the actual heart rate value of the user through a wireless chest belt to obtain the heart rate measurement data.
Optionally, the set acquisition rule includes a specified time period, and the specified time period is used for representing a time interval for acquiring the treadmill speed data and the heart rate measurement data each time;
the treadmill speed data acquired each time comprises a first treadmill speed value in a specified time period; the heart rate measurement data acquired each time comprises a first heart rate measurement value in the specified time period;
the determining an optimized speed heart rate model according to the treadmill speed data and the heart rate measurement data acquired each time comprises:
and determining the optimized speed heart rate model through a mode identification mode or a Kalman filter according to the first treadmill speed value and the first heart rate measured value.
Optionally, the setting of the obtaining rule includes obtaining treadmill speed data and heart rate measurement data in real time;
the treadmill speed data acquired each time comprises a second treadmill speed value acquired in real time; the heart rate measurement data acquired each time comprises a second heart rate measurement value acquired in real time;
the determining an optimized speed heart rate model according to the treadmill speed data and the heart rate measurement data acquired each time comprises:
and determining the optimized speed heart rate model through a mode identification mode or a Kalman filter according to the second treadmill speed value and the second heart rate measured value.
Optionally, the treadmill speed control according to the optimized speed heart rate model determined each time includes:
determining a corresponding second treadmill controller according to the optimized speed and heart rate model determined each time;
inputting the corrected value of the heart rate setting data into the second treadmill controller to obtain a corresponding speed optimized value, and controlling the speed of the treadmill to be the speed optimized value; wherein the correction value is a difference between the heart rate setting data and the heart rate measurement data.
Optionally, the transfer function of the optimized velocity heart rate model is
Wherein P(s) is a transfer function of the optimized velocity heart rate model, s is a complex variable; k, τ, ξ, and ω are all model parameters of the optimized speed heart rate model: k is model gain, tau is a time constant, xi is a damping ratio, and omega is a characteristic frequency;
the transfer function of the second treadmill controller is:
Wherein C(s) is a transfer function of the second treadmill controller, s being a complex variable; a is1、a2、a3、b1、b2、b3、b4Are the controller parameters of the second treadmill controller.
In a second aspect, an embodiment of the present invention provides a treadmill control device, including:
the first control module is used for determining an initial speed and heart rate model for controlling the treadmill and controlling the speed of the treadmill according to the initial speed and heart rate model;
the acquisition module is used for acquiring the speed data and the heart rate measurement data of the treadmill according to a set acquisition rule;
the optimization module is used for determining an optimized speed and heart rate model according to the treadmill speed data and the heart rate measurement data acquired each time;
and the second control module is used for controlling the speed of the treadmill according to the optimized speed and heart rate model determined each time.
In a third aspect, an embodiment of the present invention provides an electronic device, including a memory, a processor, and a computer program stored on the memory and executable on the processor, where the processor implements the steps of the treadmill control method according to the first aspect when executing the program.
In a fourth aspect, an embodiment of the present invention provides a treadmill control system, including: the wireless chest belt, the treadmill control device and the treadmill; wherein the content of the first and second substances,
the wireless chest belt is communicated with the treadmill control device in a wireless mode;
the treadmill control device is positioned on the treadmill and directly controls the treadmill; or the treadmill is positioned outside the treadmill and is controlled in a wireless mode or a wired mode;
the treadmill control apparatus is configured to implement the steps of the treadmill control method of the first aspect.
According to the technical scheme, after the initial speed and heart rate model for controlling the treadmill is determined and the treadmill speed is controlled according to the initial speed and heart rate model, the treadmill speed data and the heart rate measurement data can be obtained according to the set obtaining rule, the optimized speed and heart rate model is determined according to the treadmill speed data and the heart rate measurement data obtained each time, and the treadmill speed is controlled according to the optimized speed and heart rate model determined each time, so that the treadmill control precision is improved, and the user experience is also improved.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.
Fig. 1 is a schematic flow chart of a treadmill control method according to an embodiment of the present invention;
FIG. 2 is a block diagram of a treadmill control process provided by an embodiment of the present invention;
FIG. 3 is a schematic structural diagram of a treadmill control device according to an embodiment of the present invention;
fig. 4 is a schematic physical structure diagram of an electronic device according to an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
For the convenience of clearly describing the technical solutions of the embodiments of the present invention, in each embodiment of the present invention, if words such as "first" and "second" are used to distinguish the same items or similar items with basically the same functions and actions, those skilled in the art can understand that the words such as "first" and "second" do not limit the quantity and execution order.
Fig. 1 is a schematic flow chart of a treadmill control method according to an embodiment of the present invention; the method can be used for electronic equipment for realizing the control function of the treadmill; as shown in fig. 1, the treadmill control method may include:
and S110, determining an initial speed and heart rate model for treadmill control, and controlling the speed of the treadmill according to the initial speed and heart rate model.
Specifically, the initial velocity-heart rate model may be an "average model" obtained by measuring models of different persons and then averaging the model parameters. The transfer function of the initial velocity heart rate model may be
Wherein P(s) is a transfer function and s is a complex variable; k, tau, xi and omega are model parameters, k is model gain, tau is a time constant, xi is a damping ratio, and omega is a characteristic frequency; k may have an initial value of 20, τ may have an initial value of 40, ξ may have an initial value of 0.6, and ω may have an initial value of 20.
And S120, acquiring the speed data and the heart rate measurement data of the treadmill according to a set acquisition rule.
Specifically, the set acquisition rule may be to acquire treadmill speed data and heart rate measurement data for speed heart rate model optimization at regular time intervals, such as: 60 seconds; or real-time acquisition of treadmill speed data and heart rate measurement data for speed heart rate model optimization.
And S130, determining an optimized speed and heart rate model according to the acquired treadmill speed data and heart rate measurement data each time.
Specifically, model parameters may be calculated from the treadmill speed data and the heart rate measurement data, and an optimized speed heart rate model may be determined from the calculated model parameters. Wherein, the model parameters are k, tau, xi and omega. The transfer function of the optimized velocity heart rate model is:
Wherein P(s) is a transfer function and s is a complex variable; k, τ, ξ, and ω are all optimized speed heart rate model parameters: k is the model gain, τ is the time constant, ξ is the damping ratio, ω is the characteristic frequency. Wherein k represents the increment of the heart rate after the user reaches the equilibrium state under the unit increment speed; τ represents the speed at which the user reaches equilibrium again at unity acceleration.
The size of k is related to the health status of the user, the better the health status is, the smaller k is. Such as: when the health status is good, k may be around 20; when the health status is normal, k may be around 40. In addition, the magnitude of τ, ξ, ω is also related to the physical quality of the user, and will not be described here. Therefore, the embodiment of the invention can identify the model parameters, accurately measure the physical quality of the user and quantitatively compare the physical qualities of different people at different moments.
And S140, controlling the speed of the treadmill according to the optimized speed and heart rate model determined each time.
Specifically, during the user 'S running, the above-mentioned S120 to S140 are a process continuously performed until the user' S running is completed. Namely, in the running process of the user, the speed data and the heart rate measurement data of the running machine are continuously acquired, the speed and heart rate model is continuously optimized, and the speed of the running machine is continuously controlled.
It can be seen from the above embodiments that after an initial speed and heart rate model for treadmill control is determined and treadmill speed control is performed according to the initial speed and heart rate model, rule treadmill speed data and heart rate measurement data can be obtained according to setting, an optimized speed and heart rate model is determined according to the obtained treadmill speed data and heart rate measurement data each time, treadmill speed control is performed according to the determined optimized speed and heart rate model each time, treadmill control accuracy is improved, and user experience is improved.
Further, based on the method shown in fig. 1, performing treadmill speed control according to the initial speed-heart rate model in S110 may include:
(1-1) determining a corresponding first treadmill controller according to the initial speed heart rate model.
Specifically, control parameters of the first treadmill controller may be calculated according to an initial speed-heart rate model, and a corresponding first treadmill controller may be determined according to the calculated control parameters. The first treadmill controller is a second or third order transfer function, specifically:
Wherein C(s) is a transfer function and s is a complex variable; a is1、a2、a3、b1、b2、b3、b4Are controller parameters of the first treadmill controller.
(1-2) inputting the corrected value of the heart rate setting data into the first treadmill controller to obtain a corresponding speed initial value, and controlling the speed of the treadmill to be the speed initial value; wherein the correction value is a difference between the heart rate setting data and the heart rate measurement data.
Specifically, a speed initial value is obtained according to a correction value of the heart rate setting data, and then the treadmill runs according to the speed initial value after the speed of the treadmill is controlled to the speed initial value.
Wherein, heart rate setting data can be the heart rate setting curve that the user selected before running is fit for oneself, and this heart rate setting curve includes the heart rate setting value in a period of time, for example: 1800 seconds. And moreover, the user selects the heart rate curve instead of the speed curve, so that the speed control of the treadmill can be more intuitive and more convenient.
It can be seen from the above embodiments that the corresponding first treadmill controller can be determined according to the initial speed and heart rate model, the correction value of the heart rate setting data is input into the first treadmill controller, the corresponding speed initial value is obtained, and the treadmill speed is controlled to the speed initial value, thereby improving the efficiency of initially controlling the treadmill speed.
Further, based on the method shown in fig. 1, when the step S120 of acquiring the heart rate measurement data is executed, the method may include:
and (2-1) acquiring the actual heart rate value of the user through a wireless chest belt to obtain the heart rate measurement data.
Specifically, the actual heart rate value of the user can be collected in real time through the wireless chest belt, and the heart rate measurement data is obtained.
The wireless chest strap may be referred to as an ECG (electrocardiogram) wireless chest strap. The wireless chest belt can transmit heart rate data to the electronic equipment for realizing the control function of the treadmill through the Bluetooth or the special wireless module, and the electronic equipment controls the treadmill.
It can be seen from the above embodiments that when the heart rate measurement data is obtained, the actual heart rate value of the user can be collected through the wireless chest belt to obtain the heart rate measurement data, so that the accuracy of treadmill control is improved, and the stability of treadmill control is also improved. In addition, the actual heart rate value of the user can be acquired in real time through the wireless chest belt, so that the heart rate measurement data is obtained, the high precision is guaranteed, meanwhile, the exercise injury is reduced, and the exercise duration is prolonged.
Further, based on the method shown in fig. 1, the set obtaining rule includes a specified time period for characterizing a time interval for obtaining treadmill speed data and heart rate measurement data each time; the treadmill speed data acquired each time comprises a first treadmill speed value in a specified time period; the heart rate measurement data acquired each time comprises a first heart rate measurement value in the specified time period; in step S130, determining an optimized speed-heart rate model according to the treadmill speed data and the heart rate measurement data obtained each time may include:
(3-1) determining the optimized speed heart rate model by means of pattern recognition or a kalman filter according to the first treadmill speed value and the first heart rate measurement value.
Specifically, if the treadmill speed data and the heart rate measurement data for the speed and heart rate model optimization are acquired at regular time intervals, for example: 60 seconds; the obtained treadmill speed data includes a first treadmill speed value within 60 seconds, and the obtained heart rate measurement data includes a first heart rate measurement value within 60 seconds, so that an optimized speed heart rate model can be determined in a mode of pattern recognition according to the first treadmill speed value within 60 seconds and the first heart rate measurement value within 60 seconds.
Where the pattern recognition algorithm requires a period of speed-heart rate data, such as: speed-heart rate data for 60 seconds.
It can be seen from the above embodiments that an optimized pace and heart rate model can be determined by a mode of pattern recognition or a kalman filter according to pace-heart rate data of a period of time, and then treadmill speed control is performed according to the optimized pace and heart rate model, so that a treadmill control mode of quantitatively recognizing user physical quality through a pattern recognition algorithm is realized, treadmill control precision is improved, and the defect that user physical quality cannot be quantized in the prior art is also avoided.
Further, based on the method shown in fig. 1, the setting of the obtaining rule includes obtaining treadmill speed data and heart rate measurement data in real time; the treadmill speed data acquired each time comprises a second treadmill speed value acquired in real time; the heart rate measurement data acquired each time comprises a second heart rate measurement value acquired in real time; in step S130, determining an optimized speed-heart rate model according to the treadmill speed data and the heart rate measurement data obtained each time may include:
(4-1) determining the optimized speed heart rate model by means of pattern recognition or a kalman filter according to the second treadmill speed value and the second heart rate measurement value.
Specifically, if treadmill speed data and heart rate measurement data for speed and heart rate model optimization are acquired in real time, the acquired treadmill speed data includes a second treadmill speed value acquired in real time; the acquired heart rate measurement data comprises a second heart rate measurement value acquired in real time, and the optimized speed heart rate model can be determined through the Kalman filter.
The Kalman filter does not need to record speed-heart rate data in a certain time, and new model parameters can be calculated in real time.
It can be seen from the above embodiments that the optimized speed and heart rate model can be determined in real time by a mode of pattern recognition or a kalman filter, and the treadmill speed control is performed according to the optimized speed and heart rate model, so that the real-time control of the treadmill speed is realized, the reliability of treadmill control is improved, especially, the kalman filter can also calculate model parameters, and the defect that the user physical quality cannot be quantified in the prior art is overcome.
Further, based on the method shown above, when performing the treadmill speed control according to the optimized speed and heart rate model determined each time in S140, the method may include:
(5-1) a second treadmill controller corresponding to the optimized rate heart rate model according to each determination.
Specifically, the control parameters of the second treadmill controller may be calculated according to the optimized rate heart rate model, and the corresponding second treadmill controller may be determined according to the calculated control parameters. The second treadmill controller is a second or third order transfer function, specifically:
Wherein C(s) is a transfer function of the second treadmill controller, s being a complex variable; a is1、a2、a3、b1、b2、b3、b4Are the controller parameters of the second treadmill controller.
(5-2) inputting the corrected value of the heart rate setting data into the second treadmill controller to obtain a corresponding speed optimized value, and controlling the speed of the treadmill to be the speed optimized value; wherein the correction value is a difference between the heart rate setting data and the heart rate measurement data.
Specifically, a speed optimization value is obtained according to the correction value of the heart rate setting data, and then the treadmill runs according to the speed optimization value after the speed of the treadmill is controlled to be the speed optimization value.
Where the heart rate sets the correction value for the data, i.e. e in fig. 2. FIG. 2 is a block diagram of a treadmill control process provided by an embodiment of the present invention. Wherein r represents a heart rate set value, e represents a difference between the heart rate set value and a heart rate measured by a heart rate belt, u represents treadmill speed, d represents human heart rate variability, y represents a user's actual heart rate value, n represents a measurement error, z represents a heart rate value measured by a heart rate belt,
indicating that the controller updated the parameters;
where y has two parts, one is d and one is the output of P(s). The relationship between the output of p(s) and d can be understood as the relationship between the carrier and the signal, and d is the change of the periodic difference of the human Heart Rate (HRV), which is regarded as the multi-frequency interference generated by the human body.
C(s) represents a treadmill controller that functions to translate heart rate settings into appropriate treadmill speed based on the user's speed heart rate model; p(s) represents a user speed heart rate model, and the function of the model is to represent the corresponding relation between the heart rate of the user and the speed of the treadmill; o denotes a state observer which functions to calculate optimized user speed heart rate model parameters from the actual speed-heart rate data, such as: acquiring speed data and heart rate measurement data of the treadmill according to a set acquisition rule; and determining an optimized speed heart rate model according to the treadmill speed data and the heart rate measurement data acquired each time.
It can be seen from the above embodiments that, when the treadmill speed control is performed according to the optimized speed and heart rate model determined each time, a corresponding second treadmill controller can be determined according to the optimized speed and heart rate model determined each time, and the correction value of the heart rate setting data is input into the second treadmill controller to obtain a corresponding speed optimized value, and the treadmill speed is controlled to the speed optimized value, thereby improving the accuracy of treadmill speed control.
FIG. 3 is a flow chart of a treadmill control device that may be used with an electronic device to implement treadmill control functionality in accordance with an embodiment of the present invention; as shown in fig. 3, the treadmill control apparatus may include:
the first control module 31 is used for determining an initial speed heart rate model for treadmill control and controlling the speed of the treadmill according to the initial speed heart rate model;
the acquisition module 32 is used for acquiring the treadmill speed data and the heart rate measurement data according to a set acquisition rule;
the optimization module 33 is configured to determine an optimized speed and heart rate model according to the treadmill speed data and the heart rate measurement data acquired each time;
and the second control module 34 is used for controlling the speed of the treadmill according to the optimized speed heart rate model determined each time.
Further, based on the above-mentioned apparatus, the first control module 31 may include:
the first determining submodule is used for determining a corresponding first treadmill controller according to the initial speed and heart rate model;
the first control submodule is used for inputting the corrected value of the heart rate setting data into the first treadmill controller to obtain a corresponding speed initial value and controlling the speed of the treadmill to be the speed initial value; wherein the correction value is a difference between the heart rate setting data and the heart rate measurement data.
Further, based on the above-mentioned apparatus, the obtaining module 32 may include:
and the acquisition submodule is used for acquiring the actual heart rate value of the user through the wireless chest belt to obtain the heart rate measurement data.
Further, based on the device, the set acquisition rule comprises a specified time period, and the specified time period is used for representing the time interval for acquiring the treadmill speed data and the heart rate measurement data each time; the treadmill speed data acquired each time comprises a first treadmill speed value in a specified time period; the heart rate measurement data acquired each time comprises a first heart rate measurement value in the specified time period; the optimization module 33 may include:
and the first optimization submodule is used for determining the optimized speed heart rate model through a mode identification mode or a Kalman filter according to the first treadmill speed value and the first heart rate measured value.
Further, based on the device, the set acquisition rule comprises real-time acquisition of treadmill speed data and heart rate measurement data; the treadmill speed data acquired each time comprises a second treadmill speed value acquired in real time; the heart rate measurement data acquired each time comprises a second heart rate measurement value acquired in real time; the optimization module 33 may include:
and the second optimization submodule is used for determining the optimized speed heart rate model through a mode identification mode or a Kalman filter according to the second treadmill speed value and the second heart rate measured value.
Further, based on the above-mentioned device, the second control module 34 may include:
a second determining submodule for determining a corresponding second treadmill controller according to the optimized speed and heart rate model determined each time;
the second control submodule is used for inputting the corrected value of the heart rate setting data into the second treadmill controller to obtain a corresponding speed optimized value and controlling the speed of the treadmill to be the speed optimized value; wherein the correction value is a difference between the heart rate setting data and the heart rate measurement data.
Further, based on the above-mentioned device, the transfer function of the optimized velocity-heart rate model is:
Wherein P(s) is a transfer function of the optimized velocity heart rate model, s is a complex variable; k, τ, ξ, and ω are all model parameters of the optimized speed heart rate model: k is model gain, tau is a time constant, xi is a damping ratio, and omega is a characteristic frequency;
the transfer function of the second treadmill controller is:
Wherein C(s) is a transfer function of the second treadmill controller, s being a complex variable; a is1、a2、a3、b1、b2、b3、b4Are the controller parameters of the second treadmill controller.
The treadmill control device according to the embodiment of the present invention can be used to implement the above method embodiments, and the principle and technical effects are similar, which are not described herein again.
The above-described embodiments of the apparatus are merely illustrative, and the units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of the embodiment of the present invention. One of ordinary skill in the art can understand and implement it without inventive effort.
Fig. 4 is a schematic entity structure diagram of an electronic device according to an embodiment of the present invention, and as shown in fig. 4, the electronic device may include: a processor (processor)401, a communication Interface (communication Interface)402, a memory (memory)403 and a communication bus 404, wherein the processor 401, the communication Interface 402 and the memory 403 complete communication with each other through the communication bus 404. Processor 401 may call logic instructions in memory 403 to perform the following method:
determining an initial speed heart rate model for controlling the treadmill, and controlling the speed of the treadmill according to the initial speed heart rate model;
acquiring speed data and heart rate measurement data of the treadmill according to a set acquisition rule;
determining an optimized speed heart rate model according to the treadmill speed data and the heart rate measurement data acquired each time;
and controlling the speed of the treadmill according to the optimized speed and heart rate model determined each time.
In addition, the logic instructions in the memory 403 may be implemented in the form of software functional units and stored in a computer readable storage medium when the software functional units are sold or used as independent products. Based on such understanding, the technical solution of the present invention may be embodied in the form of a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.
Further, embodiments of the present invention disclose a computer program product comprising a computer program stored on a non-transitory computer-readable storage medium, the computer program comprising program instructions, which when executed by a computer, the computer is capable of performing the methods provided by the above-mentioned method embodiments, for example, comprising:
determining an initial speed heart rate model for controlling the treadmill, and controlling the speed of the treadmill according to the initial speed heart rate model;
acquiring speed data and heart rate measurement data of the treadmill according to a set acquisition rule;
determining an optimized speed heart rate model according to the treadmill speed data and the heart rate measurement data acquired each time;
and controlling the speed of the treadmill according to the optimized speed and heart rate model determined each time.
In another aspect, an embodiment of the present invention further provides a non-transitory computer-readable storage medium, on which a computer program is stored, where the computer program is implemented by a processor to perform the method provided by the foregoing embodiments, for example, including:
determining an initial speed heart rate model for controlling the treadmill, and controlling the speed of the treadmill according to the initial speed heart rate model;
acquiring speed data and heart rate measurement data of the treadmill according to a set acquisition rule;
determining an optimized speed heart rate model according to the treadmill speed data and the heart rate measurement data acquired each time;
and controlling the speed of the treadmill according to the optimized speed and heart rate model determined each time.
In another aspect, an embodiment of the present invention further provides a treadmill control system, including: the wireless chest belt, the treadmill control device and the treadmill; wherein the content of the first and second substances,
the wireless chest belt is communicated with the treadmill control device in a wireless mode;
the treadmill control device is positioned on the treadmill and directly controls the treadmill; or the treadmill is positioned outside the treadmill and is controlled in a wireless mode or a wired mode;
the treadmill control device is configured to implement the steps of the treadmill control method of any of claims 1 through 7.
Through the above description of the embodiments, those skilled in the art will clearly understand that each embodiment can be implemented by software plus a necessary general hardware platform, and certainly can also be implemented by hardware. With this understanding in mind, the above-described technical solutions may be embodied in the form of a software product, which can be stored in a computer-readable storage medium such as ROM/RAM, magnetic disk, optical disk, etc., and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute the methods described in the embodiments or some parts of the embodiments.
Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.
Claims (10)
1. A treadmill control method, comprising:
determining an initial speed heart rate model for treadmill control, and controlling the treadmill according to the initial speed heart rate model;
acquiring speed data and heart rate measurement data of the treadmill according to a set acquisition rule;
determining an optimized speed heart rate model according to the treadmill speed data and the heart rate measurement data acquired each time;
and controlling the speed of the treadmill according to the optimized speed and heart rate model determined each time.
2. The treadmill control method of claim 1, wherein the treadmill speed control based on the initial speed heart rate model comprises:
determining a corresponding first treadmill controller according to the initial speed and heart rate model;
inputting the corrected value of the heart rate setting data into the first treadmill controller to obtain a corresponding speed initial value, and controlling the speed of the treadmill to be the speed initial value; wherein the correction value is a difference between the heart rate setting data and the heart rate measurement data.
3. The treadmill control method of claim 1, wherein the obtaining the heart rate measurement data comprises:
and acquiring the actual heart rate value of the user through a wireless chest belt to obtain the heart rate measurement data.
4. The treadmill control method of claim 1, wherein the set acquisition rule comprises a specified time period characterizing a time interval for each acquisition of treadmill speed data and heart rate measurement data;
the treadmill speed data acquired each time comprises a first treadmill speed value in a specified time period; the heart rate measurement data acquired each time comprises a first heart rate measurement value in the specified time period;
the determining an optimized speed heart rate model according to the treadmill speed data and the heart rate measurement data acquired each time comprises:
and determining the optimized speed heart rate model through a mode identification mode or a Kalman filter according to the first treadmill speed value and the first heart rate measured value.
5. The treadmill control method of claim 1, wherein the setting acquisition rules comprise acquiring treadmill speed data and heart rate measurement data in real time;
the treadmill speed data acquired each time comprises a second treadmill speed value acquired in real time; the heart rate measurement data acquired each time comprises a second heart rate measurement value acquired in real time;
the determining an optimized speed heart rate model according to the treadmill speed data and the heart rate measurement data acquired each time comprises:
and determining the optimized speed heart rate model through a mode identification mode or a Kalman filter according to the second treadmill speed value and the second heart rate measured value.
6. Treadmill control method according to claim 1 or 4 or 5, characterised in that said performing of treadmill speed control according to said optimized speed heart rate model determined each time comprises:
determining a corresponding second treadmill controller according to the optimized speed and heart rate model determined each time;
inputting the corrected value of the heart rate setting data into the second treadmill controller to obtain a corresponding speed optimized value, and controlling the speed of the treadmill to be the speed optimized value; wherein the correction value is a difference between the heart rate setting data and the heart rate measurement data.
7. The treadmill control method of claim 6,
the transfer function of the optimized velocity heart rate model is
Wherein P(s) is a transfer function of the optimized velocity heart rate model, s is a complex variable; k, τ, ξ, and ω are all model parameters of the optimized speed heart rate model: k is model gain, tau is a time constant, xi is a damping ratio, and omega is a characteristic frequency;
the transfer function of the second treadmill controller is:
Wherein C(s) is a transfer function of the second treadmill controller, s being a complex variable; a is1、a2、a3、b1、b2、b3、b4Are all the second runController parameters of the stepper controller.
8. A treadmill control device, comprising:
the first control module is used for determining an initial speed and heart rate model for controlling the treadmill and controlling the speed of the treadmill according to the initial speed and heart rate model;
the acquisition module is used for acquiring the speed data and the heart rate measurement data of the treadmill according to a set acquisition rule;
the optimization module is used for determining an optimized speed and heart rate model according to the treadmill speed data and the heart rate measurement data acquired each time;
and the second control module is used for controlling the speed of the treadmill according to the optimized speed and heart rate model determined each time.
9. An electronic device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, wherein the steps of a treadmill control method according to any of claims 1 to 7 are implemented when the program is executed by the processor.
10. A treadmill control system, comprising: the wireless chest belt, the treadmill control device and the treadmill; wherein the content of the first and second substances,
the wireless chest belt is communicated with the treadmill control device in a wireless mode;
the treadmill control device is positioned on the treadmill and directly controls the treadmill; or the treadmill is positioned outside the treadmill and is controlled in a wireless mode or a wired mode;
the treadmill control device is configured to implement the steps of the treadmill control method of any of claims 1 through 7.
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