CN111701186A - Action judgment method of linear motor magnetic induction load-bearing fitness equipment - Google Patents
Action judgment method of linear motor magnetic induction load-bearing fitness equipment Download PDFInfo
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- CN111701186A CN111701186A CN202010574214.5A CN202010574214A CN111701186A CN 111701186 A CN111701186 A CN 111701186A CN 202010574214 A CN202010574214 A CN 202010574214A CN 111701186 A CN111701186 A CN 111701186A
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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
- A63B21/00—Exercising apparatus for developing or strengthening the muscles or joints of the body by working against a counterforce, with or without measuring devices
- A63B21/005—Exercising apparatus for developing or strengthening the muscles or joints of the body by working against a counterforce, with or without measuring devices using electromagnetic or electric force-resisters
- A63B21/0051—Exercising apparatus for developing or strengthening the muscles or joints of the body by working against a counterforce, with or without measuring devices using electromagnetic or electric force-resisters using eddy currents induced in moved elements, e.g. by permanent magnets
- A63B21/0052—Exercising apparatus for developing or strengthening the muscles or joints of the body by working against a counterforce, with or without measuring devices using electromagnetic or electric force-resisters using eddy currents induced in moved elements, e.g. by permanent magnets induced by electromagnets
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- A—HUMAN NECESSITIES
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- 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
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Abstract
The invention discloses a motion judgment method of linear motor magnetic induction load-bearing fitness equipment. The intelligent industrial tablet computer and the sensor component with the visual component are adopted, the visual component of the sensor component collects the moving image information of a trainer and sends the moving image information to the SOC single chip system in the intelligent industrial tablet computer through the sensor component interface for processing, the SOC single chip system analyzes the image information of the trainer, detects, judges and analyzes the position of an operating rod and the training posture, action and movement track of the trainer, and provides optimal training guidance for the trainer through the touch screen display and reduces the risk of injury of the trainer.
Description
Technical Field
The invention relates to the technical field of intelligent fitness equipment, in particular to a motion judgment method of linear motor magnetic induction load fitness equipment.
Background
Various strength training fitness equipment on the market mostly adopt gravity damping, the balancing weight is usually started at 100kg, the minimum regulating quantity is 5kg, and the popularization of the large weight and the complicated regulating method of the weight training fitness equipment in the household market is limited.
The exercise machine also has a resistance scheme of providing reaction force by adopting a rotating motor, but because the resistance is passively adjusted, the larger the action force is, the larger the reaction force (i.e. resistance force) is, the resistance force is not constant, and a variable force curve is provided, so that the exercise effect is greatly reduced.
Moreover, most of the various strength training fitness equipment are single-function equipment or have few functions, so that comprehensive training of the whole body cannot be realized, and the user feels dull; maximizing training effectiveness in a limited time is crucial, while diversity and cross-training are also important to maintain interest.
Secondly, all fitness equipment with feedback collects force feedback data to provide fitness guidance, training postures and postures of users cannot be intelligently identified, and the guidance effect is limited.
In addition, traditional exercise equipment is bulky, heavy, is unfavorable for transportation and installation.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provides a motion judgment method of linear motor magnetic induction load-bearing fitness equipment, which is light and convenient and is easy to adjust a load-bearing module.
In order to achieve the above purpose, the solution of the invention is:
a motion judgment method of linear motor magnetic induction load-bearing fitness equipment comprises a rack, an intelligent industrial tablet personal computer, a training operation platform, a pulley block, an operation rod and a linear motor magnetic induction load-bearing module, wherein the intelligent industrial tablet personal computer, the training operation platform, the pulley block, the operation rod and the linear motor magnetic induction load-bearing module are arranged on the rack; the linear motor magnetic induction load module comprises a linear motor with a resistance coil and a linear motor controller connected with the linear motor, and the linear motor controller is connected with the SOC single chip system through a communication port of the load module controller; the visual assembly detects a rotor/pulley of the linear motor as an input point, and aims to calculate the current state of a user, and defines:
v + max: the set maximum speed value of the mover moving upwards normally;
v + min: the set minimum speed value of the mover moving upwards normally;
v-max: the set maximum speed value of the rotor moving downwards normally;
v-min: the set minimum speed value of the mover moving downwards normally;
t1: the time when the tested linear motor mover moves upwards to reach the minimum speed value;
t2: the dwell time of the tested linear motor rotor at the upper vertex;
t3: the time when the tested rotor moves downwards to reach the minimum speed value;
t4: the time that the tested mover stays at the starting point;
t0 max: the longest time for the arranged rotor to stay at the starting point;
t0 min: the shortest time for the arranged rotor to stay at the starting point;
t + max: the longest time that the mover of the linear motor stays at the upper vertex is set;
t + min: the shortest time for the rotor of the linear motor to stay at the upper vertex is set;
vtest is the actual speed value of the tested mover movement;
ttest, the actual time for the tested mover to reach V + min (move up)/V-min (move down) from rest;
acquiring a moving speed value of a linear motor rotor transmitted by a linear motor magnetic induction load module;
when the mover of the linear motor moves upwards,
ttest > T1, determined to be exhaustion/pause-in-process continuation;
ttest < T1, delaying for a short time, starting to judge Vtest, wherein Vtest is greater than V + max, and judging that the load is too light;
t2> T + max or T2< T + min, and the action is judged to be too fast and not standard;
when the mover of the linear motor moves downwards,
ttest < T3, determined to be exhausted;
ttest > T3, delay a short time, start to judge Vtest, Vtest > V-min, judge it is too slow to move, can prompt to accelerate/carry on the load training of the negative stroke positively; vtest is less than V-max, and is judged to be exhausted/improper in use and dangerous;
t4> T0max or T4< T0min, the action is judged to be too fast and not normal.
After the scheme is adopted, the magnetic induction load module of the linear motor is adopted to replace the traditional heavy counterweight block, the electromagnetic induction principle is utilized, the load for training is provided, the structure is lighter and the adjustment is easy. The intelligent industrial tablet computer and the sensor component with the visual component are adopted, the visual component of the sensor component collects the moving image information of a trainer and sends the moving image information to the SOC single chip system in the intelligent industrial tablet computer through the sensor component interface for processing, the SOC single chip system analyzes the image information of the trainer, detects, judges and analyzes the position of an operating rod and the training posture, action and movement track of the trainer, and provides optimal training guidance for the trainer through the touch screen display and reduces the risk of injury of the trainer.
Further, the linear motor of the linear motor magnetic induction load module comprises a linear motor stator and a linear motor rotor; the linear motor controller comprises a PWM motor driver, a linear motor control interface and a communication port, a resistance coil, a temperature sensor, a current sensor, a position sensor and a linear motor interface are mounted on a rotor of the linear motor, the current sensor is used for testing the current of the resistance coil, a mounting position limit switch is mounted at each of two ends of a stator of the linear motor, the linear motor interface is connected with the linear motor control interface through a flexible flat cable, the PWM motor driver controls the linear motor through the linear motor control interface, the linear motor controller is connected with a communication port of a load module controller on an intelligent industrial tablet computer through the communication port, receives a control command sent by the communication port of the load module controller, and feeds back the motion state of the linear motor.
Further, the linear motor stator is a magnetic track, the linear motor rotor is provided with a resistance coil, and the PWM motor driver adopts a constant coil current driving mode, so that the linear motor rotor generates constant thrust, and constant training load is realized.
Further, the sensor assembly further comprises a travel switch assembly and an emergency stop switch assembly, the travel switch assembly is connected with the intelligent industrial tablet computer through a sensor assembly interface, and the emergency stop switch assembly is connected with the PWM motor driver.
Further, the visual components are distributed on different positions of the fitness equipment frame, the operating rods held by the hands of the trainers are all horizontal, the positions of the operating rods, the width of the holding rods, the left and right lengths of the rods and the step width are detected, and the left and right lengths of the rods comprise the left and right lengths of the rods, the up and down amplitude of lying, the back arc, the training moving track and the moving range of the trainers.
Drawings
Fig. 1 is a block diagram of the construction of the exercise apparatus of the present invention.
Fig. 2 is a schematic structural diagram of the magnetic load module of the linear motor according to the present invention.
FIG. 3 is a schematic view of the constant load operation of the magnetic load module of the linear motor according to the present invention.
FIG. 4 is a schematic diagram of the moving speed and current curve of the mover according to the present invention.
Fig. 5 is a schematic view of a pulley block structure with a steel wire rope.
Fig. 6 is a schematic view of a pulley block structure with a steel wire rope.
FIG. 7 is a first schematic view of a visual inspection project according to the present invention.
FIG. 8 is a diagram of a second visual inspection project according to the present invention.
FIG. 9 is a third schematic view of a visual inspection project according to the present invention.
FIG. 10 is a schematic flow chart of the operation of the present invention.
FIG. 11 is a schematic diagram of the velocity detection of the present invention.
FIG. 12 is a schematic structural diagram of one embodiment of the multifunctional intelligent optimization exercise device of the present invention.
Detailed Description
In order to further explain the technical solution of the present invention, the present invention is explained in detail by the following specific examples.
The invention relates to an intelligent industrial tablet computer 2 and a linear motor magnetic induction load module 3 used in fitness equipment and a system, wherein the intelligent industrial tablet computer 2 is used for managing and coordinating the linear motor magnetic induction load module 3. The linear motor magnetic load module 3 of the present invention generally replaces the weight of existing exercise equipment and functions as a conventional resistance element.
As shown in fig. 1 and 12, the present invention discloses a multifunctional intelligent optimization exercise device, comprising: fitness equipment 1, intelligent industry panel computer 2, linear electric motor magnetic induction heavy burden module 3 and sensor assembly 4.
The fitness equipment 1 comprises a rack 11, a training operation platform 12, a pulley block 13, a steel wire rope 14 and an operation rod 15, wherein the intelligent industrial tablet computer 2, the linear motor magnetic induction load module 3 and the sensor assembly 4 are respectively arranged on the rack 11. The body-building apparatus 1 can be various pulling force body-building apparatuses, leg kicking machines, auxiliary parallel bars, pull-up machines, supine press-lifting machines and the like, a training operation platform 12 is arranged on a frame 11 of the body-building apparatus 1, the setting of the operation platform 12 is different according to different body-building apparatuses 1, the operation platform 12 can be a training platform, a body-building stool and/or a deck chair and the like, the pulley blocks 13 are arranged on the frame 11, and the pulley blocks 13 are usually provided with two groups, two groups of the pulley blocks 13 are symmetrically arranged on the training operation platform 12 corresponding to the left hand, the right hand, the left foot and the right foot of an operator, each group of the pulley blocks 13 is provided with a steel wire rope 14 and an encoder, the encoder is used for detecting the moving length of the steel wire rope 14 on the corresponding pulley block 13 to judge whether the operation of the left hand, the right hand, the, the steel wire rope 14 is directly or indirectly connected with an operating rod 15, the operating rod 15 can be a handle, a pull ring, a belt, a push rod or the like for a user to apply force, the other end of the steel wire rope 14 is connected with the linear motor magnetic induction load module 3, the steel wire rope 14 is installed at one end of a rotor of the direct current motor, and the pulley block 13 is matched on the steel wire rope 14 in a sliding mode.
The intelligent industrial tablet personal computer 2 is arranged on the frame 11 of the fitness equipment 1 and can be positioned on the front side or the side face of the fitness equipment 1, the intelligent industrial tablet personal computer 2 mainly comprises an SOC (system on chip) single-chip system 202, a touch screen display 204, a load module controller communication port 210 and a sensor component interface 211, the SOC single-chip system 202 is the core of the intelligent industrial tablet personal computer 2, magnetic gravity training fitness coach software is installed on the SOC single-chip system 202, the touch screen display 204 is connected with the SOC single-chip system 202 and displays a human-computer interaction interface of the magnetic gravity training fitness coach software, and user operation is provided and information is acquired; the load module controller communication port 210 is connected with the SOC single chip system 202 and the linear motor magnetic induction load module 3, so that the SOC single chip system 202 can send instructions or receive data information of the linear motor magnetic induction load module 3, and information interaction between the SOC single chip system 202 and the linear motor magnetic induction load module 3 is realized. The sensor component interface 211 is connected to the SOC monolithic system 202 and the sensor module 4, and realizes information interaction between the SOC monolithic system 202 and the sensor module 4.
Besides, the smart industrial tablet computer 2 further includes a power supply 201, an SOC single chip system 202, a memory 203, a WIFI module 205, an RJ45 network port 206, a USB interface 207, an audio amplification component 208, a speaker 209, a bluetooth module 212, and an MIC component 213. The SOC single chip system 202 is connected with a power supply 201, a memory 203, a WIFI module 205, an RJ45 network port 206, a USB interface 207, an audio amplification component 208, a speaker 209 and a bluetooth module 212. The power supply 201 may provide dc power for the intelligent industrial tablet computer 2. The memory 203 is connected to the SOC system-on-chip 202 to provide a storage space. WIFI module 205, RJ45 network port 206 are used for the networking, make and install the "magnetic gravity training body-building training software coach" of SOC monolithic system 202 and can send body-building information such as training person's body-building historical data, gesture image to the cloud end server, are convenient for training person and body-building expert's acquisition body-building information at other equipment. The USB interface 207 facilitates the trainer to copy the fitness information by using a USB flash disk. The audio amplification component 208 and the speaker 209 cooperate to realize a voice playing function. The MIC component 213 may implement user voice control functions.
The linear motor magnetic induction load module 3 comprises a linear motor 31 and a linear motor controller 32. The linear motor 31 comprises a linear motor stator 311 and a linear motor rotor 312, a linear motor interface 313, a current sensor, a temperature sensor 316 and a position sensor 317 are mounted on the linear motor rotor 312, a mounting position limit switch 318 is mounted at each of two ends of the linear motor stator 311, a resistance coil is mounted on the linear motor rotor 312, and the current sensor is a hall current sensor for testing the current of the resistance coil. The linear motor 31 can be customized according to different exercise equipment and different load requirements.
The linear motor controller 32 comprises a PWM motor driver 321, a linear motor control interface 322 and a communication port 323, the linear motor interface 313 is connected with the linear motor control interface 322 through a flexible flat cable, the PWM motor driver 321 controls the linear motor 31 through the linear motor control interface 322, the linear motor controller 32 is connected with the communication port 210 of the load module controller on the intelligent industrial tablet computer 2 through the communication port 323, receives a control instruction sent by the communication port 210 of the load module controller, and feeds back the motion state of the linear motor 31. The PWM motor driver 321 adopts a constant coil current driving mode, so that the linear motor mover 312 generates a constant thrust to realize a constant training load. The specification of the PWM motor driver 32 is matched with the specification of the linear motor 31.
The sensor assembly 4 includes a vision assembly 41, a travel switch assembly 42, and an emergency stop switch assembly 43. The vision assembly 41, the travel switch assembly 42 and the emergency stop switch assembly 43 can be respectively installed at corresponding positions of the device by using external cables.
The travel switch assembly 42 is connected to the smart industrial tablet 2 through the sensor assembly interface 211 to provide training start and stop operations.
The emergency stop switch assembly 43 is coupled to the PWM motor driver 321 to provide an emergency equipment stop function.
The vision assembly 41 comprises a set (plurality) of vision assemblies mounted on the exercise apparatus 1, with different numbers and locations of mounting for different exercise devices. The visual component 41 collects infrared reflection time information of objects in the four-limb movement range field of the trainer, processes and analyzes the three-dimensional (3D) image information of the four-limb movement posture of the trainer, the SOC single chip system 202 processes an SOC (system on chip) sheet sent to an intelligent industrial tablet personal computer through the sensor component interface 211), the SOC single chip system 202 analyzes the image information of the four-limb movement posture of the trainer, and detects, judges and analyzes the position of an operating rod, the training posture, the action and the movement track of the trainer, and a magnetic gravity training and fitness software coach guides the trainer through the touch screen display 204 and voice prompt.
As shown in fig. 2 and 3, the load and electromagnetic induction principle of the linear motor magnetic induction load module 3 of the present invention is as follows:
the linear motor stator 311 is a magnetic track, the linear motor mover 312 is provided with a resistance coil, the PWM motor driver 321 adopts a constant coil current driving mode, when the linear motor magnetic induction load module 3 is started, single-phase alternating current is converted into three-phase alternating current, and the three-phase alternating current is input to the linear motor 31 through the linear motor control interface 322, so that the linear motor mover 312 generates a driving force in a constant direction, that is, mover thrust Fout, to simulate gravity. The trainer pulls the steel wire rope 14 upwards, and when the pulling force Fdo is larger than the downward driving force (namely, the mover thrust Fout), the linear motor mover 312 moves upwards; when equal, the linear motor mover 312 is stationary; when the pulling force Fdo is smaller than the downward driving force (mover thrust Fout), the linear motor mover 312 moves downward.
As shown in fig. 3 and fig. 4, the PWM motor driver 321 is set in the constant-coil current driving mode, and when starting, the average value Iout of the three-phase coil driving current is the set average value of the current, and the current automatically adjusts the average value Iout of the three-phase coil driving current according to the variation of the mover coil current detection value Itest, so that the actual average value Ia of the three-phase coil is kept constant, that is, the mover thrust Fout (simulated gravity) is kept constant, that is, Ia + IrevFout is Cm Ia.
When the linear motor mover 312 touches the limit switch 318, the linear motor limit switch state Salarm changes, the PWM motor driver 321 immediately stops working, and the output driving current is 0. The PWM motor driver 32 detects the temperature of the linear motor mover 312 in real time through the temperature sensor 316, and when the temperature exceeds an alarm value, the PWM motor driver 321 immediately stops working and outputs a driving current of 0.
In the opening process of the linear motor magnetic induction load module 3, the rotor position sensor detection position coding information Ptest of the linear motor rotor 312 is calculated into absolute displacement data in real time through the position sensor 317 and is sent to the intelligent industrial tablet computer 2 through the communication port 323 in the linear motor controller 32.
In the exercise machine 1 of the present invention, the operation principle of one embodiment of the pulley block 13 and the wire rope 14 is shown in fig. 5, when the length of the wire rope 14 pulled out by the sliding arm of the trainer is L1, the length L2 of the pulley block 13 is L1/2; the length L3 of the linear motor mover 312 that rises is 2L1, and 1/2 that the tensile force of the pull wire rope is the tensile force acting on the mover is realized. Two encoders mounted on the pulley block 13 are used for detecting the moving length of the steel wire ropes 14 at two ends, and are used for judging whether the left-hand operation and the right-hand operation of a trainer are balanced.
In the exercise machine 1 of the present invention, the operation principle of the pulley block 13 and the wire rope 14 in another embodiment is shown in fig. 6, when the trainee pulls out the wire rope 14 with a length of L1, the pulley block 13 descends with L2 ═ L1/2; the linear motor mover 312 ascends L3 to 2L 1. Two encoders 131 mounted on the pulley block 13 are used for detecting the moving length of the wire ropes 14 at two ends, and are used for judging whether the left-hand operation and the right-hand operation of the trainer are balanced.
As shown in fig. 7, 8 and 9, the operating lever level a, the operating lever position B, the grip width C, the lever left-right length D and the step width E of the hand held by the trainer are detected by the vision assembly 41, wherein the lever left-right length D includes a lever left length D1 and a lever right length D2, the lying up-down amplitude F, the back arc G, and the training movement track and the movement range of the trainer. The vision assembly 41 detects, judges and analyzes the position of the operating rod and the training posture and action of the trainer, provides the optimal training guidance for the trainer and reduces the risk of injury of the trainer.
Fig. 10 shows a specific operation flowchart of the present invention, and the operation is described as follows:
starting instruction
The user clicks a start button through the touch screen display 204, the software displays whether to start or not, the motor is unlocked by selecting yes, and the system starts to count down the time; if no, the system returns to the initial state and detects a start command;
time to count down
Presetting time which accords with the preparation of a user for positioning, enabling a system to count down, and displaying specific count down time on a screen;
fig. 11 is a schematic diagram of detecting the speed of a reciprocating training, where the speed is obtained by calculating the value fed back by the position sensor, and the speed is displacement/time, and in order to calculate the training state of the user, the displacement information may also be obtained from an encoder installed on the pulley, and is defined as follows:
v + max: the set maximum speed value of the mover moving upwards normally;
v + min: the set minimum speed value of the mover moving upwards normally;
t1: the time at which the tested linear motor mover 312 moves upward to reach the minimum speed value;
t + max: the maximum time that linear motor mover 312 is set to stay at the upper vertex;
t + min: the shortest time for which the linear motor mover 312 is set to stay at the upper vertex;
t2: the time that the tested linear motor mover 312 dwells at the upper vertex;
vtest is the actual speed value of the tested mover movement;
ttest, the actual time for the tested mover to reach V + min (move up)/V-min (move down) from rest;
v-max: the set maximum speed value of the rotor moving downwards normally;
v-min: the set minimum speed value of the mover moving downwards normally;
t3: time for the tested mover to move downwards to reach minimum speed value
T0 max: the longest time of the rotor at the starting point
T0 min: the shortest time for the arranged mover to stay at the starting point
T4: time of rotor stay at starting point
Magnetic gravity training fitness coach software running on the intelligent industrial tablet computer 2 acquires the moving speed value of the linear motor rotor 312 transmitted by the linear motor magnetic induction load module 3;
when the linear motor mover 312 moves upward,
ttest > T1, determined to be exhaustion/pause-in-process continuation;
ttest < T1, delaying for a short time, starting to judge Vtest, wherein Vtest is greater than V + max, and judging that the load is too light;
t2> T + max or T2< T + min, and the action is judged to be too fast and not standard;
as the linear motor mover 312 moves downward,
ttest < T3, determined to be exhausted;
ttest > T3, delay a short time, start to judge Vtest, Vtest > V-min, judge it is too slow to move, can prompt to accelerate/carry on the load training of the negative stroke positively; vtest is less than V-max, and is judged to be exhausted/improper in use and dangerous;
t4> T0max or T4< T0min, and the action is judged to be too fast and not standard;
preselection program
After the user is trained, a preselected program can be made according to the training and stored in a system memory;
detection of dead point
The user needs to stay for a certain time at the position near the upper vertex/starting point and then continues;
sixthly, load reduction 1
Deducting by the original load percent;
seventhly, reducing the load 2
Deduct at original load% but must deduct more than load reduction 1;
detecting in place
For a series of actuation actions, it is determined that the user is in position.
Such as: no load is 3, and then a starting point is reached;
ninthly, user emergency shutdown
The emergency stop switch assembly 43 is pressed by foot or hand or is realized by voice.
Fig. 12 shows an embodiment of the multifunctional intelligent optimized exercise device of the present invention, which includes a frame 11, an intelligent industrial tablet computer 2, a linear motor magnetic induction load module 3, a steel wire rope 14, a pulley block 13, an adjustable motion operation rod assembly 15, a training platform 121, and an exercise stool 122. Matched with matched 'magnetic gravity training fitness coaching software', a set of complete fitness training equipment is formed.
The linear motor with large rated thrust can be selected by the linear motor magnetic induction load module 3, and because a coil of the linear motor can generate heat in the starting process, a radiating fin with a fan can be added on the linear motor.
The steel wire rope 14 and the pulley block 13 adopt the structure shown in figure 3.
The adjustable movement operating rod assembly 15 can be freely moved up and down and adjusted to a position corresponding to the fitness mode.
The magnetic induction load module of the linear motor can be applied to various fitness equipment such as leg kickers, pull-up machines, supine weight lifts and the like.
The fitness method using the multifunctional intelligent optimization fitness equipment comprises the following steps:
the method comprises the following steps: the user selects a fitness mode on a 'magnetic gravity training fitness coaching software' interface; a shoulder-pushing mode, a back-pulling mode, a front-pulling mode, a deep-squatting mode, a back-pushing mode or a hard-pulling mode;
step two: the user moves and adjusts the adjustable movement lever assembly 15 to a position corresponding to the exercise mode;
step three: pressing a 'start fitness' button on a 'magnetic gravity training fitness coach software' interface by a user;
step four: a user holds the operating rod on the adjustable motion operating rod assembly 15 by hand, pushes the operating rod up and down for three times, and the linear motor magnetic induction load module 3 detects the information of the position sensor 317, converts the information into displacement information and sends the displacement information to the intelligent industrial tablet computer 2;
step five: after the 'magnetic gravity training and fitness coaching software' running on the intelligent industrial tablet computer 2 acquires the displacement information of three times, judging that the user is in place and sending a training starting request, sending a starting instruction and parameters set by the user to the linear motor magnetic induction load module 3 and simultaneously sending a prompt tone;
step six: after the linear motor magnetic induction load module 3 receives the starting instruction and the parameters set by the user, the linear motor rotor 312 is unlocked, and the three-phase coil driving current corresponding to the load value set by the user is loaded according to the parameter values;
step seven: a user starts training and applies force, the operating rod pulls out the connected steel wire rope 14, then the pulley block 13 pulls the linear motor rotor 312 on the connected linear motor magnetic induction load module 3 to move upwards, the linear motor controller 32 controls downward thrust (simulated gravity) generated by the linear motor rotor 312, and when the pulling force is greater than the downward driving force, the linear motor rotor 312 moves upwards; when equal, the linear motor mover 312 is stationary; when the pulling force is smaller than the downward driving force, the linear motor mover 312 moves downward; thus realizing the weight training of the arms of the user to stretch and bend up and down. In the training process, the linear motor magnetic induction load module 3 detects information of the position sensor 317, converts the information into displacement information, sends the displacement information to the intelligent industrial tablet personal computer 2, automatically calculates the training reciprocating times of a user and judges whether the user is exhausted according to the position, speed and acceleration information of the displacement, and automatically reduces the load or automatically stops working according to a set training mode and sends out prompt tones when the user is exhausted; meanwhile, the visual component 41 collects infrared reflection time information of an object in the four-limb movement range view of the trainer, processes and analyzes the four-limb movement posture 3D image information of the trainer, sends the information to the SOC single-chip system 202 in the intelligent industrial tablet computer 2 through the sensor component interface 211 for processing, analyzes the four-limb movement posture image information of the trainer, analyzes the training posture, the action speed and the movement track of the trainer, and guides the trainer through the touch screen display 204 and the voice prompt;
according to the training mode selected by the user, after the user finishes a group of training, the 'magnetic gravity training fitness training coach software' on the intelligent industrial tablet computer 2 automatically calculates and judges that the user finishes a group of training, and then sends a stop instruction to the linear motor magnetic induction load module 3 to stop working and sends a prompt tone, wherein the driving current is zero, and no driving force is used, namely no gravity is used;
according to the training mode selected by the user, after the intelligent industrial tablet computer 2 stops working for a period of time, the 'magnetic gravity training fitness trainer software' on the intelligent industrial tablet computer 2 sends a starting instruction to the linear motor magnetic induction load module 3 to perform program operation in response to one round.
When the user will initiatively stop the training, can press the scram button on the action bars, perhaps pedal the scram button on the training platform, linear electric motor magnetism feels heavy burden module 3 stop work to with information transfer to "magnetic gravity training body-building coach software" of operation on intelligent industry panel computer 2, send the prompt tone simultaneously.
The above embodiments and drawings are not intended to limit the form and style of the present invention, and any suitable changes or modifications thereof by those skilled in the art should be considered as not departing from the scope of the present invention.
Claims (5)
1. A motion judgment method of linear motor magnetic induction load-bearing fitness equipment is characterized by comprising the following steps: the fitness equipment comprises a rack, an intelligent industrial tablet personal computer, a training operation platform, a pulley block, an operating rod and a linear motor magnetic induction load module, wherein the intelligent industrial tablet personal computer is arranged on the rack, the pulley block is arranged on a steel wire rope, the steel wire rope is connected with the operating rod and the linear motor of the linear motor magnetic induction load module, the intelligent industrial tablet personal computer comprises an SOC (system on chip) single-chip system, a touch screen display connected with the SOC single-chip system, a load module controller communication port and a sensor assembly interface, the load module controller communication port is connected with the linear motor magnetic induction load module, and the sensor assembly interface is connected with a visual assembly of; the linear motor magnetic induction load module comprises a linear motor with a resistance coil and a linear motor controller connected with the linear motor, and the linear motor controller is connected with the SOC single chip system through a communication port of the load module controller; the visual assembly detects a rotor/pulley of the linear motor as an input point, and aims to calculate the current state of a user, and defines:
v + max: the set maximum speed value of the mover moving upwards normally;
v + min: the set minimum speed value of the mover moving upwards normally;
v-max: the set maximum speed value of the rotor moving downwards normally;
v-min: the set minimum speed value of the mover moving downwards normally;
t1: the time when the tested linear motor mover moves upwards to reach the minimum speed value;
t2: the dwell time of the tested linear motor rotor at the upper vertex;
t3: the time when the tested rotor moves downwards to reach the minimum speed value;
t4: the time that the tested mover stays at the starting point;
t0 max: the longest time for the arranged rotor to stay at the starting point;
t0 min: the shortest time for the arranged rotor to stay at the starting point;
t + max: the longest time that the mover of the linear motor stays at the upper vertex is set;
t + min: the shortest time for the rotor of the linear motor to stay at the upper vertex is set;
vtest is the actual speed value of the tested mover movement;
ttest, the actual time for the tested mover to reach V + min (move up)/V-min (move down) from rest;
acquiring a moving speed value of a linear motor rotor transmitted by a linear motor magnetic induction load module;
when the mover of the linear motor moves upwards,
ttest > T1, determined to be exhaustion/pause-in-process continuation;
ttest < T1, delaying for a short time, starting to judge Vtest, wherein Vtest is greater than V + max, and judging that the load is too light;
t2> T + max or T2< T + min, and the action is judged to be too fast and not standard;
when the mover of the linear motor moves downwards,
ttest < T3, determined to be exhausted;
ttest > T3, delay a short time, start to judge Vtest, Vtest > V-min, judge it is too slow to move, can prompt to accelerate/carry on the load training of the negative stroke positively; vtest is less than V-max, and is judged to be exhausted/improper in use and dangerous;
t4> T0max or T4< T0min, the action is judged to be too fast and not normal.
2. The method of claim 1, wherein the linear motor is configured to sense magnetic force and load the exercise device with a magnetic force, and the method comprises: the linear motor of the linear motor magnetic induction load module comprises a linear motor stator and a linear motor rotor; the linear motor controller comprises a PWM motor driver, a linear motor control interface and a communication port, a resistance coil, a temperature sensor, a current sensor, a position sensor and a linear motor interface are mounted on a rotor of the linear motor, the current sensor is used for testing the current of the resistance coil, a mounting position limit switch is mounted at each of two ends of a stator of the linear motor, the linear motor interface is connected with the linear motor control interface through a flexible flat cable, the PWM motor driver controls the linear motor through the linear motor control interface, the linear motor controller is connected with a communication port of a load module controller on an intelligent industrial tablet computer through the communication port, receives a control command sent by the communication port of the load module controller, and feeds back the motion state of the linear motor.
3. The method of claim 2, wherein the linear motor is a magnetic induction weight-bearing exercise machine, comprising: the linear motor stator is a magnetic track, the linear motor rotor is provided with a resistance coil, and the PWM motor driver adopts a constant coil current driving mode to enable the linear motor rotor to generate constant thrust.
4. The method of claim 2, wherein the linear motor is configured to sense magnetic force and load the exercise device with a magnetic force, and further comprising: the sensor assembly further comprises a travel switch assembly and an emergency stop switch assembly, the travel switch assembly is connected with the intelligent industrial tablet personal computer through a sensor assembly interface, and the emergency stop switch assembly is connected with the PWM motor driver.
5. The method of claim 1, wherein the linear motor is configured to sense magnetic force and load the exercise device with a magnetic force, and the method comprises: the visual components are distributed on different positions of the fitness equipment frame and are used for detecting that the operating rods held by hands of a trainer are all horizontal, the positions of the operating rods, the width of a holding rod, the left and right lengths of the rods and the step width, wherein the left and right lengths of the rods comprise the left and right lengths of the rods, the up and down amplitude of lying, the back arc and the training moving track and the moving range of the trainer.
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| CN114748845A (en) * | 2022-01-27 | 2022-07-15 | 北京激扬时代健身科技有限公司 | Hand-off detection system and method for strength training fitness equipment |
| CN114870323A (en) * | 2022-04-11 | 2022-08-09 | 北京觅淘智联科技有限公司 | Fitness equipment and exercise evaluation method for fitness equipment |
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