CN111701186B - Motion judging method of linear motor magnetic induction load body-building equipment - Google Patents
Motion judging method of linear motor magnetic induction load body-building equipment Download PDFInfo
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- CN111701186B CN111701186B CN202010574214.5A CN202010574214A CN111701186B CN 111701186 B CN111701186 B CN 111701186B CN 202010574214 A CN202010574214 A CN 202010574214A CN 111701186 B CN111701186 B CN 111701186B
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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
- 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
- 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
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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
- A63B71/00—Games or sports accessories not covered in groups A63B1/00 - A63B69/00
- A63B71/06—Indicating or scoring devices for games or players, or for other sports activities
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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
- A63B71/00—Games or sports accessories not covered in groups A63B1/00 - A63B69/00
- A63B71/06—Indicating or scoring devices for games or players, or for other sports activities
- A63B71/0619—Displays, user interfaces and indicating devices, specially adapted for sport equipment, e.g. display mounted on treadmills
- A63B71/0622—Visual, audio or audio-visual systems for entertaining, instructing or motivating the user
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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
- A63B2024/0065—Evaluating the fitness, e.g. fitness level or fitness index
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- A—HUMAN NECESSITIES
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- 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
- A63B2024/009—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 in synchronism with visualising systems, e.g. hill slope
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- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
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- A63B2220/80—Special sensors, transducers or devices therefor
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- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B2225/00—Miscellaneous features of sport apparatus, devices or equipment
- A63B2225/50—Wireless data transmission, e.g. by radio transmitters or telemetry
Abstract
The invention discloses a motion judging method of linear motor magnetic induction load-bearing body-building equipment. The intelligent industrial tablet personal computer and the sensor assembly with the visual assembly are adopted, the visual assembly of the sensor assembly collects the motion image information of the trainer, the motion image information is sent to the SOC single-chip system in the intelligent industrial tablet personal computer for processing through the sensor assembly interface, the SOC single-chip system analyzes the image information of the trainer, detects, judges and analyzes the position of the operation rod, the training gesture, the action and the motion track of the trainer, provides the best 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 body-building equipment, in particular to a motion judging method of linear motor magnetic induction load-bearing body-building equipment.
Background
The weight damping is adopted by most of all power training fitness equipment on the market, the balancing weight is usually started by 100kg, the minimum adjustment amount is 5kg, and the popularization of the home market is limited by the large weight and the complicated adjustment method.
The exercise machine also has a resistance scheme that adopts a rotating motor to provide a reaction force, but the larger the acting force is, the larger the reaction force (namely the resistance) is, the resistance is not constant, and a force curve is changed, so that the exercise effect is greatly reduced.
Furthermore, most of 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 users feel boring easily; maximizing training effects over a limited period of time is critical, while diversity and cross training are also important to maintaining interest.
And secondly, all fitness equipment with feedback are used for collecting 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, the traditional body-building equipment has large volume and heavy weight, and is not beneficial to transportation and installation.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provides a motion judging method of linear motor magnetic induction load-bearing body-building equipment which is light and easy to adjust a load module.
In order to achieve the above object, the solution of the present invention is:
the motion judgment method of the linear motor magnetic induction load-bearing body-building 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 (system on chip) system through a communication port of the load module controller; the speed is obtained by calculating the value fed back by the position sensor, the speed=displacement/time, the purpose is to calculate the current training state of the user, the displacement information can also be obtained from the encoder installed on the pulley, and the definition is as follows:
v+max: a maximum speed value of normal upward movement of the mover is set;
v+min: the minimum speed value of the normal upward movement of the rotor is set;
v-max: a maximum speed value of normal downward movement of the mover is set;
v-min: the minimum speed value of the normal downward movement of the rotor is set;
t1: the time for the tested linear motor rotor to move upwards to reach the minimum speed value;
t2: the time that the tested linear motor rotor stays at the upper vertex;
t3: the time for the tested mover to move down to reach the minimum speed value;
t4: the time that the tested rotor stays at the starting point;
t0max: the longest time that the mover is set to stay at the starting point;
t0min: setting the shortest time for the mover to stay at the starting point;
t+max: the linear motor rotor is arranged for the longest time of staying at the upper vertex;
t+min: the linear motor rotor is arranged at the top of the upper vertex for a shortest time;
vtest, the actual speed value of the tested mover movement;
ttest is the actual time from stopping to v+min (move up)/V-min (move down);
acquiring a moving speed value of a linear motor rotor transmitted by a linear motor magnetic induction load module;
when the linear motor rotor moves upwards,
test > T1, judging that the exhaustion/intermittent exhaustion is continued;
test < T1, delay for a short period of time, start to judge Vtest, vtest > V+max, judge that the load is too light;
t2> T+max or T2< T+min, and judging that the action is too fast and not standard;
when the linear motor rotor moves downwards,
ttest < T3, judged to be exhausted;
test > T3, delay for a short period of time, start to judge Vtest, vtest > V-min, judge that the action is too slow, can prompt to accelerate/positively carry out the negative stroke load training; vtest < V-max, judged as exhausted/misused, dangerous;
t4> T0max or T4< T0min, and the action is judged to be too fast and not standard.
After the scheme is adopted, the linear motor magnetic induction load module is adopted to replace the traditional heavy balancing weight, the electromagnetic induction principle is applied to provide the weight for training, the structure is lighter, and the adjustment is easy. The intelligent industrial tablet personal computer and the sensor assembly with the visual assembly are adopted, the visual assembly of the sensor assembly collects the motion image information of the trainer, the motion image information is sent to the SOC single-chip system in the intelligent industrial tablet personal computer for processing through the sensor assembly interface, the SOC single-chip system analyzes the image information of the trainer, detects, judges and analyzes the position of the operation rod, the training gesture, the action and the motion track of the trainer, provides the best 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 arranged on a linear motor rotor, the current sensor is used for testing the current of the resistance coil, two ends of a linear motor stator are respectively provided with an installation position limit switch, the linear motor interface is connected with the linear motor control interface through a flexible flat cable, the PWM motor driver is used for controlling the linear motor through the linear motor control interface, the linear motor controller is connected with a load module controller communication port on an intelligent industrial tablet personal computer through the communication port, and receives control instructions sent by the load module controller communication port 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 a scram switch assembly, wherein the travel switch assembly is connected with the intelligent industrial tablet personal computer through a sensor assembly interface, and the scram switch assembly is connected with the PWM motor driver.
Further, the visual components are arranged in a plurality of positions on the body-building machine frame, and are used for detecting the fact that the operating rods held by the trainers are horizontal, the positions of the operating rods, the width of the holding rod, the left and right rod lengths and the width of the steps, wherein the left and right rod lengths comprise left and right rod lengths, upper and lower lying amplitudes, back arcs and training movement tracks and movement ranges of the trainers.
Drawings
Fig. 1 is a block diagram of the exercise apparatus of the present invention.
Fig. 2 is a schematic structural diagram of the linear motor magnetic induction load module according to the present invention.
FIG. 3 is a schematic diagram of the constant load operation of the linear motor magnetic induction load module according to the present invention.
FIG. 4 is a schematic diagram of the moving speed and current curve of the mover of the present invention.
Fig. 5 is a schematic diagram of a pulley block structure with a steel wire rope according to the present invention.
Fig. 6 is a schematic diagram of a pulley block structure with a steel wire rope according to the present invention.
Fig. 7 is a schematic diagram of a visual inspection item according to the present invention.
Fig. 8 is a schematic diagram of a visual inspection item according to the present invention.
Fig. 9 is a schematic diagram of a visual inspection item according to the present invention.
FIG. 10 is a schematic diagram of the operation flow of the present invention.
FIG. 11 is a schematic diagram of the speed detection of the present invention.
FIG. 12 is a schematic diagram of one embodiment of a multi-functional intelligent optimization exercise device of the present invention.
Detailed Description
In order to further explain the technical scheme of the invention, the invention is explained in detail by 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 magnetically sensitive weight module 3 of the present invention generally replaces the weight found in prior exercise machines and functions as other conventional resistance elements.
As shown in fig. 1 and 12, the present invention discloses a multifunctional intelligent optimization exercise device, comprising: body-building apparatus 1, intelligent industry panel computer 2, linear electric motor magnetism are felt heavy burden module 3 and sensor subassembly 4.
The body-building apparatus 1 comprises a frame 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 personal computer 2, the linear motor magnetic induction load module 3 and the sensor assembly 4 are respectively arranged on the frame 11. The exercise machine 1 can be various pulling force exercise machines, leg-kicking machines, auxiliary parallel bars and pull-up machines, supine pushing machines and the like, the frame 11 of the exercise machine 1 is provided with a training operation platform 12, the arrangement of the operation platform 12 is different according to different exercise machines 1, the operation platform 12 can be a training platform and/or an exercise stool and/or a reclining chair and the like, the pulley blocks 13 are arranged on the frame 11, the pulley blocks 13 are usually provided with two groups, the two groups of pulley blocks 13 are symmetrically arranged on the training operation platform 12 and correspond to the left hand and the right hand or the left foot of an operator, each group of pulley blocks 13 is provided with a steel wire rope 14 and an encoder, the encoder is used for detecting the movement length of the steel wire rope 14 corresponding to the pulley block 13 and judging whether the operation of the left hand and the right foot of the trainer is balanced, the pulley blocks 13 and the steel wire rope 14 are arranged at different positions according to different devices, the steel wire rope 14 is directly or indirectly connected with an operation rod 15, the operation rod 15 can be a handle, a belt, a push rod or the like, the like for applying force by a user, the other end of the steel wire rope 14 is connected with a linear motor load-sensing rope 3, and the linear motor 14 is arranged on one end of the pulley block 13 and can be matched with the magnetic pulley block 13.
The intelligent industrial tablet computer 2 is arranged on the frame 11 of the fitness equipment 1 and can be positioned on the front side or the side of the fitness equipment 1, the intelligent industrial tablet computer 2 mainly comprises an SOC single-chip system 202, a touch screen display 204, a load module controller communication port 210 and a sensor interface 211, the SOC single-chip system 202 is the core of the intelligent industrial tablet computer 2, the SOC single-chip system 202 is provided with 'magnetic gravity training fitness training software', the touch screen display 204 is connected with the SOC single-chip system 202 and displays a man-machine interaction interface of the 'magnetic gravity training fitness training software', and user operation and information acquisition are provided; 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 assembly interface 211 is connected with the SOC chip system 202 and the sensor module 4, so that information interaction between the SOC chip system 202 and the sensor module 4 is realized.
In addition, the smart industrial tablet 2 further includes a power supply 201, an SOC monolithic 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 a MIC component 213. The SOC chip system 202 is connected to a power supply 201, a memory 203, a WIFI module 205, an RJ45 network port 206, a USB interface 207, an audio amplifying component 208, a speaker 209, and a bluetooth module 212. The power supply 201 may provide dc power to the intelligent industrial tablet computer 2. The memory 203 is connected to the SOC chip system 202 to provide storage space. The WIFI module 205 and the RJ45 network port 206 are used for networking, so that the 'magnetic gravity training fitness trainer software' installed on the SOC monolithic system 202 can send the fitness history data, posture images and other fitness information of the trainer to the cloud server, and the trainer and the fitness expert can acquire the fitness information on other devices conveniently. The USB interface 207 facilitates the trainer to copy the fitness information with a USB flash drive. The audio amplifying assembly 208 and the speaker 209 cooperate to realize a voice playing function. The MIC component 213 may implement a user voice control function.
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, two mounting position limit switches 318 are mounted at 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 selectively customized according to the exercise equipment and the 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 load module controller communication port 210 on the intelligent industrial tablet computer 2 through the communication port 323, receives a control instruction sent by the load module controller communication port 210, 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 constant thrust, and constant training load is realized. 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 a scram switch assembly 43. The vision module 41, the travel switch module 42 and the emergency stop switch module 43 can be respectively installed at corresponding positions of the equipment by using external cables.
The travel switch assembly 42 is connected to the intelligent industrial tablet computer 2 through the sensor assembly interface 211 to provide start and stop operations for training.
The emergency stop switch assembly 43 is connected to the PWM motor driver 321 to provide an emergency device stop function.
The vision assembly 41 comprises a set of (multiple) vision assemblies mounted to the exercise machine 1, with different numbers and locations of mounting for different exercise machines. The vision component 41 collects the infrared reflection time information of the object in the field of view of the four limbs movement range of the trainer, processes and analyzes the 3D image information of the four limbs movement gesture of the trainer, the chip system 202 processes and sends the SOC sheet in the intelligent industrial tablet computer through the sensor component interface 211), the SOC single chip system 202 analyzes the image information of the four limbs movement gesture of the trainer, detects, judges and analyzes the position of the operation rod, the training gesture and action of the trainer, and the movement track, and the magnetic gravity training fitness trainer software guides the trainer through the touch screen display 204 and voice prompt.
As shown in fig. 2 and 3, the principle of load and electromagnetic induction 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 rotor 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 rotor 312 generates constant downward driving force, namely rotor thrust Fout, to simulate gravity. The handler pulls the wire rope 14 upward, and when the pulling force Fdo is greater than the downward driving force (i.e., mover pushing force Fout), the linear motor mover 312 moves upward; when equal, the linear motor mover 312 is stationary; when the pulling force Fdo is smaller than the downward driving force (mover pushing force Fout), the linear motor mover 312 moves downward.
As shown in fig. 3 and fig. 4, the PWM motor driver 321 is set to a constant coil current driving mode, and when in start, the three-phase coil driving current average value Iout is a set current average value, and the current automatically adjusts the three-phase coil driving current average value Iout according to the change of the mover coil current detection value Itest, so that the three-phase coil actual current average value Ia is kept constant, i.e. the mover thrust Fout (simulated gravity) is kept constant, i.e. ia=iout+irev fout=cm×ia.
When the linear motor mover 312 touches the limit switch 318, the linear motor limit switch state Salarm changes, and the PWM motor driver 321 immediately stops operating, and outputs a drive current of 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 the guard value, the PWM motor driver 321 immediately stops operating, and outputs a driving current of 0.
In the starting process of the linear motor magnetic induction load module 3, position coding information Ptest detected by a rotor position sensor of the linear motor rotor 312 is calculated into absolute displacement data in real time through a position sensor 317, and the absolute displacement data is sent to the intelligent industrial tablet personal computer 2 through a communication port 323 in a linear motor controller 32.
In the exercise machine 1 of the present invention, the working principle of one embodiment of the pulley block 13 and the wire rope 14 is as shown in fig. 5, when the length of the sliding arm of the trainer pulled out of the wire rope 14 is L1, the descending length of the pulley block 13 is l2=l1/2; the length l3=2l1 of the rising of the linear motor mover 312 realizes that the pulling force of the hand-pulled wire rope is 1/2 of the pulling force acting on the mover. The 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 judging whether the left and right hand operations of the trainee are balanced or not.
In the exercise machine 1 of the present invention, the working principle of the pulley block 13 and the other embodiment of the steel wire rope 14 is as shown in fig. 6, when the length of the steel wire rope 14 pulled out by the trainer is L1, the pulley block 13 descends by l2=l1/2; the linear motor mover 312 rises l3=2l1. The two encoders 131 mounted on the pulley block 13 are used for detecting the moving length of the steel wire ropes 14 at the two ends and judging whether the left and right hand operations of the trainee are balanced.
As shown in fig. 7, 8 and 9, the lever level a, the lever position B, the grip width C, the lever left-right length D, and the step width E held by the trainer are detected by the vision module 41, wherein the lever left-right length D includes the lever left length D1 and the lever right length D2, the lying up-down width F, the back arc G, and the training movement track and movement range of the trainer. The vision component 41 detects, judges and analyzes the position of the joystick, the training posture and the action of the trainer, provides the trainer with the best training guidance and reduces the risk of injury to the trainer.
As shown in fig. 10, a specific operation flowchart of the present invention is shown as follows:
(1) start instruction
The user clicks a start button through the touch screen display 204, the software displays "whether to start", the selection "yes" is that the motor is unlocked, and the system enters (2) the reciprocal time; if no, the system returns to the initial state and detects a start instruction;
(2) reciprocal time
Presetting time which accords with the preparation of a user for positioning, enabling the system to enter a countdown, and displaying specific countdown time on a screen;
(3) with reference to fig. 11, fig. 11 is a schematic diagram of a speed detection of a reciprocating training, where the speed is obtained by calculating a value fed back by a position sensor, and the speed=displacement/time is calculated to calculate a current training state of a user, and displacement information is also obtained from an encoder mounted on a pulley, which is defined as follows:
v+max: a maximum speed value of normal upward movement of the mover is set;
v+min: the minimum speed value of the normal upward movement of the rotor is set;
t1: the time for the tested linear motor mover 312 to move upward to reach the minimum speed value;
t+max: the linear mover 312 is set to stay at the upper vertex for the longest time;
t+min: the linear mover 312 is set to stay at the upper vertex for the shortest time;
t2: the time that the tested linear mover 312 stays at the upper vertex;
vtest, the actual speed value of the tested mover movement;
ttest is the actual time from stopping to v+min (move up)/V-min (move down);
v-max: a maximum speed value of normal downward movement of the mover is set;
v-min: the minimum speed value of the normal downward movement of the rotor is set;
t3: the time for the mover under test to move down to reach the minimum speed value
T0max: the maximum time the mover is set to stay at the starting point
T0min: the shortest time for the mover to stay at the starting point is set
T4: the time the mover tested stays at the starting point
The magnetic gravity training fitness trainer software running on the intelligent industrial tablet computer 2 acquires the moving speed value of the linear motor mover 312 transmitted by the linear motor magnetic induction load module 3;
when the linear motor mover 312 is moved upward,
test > T1, judging that the exhaustion/intermittent exhaustion is continued;
test < T1, delay for a short period of time, start to judge Vtest, vtest > V+max, judge that the load is too light;
t2> T+max or T2< T+min, and judging that the action is too fast and not standard;
when the linear motor mover 312 is moved downward,
ttest < T3, judged to be exhausted;
test > T3, delay for a short period of time, start to judge Vtest, vtest > V-min, judge that the action is too slow, can prompt to accelerate/positively carry out the negative stroke load training; vtest < V-max, judged as exhausted/misused, dangerous;
t4> T0max or T4< T0min, and judging that the action is too fast and not standard;
(4) preselection program
After training, the user can formulate a preselected program according to the training and store the program in the system memory;
(5) dead point detection
The user needs to stay at a position near the upper vertex/starting point for a certain time to resume;
(6) load shedding 1
Buckling and subtracting the original load percent;
(7) load shedding 2
The load is deducted by the original load percent, but the load must be deducted more than the load 1;
(8) detecting in place
For a series of actuation actions, it is determined that the user is in place.
Such as: under no load 3, then reaching a starting point;
(9) user emergency shutdown
By stepping on, pressing the scram switch assembly 43 by hand, or by voice.
Fig. 12 is a schematic diagram of an embodiment of the multifunctional intelligent optimization exercise apparatus according to the present invention, which comprises a frame 11, an intelligent industrial tablet computer 2, a linear motor magnetic induction load module 3, a wire rope 14, a pulley block 13, an adjustable motion lever assembly 15, a training platform 121, and an exercise bench 122. The complete fitness training equipment is formed by matching with matched 'magnetic gravity training fitness training software'.
The linear motor magnetic induction load module 3 can select a linear motor with larger rated thrust, and a cooling fin with a fan can be added on the linear motor because the coil of the linear motor can generate heat in the starting process.
The steel wire rope 14 and the pulley block 13 adopt the structure shown in fig. 3.
The adjustable motion lever assembly 15 is free to move up and down and adjust to a position corresponding to the exercise mode.
The linear motor magnetic induction load-bearing module can be applied to various fitness equipment such as leg kicking machines, pull-up machines, supine weightlifting machines and the like.
The body-building method using the multifunctional intelligent optimization body-building equipment comprises the following steps:
step one: the user selects a body-building mode on a 'magnetic gravity training body-building training software' interface; shoulder push mode, pull back mode, front pull mode, squat mode, push back mode or hard pull mode;
step two: the user moves and adjusts the adjustable motion lever assembly 15 to a position corresponding to the fitness mode;
step three: the user presses a key for starting body building on a 'magnetic gravity training body building training software' interface;
step four: the user holds the operating rod on the adjustable operating rod assembly 15, 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 and converts the information into displacement information to be sent to the intelligent industrial tablet computer 2;
step five: after the 'magnetic gravity training body-building training software' running on the intelligent industrial tablet computer 2 acquires 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 a starting instruction and parameters set by a user, unlocking the linear motor rotor 312, and loading three-phase coil driving currents corresponding to load values set by the user according to parameter values;
step seven: the user starts training and applies force, the operating rod pulls out the connected steel wire rope 14, then pulls the linear motor rotor 312 on the connected linear motor magnetic induction load module 3 to move upwards through the pulley block 13, 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; namely, the weight training of extending and bending the arms of the user up and down is realized. In the training process, the linear motor magnetic induction load module 3 detects the information of the position sensor 317 and converts the information into displacement information, the displacement information is sent to the intelligent industrial tablet computer 2, the SOC single-chip system 202 of the intelligent industrial tablet computer 2 automatically calculates the training reciprocation times of a user and judges whether the user is exhausted or not according to the displacement position, the speed and the acceleration information, and the load is automatically reduced or the work is automatically stopped according to the set training mode when the user is exhausted, and a prompt sound is sent; meanwhile, the vision component 41 collects infrared reflection time information of an object in the field of view of the limb movement range of the trainer, processes and analyzes the 3D image information of the limb movement posture of the trainer, sends the information to the SOC single-chip system 202 in the intelligent industrial tablet computer 2 for processing through the sensor component interface 211, analyzes the image information of the limb movement posture 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 voice prompt;
according to the training mode selected by the user, after the user finishes a group of training, the 'magnetic gravity training body-building training software' on the intelligent industrial tablet computer 2 automatically calculates and judges that the user finishes a group of training, then sends a stop instruction to the linear motor magnetic induction load module 3 to stop working, sends a prompt tone, and has zero driving current and no pushing force, namely no gravity;
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 exercise training software' on the intelligent industrial tablet computer can send a starting instruction to the linear motor magnetic induction load module 3 to perform program operation corresponding to one round.
When the user needs to actively stop training, the user can press a scram button on the operating rod or a scram button on the pedal training platform, the linear motor magnetic induction load module 3 stops working, and the information is transmitted to 'magnetic gravity training exercise training software' running on the intelligent industrial tablet computer 2, and prompt tones are sent at the same time.
The above examples and drawings are not intended to limit the form or form of the present invention, and any suitable variations or modifications thereof by those skilled in the art should be construed as not departing from the scope of the present invention.
Claims (4)
1. A motion judging method of linear motor magnetic induction weight-bearing body-building equipment is characterized by comprising the following steps of: the body-building 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 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 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, the linear motor controller is connected with the SOC single-chip system through a communication port of the load module controller, and 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 arranged on a linear motor rotor, the current sensor is used for testing the current of the resistance coil, two ends of a linear motor stator are respectively provided with an installation position limit switch, 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 load module controller communication port on an intelligent industrial tablet computer through the communication port, and receives a control instruction sent by the load module controller communication port and feeds back the motion state of the linear motor; the speed is obtained through the value calculation fed back by the position sensor, the speed=displacement/time, the displacement is calculated in real time by the position sensor according to the position coding information detected by the rotor position sensor of the linear motor rotor, and the purpose is to calculate the current training state of the user, and the definition is as follows:
v+max: a maximum speed value of normal upward movement of the mover is set;
v+min: the minimum speed value of the normal upward movement of the rotor is set;
v-max: a maximum speed value of normal downward movement of the mover is set;
v-min: the minimum speed value of the normal downward movement of the rotor is set;
t1: the time for the tested linear motor rotor to move upwards to reach the minimum speed value;
t2: the time that the tested linear motor rotor stays at the upper vertex;
t3: the time for the tested mover to move down to reach the minimum speed value;
t4: the time that the tested rotor stays at the starting point;
t0max: the longest time that the mover is set to stay at the starting point;
t0min: setting the shortest time for the mover to stay at the starting point;
t+max: the linear motor rotor is arranged for the longest time of staying at the upper vertex;
t+min: the linear motor rotor is arranged at the top of the upper vertex for a shortest time;
vtest: the actual speed value of the mover movement tested;
ttest: the actual time for the tested mover to reach v+min (move up)/V-min (move down) from stop;
acquiring a moving speed value of a linear motor rotor transmitted by a linear motor magnetic induction load module;
when the linear motor rotor moves upwards,
test > T1, judging that the exhaustion/intermittent exhaustion is continued;
test is less than T1, delay for a short period of time, start to judge Vtest, vtest > V+max, judge that the load is too light;
t2> T+max or T2< T+min, and judging that the action is too fast and not standard;
when the linear motor rotor moves downwards,
test is less than T3, and judging that the system is exhausted;
test is more than T3, delay for a short period of time, start to judge Vtest, vtest is more than V-min, judge that the motion is too slow, can prompt to accelerate/positively carry out negative stroke load training; vtest < V-max, judged as exhausted/misused, dangerous;
t4 is more than T0max or T4 is less than T0min, and the action is judged to be too fast and not standard.
2. The motion judgment method of the linear motor magnetic induction weight-bearing body-building equipment according to claim 1, wherein the motion judgment method comprises the following steps of: 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.
3. The motion judgment method of the linear motor magnetic induction weight-bearing body-building equipment according to claim 1, wherein the motion judgment method comprises the following steps of: the sensor assembly further comprises a travel switch assembly and a scram switch assembly, the travel switch assembly is connected with the intelligent industrial tablet personal computer through a sensor assembly interface, and the scram switch assembly is connected with the PWM motor driver.
4. The motion judgment method of the linear motor magnetic induction weight-bearing body-building equipment according to claim 1, wherein the motion judgment method comprises the following steps of: the visual components are distributed on different positions of the body building machine frame and used for detecting the fact that the operating rods held by a trainer are horizontal, the positions of the operating rods, the width of the holding rod, the left and right rod length and the width of the step, wherein the left and right rod length comprises the left and right rod length, the upper and lower lying amplitude, the back arc and the training movement track and movement range of the trainer.
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| 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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