CN112076432B - Exercise machine torque control method and device, exercise machine and storage medium - Google Patents
Exercise machine torque control method and device, exercise machine and storage medium Download PDFInfo
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- CN112076432B CN112076432B CN202010905075.XA CN202010905075A CN112076432B CN 112076432 B CN112076432 B CN 112076432B CN 202010905075 A CN202010905075 A CN 202010905075A CN 112076432 B CN112076432 B CN 112076432B
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- 238000004590 computer program Methods 0.000 claims description 3
- 210000003205 muscle Anatomy 0.000 abstract description 26
- 230000009471 action Effects 0.000 abstract description 6
- 208000027418 Wounds and injury Diseases 0.000 abstract description 5
- 230000006378 damage Effects 0.000 abstract description 5
- 208000014674 injury Diseases 0.000 abstract description 5
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- 238000004891 communication Methods 0.000 description 4
- 210000000245 forearm Anatomy 0.000 description 4
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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
- A63B21/00058—Mechanical means for varying the resistance
Abstract
The invention discloses a torque control method and device of an exercise machine, the exercise machine and a storage medium. The pulled-out length of the pull rope is obtained, wherein the pulled-out length is the distance between the free end of the pull rope and the initial position; when the pulled length is determined to be increased to the preset length, controlling the motor to output a preset moment; when the pulled-out length is determined to be reduced to the preset length, the torque output by the control motor is reduced to zero. The pull-out length of the pull rope and the moment corresponding to the moment when the motor starts to output the moment can be set by a user, the user can start to exert force from the pull-out length set by the user in the stretching stage, the force can stop from the pull-out length set by the user in the releasing stage, the initial position does not need to be moved, the user can exercise in a normal posture, local muscles can be exercised in a targeted manner, the problem of injury caused by overlarge action amplitude is avoided, and the safety is improved.
Description
Technical Field
The embodiment of the invention relates to the technical field of fitness equipment, in particular to a torque control method and device of the fitness equipment, the fitness equipment and a storage medium.
Background
As the general public begins to pursue healthier and richer lifestyles, fitness equipment is becoming widely accepted by the public. Currently, the most common exercise equipment is strength training equipment such as dumbbell, chest expander, barbell, etc.
Conventional strength training equipment typically employs a counterweight to provide a training load for the user, but the counterweight typically increases or decreases from one stage to the next, and thus cannot be continuously varied, and thus cannot be matched to the most appropriate training load for the user. Therefore, a strength training device that outputs a training load using a motor that outputs a moment through a pull rope has been developed. By adjusting the torque output by the motor, the most appropriate training load can be accurately matched for each user.
However, in either conventional strength training devices or strength training devices that employ a motor as the load, when the user must start the force from the initial position of the pull cord during use, the release process also requires a return to the initial position of the pull cord. Namely, the initial position of the equipment needs to be moved in the exercise process, the exercise cannot be performed in a normal posture, local muscles cannot be exercised in a targeted manner, and even the user is easy to be injured due to overlarge action amplitude.
Disclosure of Invention
The invention provides a torque control method and device of an exercise machine, the exercise machine and a storage medium, so that local muscles can be exercised in a targeted manner, the problem of injury caused by overlarge action amplitude is avoided, and the safety is improved.
In a first aspect, an embodiment of the present invention provides a method for controlling torque of an exercise apparatus, where the exercise apparatus includes a motor and a pull rope, and the motor outputs torque through the pull rope, and the method includes:
acquiring the pulled-out length of the pull rope, wherein the pulled-out length is the distance between the free end of the pull rope and the initial position;
when the pulled-out length is determined to be increased to a preset length, controlling the motor to output a preset moment;
and controlling the torque output by the motor to be reduced to zero when the pulled-out length is determined to be reduced to the preset length.
Optionally, the acquiring the pulled-out length of the pull rope includes:
acquiring a rotation angle of a motor;
and determining the pulled-out length according to the relation between the rotation angle of the motor and the pulled-out length.
Optionally, when the pulled-out length is determined to be increased to a preset length, controlling the motor to output a preset moment includes:
acquiring the rotation direction of the motor;
determining the state of the pull rope according to the rotation direction;
when the pull rope is in a rope releasing state and the pulled-out length is increased to a preset length, the motor is controlled to output a preset moment, and the pulled-out length is gradually increased in the rope releasing state.
Optionally, when the pulled-out length is determined to be reduced to a preset length, controlling the torque output by the motor to be reduced to zero includes:
acquiring the rotation direction of the motor;
determining the state of the pull rope according to the rotation direction;
when the pull rope is in a rope collecting state and the pulled-out length is reduced to a preset length, controlling the moment output by the motor to be reduced to zero, and gradually reducing the pulled-out length in the rope collecting state.
Optionally, the preset length includes a first preset length and a second preset length, the second preset length is greater than the first preset length, when it is determined that the pulled-out length is increased to the preset length, the motor is controlled to output a preset moment, including:
when the pulled-out length is determined to be increased to a first preset length, controlling the motor to output a first preset moment;
and when the pulled-out length is determined to be increased to a second preset length, controlling the motor to output a second preset moment, wherein the second preset moment is larger than the first preset moment.
Optionally, when the pulled-out length is determined to be reduced to a preset length, controlling the torque output by the motor to be reduced to zero includes:
when the pulled-out length is determined to be reduced to a second preset length, controlling the torque output by the motor to be reduced from the second preset torque to the first preset torque;
and when the pulled-out length is determined to be reduced to a first preset length, controlling the torque output by the motor to be reduced to zero from the first preset torque.
Optionally, before the pulled-out length of the pull cord is obtained, the method further comprises:
receiving a setting signal input by a user, wherein the setting signal comprises a preset length and a preset moment;
and setting the preset moment output by the motor when the pulled-out length is a preset length according to the setting signal.
In a second aspect, an embodiment of the present invention further provides a torque control device of an exercise apparatus, where the exercise apparatus includes a motor and a pull rope, and the motor outputs a torque through the pull rope, and the device includes:
the pulled-out length acquisition module is used for acquiring the pulled-out length of the pull rope, wherein the pulled-out length is the distance between the free end of the pull rope and the initial position;
the first torque output module is used for controlling the motor to output preset torque when the pulled-out length is determined to be increased to the preset length;
and the second moment output module is used for controlling the moment output by the motor to be reduced to zero when the pulled-out length is determined to be reduced to the preset length.
Optionally, the pulled length acquisition module includes:
a rotation angle acquisition unit for acquiring a rotation angle of the motor;
a pulled-out length determining unit configured to determine the pulled-out length according to a relationship between a rotation angle of the motor and the pulled-out length.
Optionally, the first torque output module includes:
a first rotation direction acquisition unit configured to acquire a rotation direction of the motor;
a first state determining unit configured to determine a state of the pull rope according to the rotation direction;
the first output unit is used for controlling the motor to output preset moment when the pull rope is in a rope releasing state and the pulled-out length is increased to a preset length, and the pulled-out length is gradually increased in the rope releasing state.
Optionally, the second torque output module includes:
a second rotation direction acquisition unit configured to acquire a rotation direction of the motor;
a second state determining unit configured to determine a state of the pull rope according to the rotation direction;
and the second output unit is used for controlling the moment output by the motor to be reduced to zero when the pull rope is in a rope collecting state and the pulled-out length is reduced to a preset length, and gradually reducing the pulled-out length in the rope collecting state.
Optionally, the preset length includes a first preset length and a second preset length, the second preset length is greater than the first preset length, and the first output unit is further configured to:
when the pulled-out length is determined to be increased to a first preset length, controlling the motor to output a first preset moment;
and when the pulled-out length is determined to be increased to a second preset length, controlling the motor to output a second preset moment, wherein the second preset moment is larger than the first preset moment.
Optionally, the second output unit is further configured to:
when the pulled-out length is determined to be reduced to a second preset length, controlling the torque output by the motor to be reduced from the second preset torque to the first preset torque;
and when the pulled-out length is determined to be reduced to a first preset length, controlling the torque output by the motor to be reduced to zero from the first preset torque.
Optionally, the apparatus further includes:
the setting signal receiving module is used for receiving a setting signal input by a user before the pulled-out length of the pull rope is obtained, and the setting signal comprises a preset length and a preset moment;
the setting module is used for setting the preset moment output by the motor when the pulled-out length is the preset length according to the setting signal.
In a third aspect, embodiments of the present invention also provide an exercise machine, comprising:
one or more processors;
a storage means for storing one or more programs;
the one or more programs, when executed by the one or more processors, cause the one or more processors to implement the method of torque control of an exercise machine as provided by the first aspect of the present invention.
In a fourth aspect, embodiments of the present invention also provide a computer readable storage medium having stored thereon a computer program which when executed by a processor implements a torque control method for an exercise machine as provided by the first aspect of the present invention.
According to the torque control method of the exercise equipment, provided by the embodiment of the invention, the pulled-out length of the pull rope is obtained, wherein the pulled-out length is the distance between the free end of the pull rope and the initial position; when the pulled length is determined to be increased to the preset length, controlling the motor to output a preset moment; when the pulled-out length is determined to be reduced to the preset length, the torque output by the control motor is reduced to zero. The pull-out length of the pull rope and the moment corresponding to the moment when the motor starts to output the moment can be set by a user, the user can start to exert force from the pull-out length set by the user in the stretching stage, the force can stop from the pull-out length set by the user in the releasing stage, the initial position does not need to be moved, the user can exercise in a normal posture, local muscles can be exercised in a targeted manner, the problem of injury caused by overlarge action amplitude is avoided, and the safety is improved.
Drawings
FIG. 1A is a flow chart of a method for torque control of an exercise machine according to a first embodiment of the present invention;
FIG. 1B is a schematic diagram of an exercise machine according to an embodiment of the present invention;
FIG. 1C is a graph showing the relationship between the output torque and the pulled length of a motor according to a first embodiment of the present invention;
fig. 2A is a flowchart of a torque control method of an exercise machine according to a second embodiment of the present invention;
FIG. 2B is a graph showing the relationship between the output torque and the pulled length of a motor according to a second embodiment of the present invention;
fig. 3 is a schematic structural diagram of a torque control device of an exercise machine according to a third embodiment of the present invention;
fig. 4 is a schematic structural diagram of an exercise apparatus according to a fourth embodiment of the present invention.
Detailed Description
The invention is described in further detail below with reference to the drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting thereof. It should be further noted that, for convenience of description, only some, but not all of the structures related to the present invention are shown in the drawings.
Example 1
Fig. 1A is a flowchart of a torque control method of an exercise machine according to an embodiment of the present invention, where the method may be applied to control an output torque of a motor of the exercise machine, and the method may be performed by a torque control device of the exercise machine according to an embodiment of the present invention, where the device may be implemented in software and/or hardware, and integrated into the exercise machine according to an embodiment of the present invention, as shown in fig. 1A, and the method specifically includes the following steps:
s101, acquiring the pulled-out length of the pull rope.
Specifically, in the embodiment of the invention, the exercise machine comprises a motor and a pull rope, one end of the pull rope is connected with a rotating shaft of the motor, the other end (free end) of the pull rope is arranged outside the exercise machine, and the free end is provided with a pull ring for a user to hold, and torque is output through the pull rope when the motor rotates. The force generated by the torque output by the motor on the pull rope when the motor rotates is used as a training load, and the direction of the pulling force applied by the user on the free end is opposite to that of the pulling force, so that the purpose of training muscles is achieved.
The pulled-out length of the pull cord is the distance of the free end of the pull cord relative to the initial position, where the free end is located when no external force is acting on the free end (or when no user is acting on the free end).
Fig. 1B is a schematic structural diagram of an exercise apparatus according to an embodiment of the present invention, which may be specifically a chest expander, for exercising muscles of an upper limb. As shown in FIG. 1B, the exercise machine includes a housing 10, a pull cord 20, and a motor (not shown). The motor is arranged in the shell 10, one end of the pull rope 20 is connected with a rotating shaft of the motor, the free end of the pull rope 20 penetrates through a rope hole in the shell 10, and the free end P is connected with a pull ring 21 for being held by a user.
The initial position of the free end P is the position O of the rope hole in the drawing, that is, the initial position O of the free end P of the pull rope 20 when no external force acts on the free end P (or when no user acts on the free end P).
The pulled-out length of the pull cord 20 is a distance of the free end P of the pull cord 20 with respect to the initial position O when an external force is applied to the free end P, and the pulled-out length of the pull cord 20 shown in fig. 1B is exemplified as a length of the line segment OP.
And S102, controlling the motor to output a preset moment when the pulled-out length is determined to be increased to the preset length.
In particular, during a user's exercise, the exercise machine may record in real time the pull-out length of the pull-cord and determine whether the pull-out length is increasing or decreasing. The increase in the pulled length indicates that the user is currently in a pull phase, pulling the pull cord from the exercise machine, and the decrease in the pulled length indicates that the user is currently in a release phase, and the exercise machine retracts the pull cord into the exercise machine by rotation of the motor.
The recorded pulled-out length is compared with a preset length while the pulled-out length of the pull rope is recorded in real time. Specifically, when the pulled-out length is determined to be increased to the preset length, the motor is controlled to output the preset moment. Illustratively, as shown in FIG. 1B, the preset length is the pulled-out length of the free end of the pull cord 20 at position P1. Upon determining that the free end P of the pull cord 20 is pulled to the P1 position (i.e., the pulled-out length is increased to a preset length), the control motor outputs a preset moment.
And S103, when the pulled-out length is determined to be reduced to the preset length, controlling the torque output by the motor to be reduced to zero.
Specifically, as described above, the recorded pulled-out length is compared with the preset length while recording the pulled-out length of the pull cord in real time. Specifically, when the pulled-out length is determined to be reduced to the preset length, the torque output by the control motor is reduced to zero from the preset torque. For example, as shown in fig. 1B, when it is determined that the free end P of the pull cord 20 is retracted to the position P1 (i.e., the pulled length is reduced to the preset length), the torque output by the control motor is reduced from the preset torque to zero, and accordingly, the user stops applying the force.
Fig. 1C is a graph showing a relationship between an output torque of a motor and a pulled length according to an embodiment of the present invention, and as shown in fig. 1C, an exemplary embodiment of the present invention is shown, in which the free end P of the pull cord is pulled away from the initial position O during a stretching stage of exercise of a user, the pulled length is gradually increased, and the motor does not immediately output torque. When the pulled length reaches the preset length, that is, the free end P is pulled to the position P1, the motor is controlled to output the preset torque T1, and the preset torque T1 is maintained unchanged. In the release phase of the user exercise, the pull rope starts to be recovered, the pulled-out length is gradually reduced, and the motor does not immediately stop outputting the moment, but maintains the preset moment T1 unchanged. When the pulled-out length is reduced to a preset length, namely the free end P is recovered to the position P1, the torque output by the control motor is reduced to zero from the preset torque.
In the above-described embodiment, the preset length may be set according to the muscle position that the user wants to exercise, for example, when the user wants to exercise the forearm muscle (e.g., brachioradial muscle), a smaller preset length may be set; when the user wants to exercise the upper arm muscle (e.g., bicep muscle), a larger preset length may be set. The preset moment can be set according to the training load required by the user.
According to the torque control method of the exercise equipment, provided by the embodiment of the invention, the pulled-out length of the pull rope is obtained, wherein the pulled-out length is the distance between the free end of the pull rope and the initial position; when the pulled length is determined to be increased to the preset length, controlling the motor to output a preset moment; when the pulled-out length is determined to be reduced to the preset length, the torque output by the control motor is reduced to zero. The pull-out length of the pull rope and the moment corresponding to the moment when the motor starts to output the moment can be set by a user, the user can start to exert force from the pull-out length set by the user in the stretching stage, the force can stop from the pull-out length set by the user in the releasing stage, the initial position does not need to be moved, the user can exercise in a normal posture, local muscles can be exercised in a targeted manner, the problem of injury caused by overlarge action amplitude is avoided, and the safety is improved.
Example two
Fig. 2A is a flowchart of a torque control method of an exercise machine according to a second embodiment of the present invention, where the embodiment of the present invention is optimized based on the first embodiment, and a specific process of torque output in the embodiment of the present invention is described in detail, and as shown in fig. 2A, the method of the embodiment of the present invention may include the following steps:
s201, receiving a setting signal input by a user.
Specifically, the user inputs a setting signal by interacting with the exercise machine, and the exercise machine receives the setting signal input by the user, wherein the setting signal comprises a preset length and a preset moment. Illustratively, referring to FIG. 1B of the present invention, a selection knob 11 is provided on the body-building apparatus housing 10, and different preset moments can be selected by rotating the selection knob 11. The user inputs the preset length by pulling the pull string 20. Specifically, in the embodiment of the present invention, when the user pulls the free end P of the pull cord 20 from the initial position O to the position P1 (i.e., inputs the preset length OP 1), the moment T1 (usually expressed in the form of a load) required by the user is selected as the preset moment corresponding to the preset length by rotating the selection knob 11.
In some embodiments of the present invention, two or more preset lengths may be input, and two or more preset moments may be input, for the purpose of torque segment output, for muscle segment exercises at different locations. In a specific embodiment, as shown in fig. 1B, when the user pulls the free end P of the pull cord 20 from the initial position O to the position P1 (i.e. inputs the preset length OP 1), the moment T1 required by the user is selected as the preset moment corresponding to the preset length OP1 by rotating the selection knob 11. If the user needs to exercise in sections, the user may continue to pull up, and when the user pulls the free end P of the pull cord 20 to the position P2 (i.e., inputs the preset length OP 2), the moment T2 required by the user is selected as the preset moment corresponding to the preset length OP2 by rotating the selection knob 11.
S202, setting the preset moment output by the motor when the pulled-out length is the preset length according to the setting signal.
Specifically, after receiving the setting signal, the exercise machine analyzes the setting signal to obtain a preset length and a preset moment, and sets the moment corresponding to the pulled length as the preset moment.
For example, in a specific embodiment, for the purpose of implementing the torque segment output, for the purpose of muscle segment exercise at different positions, a corresponding preset torque is set to be T1 when the preset length is OP 1; when the preset length is set to be OP2, the corresponding preset moment is set to be T2.
S203, acquiring the rotation angle of the motor.
Specifically, the angle sensor is arranged inside the motor, and the angle sensor can record the rotation angle of the motor in real time. The rotation angle of the motor is acquired through an angle sensor inside the motor, and the rotation angle can be the rotation angle of the motor when the current acquisition time is at the initial position relative to the free end of the pull rope. The pulled-out length of the pull rope can be calculated through the rotation angle of the motor.
S204, determining the pulled-out length according to the relation between the rotation angle of the motor and the pulled-out length.
Specifically, the rotation angle of the motor is in positive correlation with the pulled-out length of the pull rope, and the larger the rotation angle of the motor is, the larger the pulled-out length is. In a specific embodiment, a correspondence between the rotation angle of the motor and the pulled-out length may be established in advance, and after the rotation angle of the motor is determined, the pulled-out length of the pull cord may be determined according to the correspondence. Illustratively, in one embodiment, the pull cord has a pulled-out length of 30cm, corresponding to 3 and a half rotations of the motor, and a corresponding rotation angle of 1260 °.
S205, acquiring the rotation direction of the motor.
Specifically, the motor is internally provided with a steering detection sensor for detecting the rotation direction of the motor, wherein the rotation direction comprises a forward direction and a direction. In the embodiment of the invention, when the rotation direction of the motor is positive, the pulled-out length of the pull rope is gradually increased, and when the rotation direction of the motor is reverse, the pulled-out length of the pull rope is gradually decreased.
S206, determining the state of the pull rope according to the rotation direction.
Specifically, the states of the pull rope may include a rope unreeling state in which the pulled-out length of the pull rope is gradually increased, and a rope reeling-in state in which the pulled-out length of the pull rope is gradually decreased. In a specific embodiment of the present invention, when the rotation direction of the motor is positive, the pull rope is in a rope releasing state, and the pulled length of the pull rope is gradually increased; when the rotation direction of the motor is reverse, the pull rope is in a rope-collecting state, and the pulled-out length of the pull rope is gradually reduced.
S207, when the pull rope is in a rope releasing state and the pulled-out length is increased to a preset length, controlling the motor to output a preset moment.
Specifically, when the pull rope is in a rope releasing state, namely the pulled-out length of the pull rope is gradually increased, and the pulled-out length is increased to a preset length, the motor is controlled to output a preset moment.
For the purpose of achieving a torque segment output, two or more preset lengths, a first preset length and a second preset length, and two or more preset torques may be set for the purpose of muscle segment exercises at different positions. Specifically, in one embodiment of the present invention, the preset length includes a first preset length and a second preset length, and the second preset length is greater than the first preset length; the preset moment comprises a first preset moment and a second preset moment.
Fig. 2B is a graph showing a relationship between an output torque of a motor and a pulled length, as shown in fig. 2B, in a stretching stage of a user exercise (i.e. the pull rope is in a rope-releasing state), a free end P of the pull rope is pulled away from an initial position O, the pulled length is gradually increased, and the motor does not output torque immediately. When the pulled-out length reaches a first preset length, that is, the free end P is pulled to the position P1, the motor is controlled to output a first preset torque T1, and the first preset torque T1 is maintained unchanged. When the user continues to stretch and the pulled-out length reaches the second preset length, that is, the free end P is pulled to the position P2, the motor is controlled to output the second preset torque T2, and the second preset torque T1 is maintained unchanged.
S208, when the pull rope is in a rope-collecting state and the pulled-out length is reduced to a preset length, controlling the torque output by the motor to be reduced to zero.
Specifically, when the pull rope is in a rope-winding state, that is, the pulled-out length of the pull rope is gradually reduced, and the pulled-out length is reduced to a preset length, the torque output by the control motor is reduced to zero.
For example, as shown in fig. 2B, during the release phase of the user exercise (i.e., the pull cord is in a retracted state), the pull cord starts to retract, the pulled length gradually decreases, and the motor does not immediately stop outputting the torque, but maintains the preset torque T2 unchanged. When the pulled-out length is reduced to a second preset length, that is, the free end P is recovered to the position P2, the torque output by the control motor is reduced from the second preset torque T2 to the first preset torque T1, and the first preset torque T1 is maintained unchanged. When the user continues to release, the pull rope continues to recover, the pulled-out length continues to be reduced, and when the pulled-out length is reduced to a first preset length, namely the free end P is recovered to the position P1, the torque output by the control motor is reduced to zero from the first preset torque T1.
In the above embodiment, the preset length may be set according to the muscle position that the user wants to exercise, for example, when the user wants to exercise the forearm muscle (e.g., brachiocephalic muscle) and the upper arm muscle (e.g., biceps muscle) in sections, a smaller first preset length and a larger second preset length may be set, and a first preset moment adapted to the forearm muscle and a second preset moment adapted to the upper arm muscle may be set. Thereby realizing that the forearm muscle is exercised in the stage of outputting the first preset moment by the motor, and the upper arm muscle is exercised in the stage of outputting the second preset moment by the motor.
According to the torque control method of the exercise equipment, provided by the embodiment of the invention, the pulled-out length of the pull rope is obtained, wherein the pulled-out length is the distance between the free end of the pull rope and the initial position; when the pulled length is determined to be increased to the preset length, controlling the motor to output a preset moment; when the pulled-out length is determined to be reduced to the preset length, the torque output by the control motor is reduced to zero. In the stretching stage, the user can start exerting force from the length of the user, in the releasing stage, the user can stop exerting force from the length of the user, the user does not need to move to the initial position, the user can exercise in a normal posture, local muscles can be exercised in a targeted manner, meanwhile, the problem of injury caused by overlarge action amplitude is avoided, and the safety is improved. In addition, by controlling the motor to output torque in a segmented mode, muscle segmented exercise at different positions is achieved, and exercise efficiency is improved.
Example III
Fig. 3 is a schematic structural diagram of a torque control device of an exercise apparatus according to a third embodiment of the present invention, where the exercise apparatus includes a motor and a pull rope, and the motor outputs a torque through the pull rope, as shown in fig. 3, and the device specifically may include:
a pulled-out length acquiring module 301, configured to acquire a pulled-out length of the pull rope, where the pulled-out length is a distance between a free end of the pull rope and an initial position;
a first torque output module 302 for controlling the motor to output a preset torque when it is determined that the pulled-out length increases to a preset length;
and the second torque output module 303 is used for controlling the torque output by the motor to be reduced to zero when the pulled-out length is determined to be reduced to the preset length.
In some embodiments of the present invention, the pulled-out length acquiring module 301 includes:
a rotation angle acquisition unit for acquiring a rotation angle of the motor;
a pulled-out length determining unit configured to determine the pulled-out length according to a relationship between a rotation angle of the motor and the pulled-out length.
In some embodiments of the present invention, the first torque output module 302 includes:
a first rotation direction acquisition unit configured to acquire a rotation direction of the motor;
a first state determining unit configured to determine a state of the pull rope according to the rotation direction;
the first output unit is used for controlling the motor to output preset moment when the pull rope is in a rope releasing state and the pulled-out length is increased to a preset length, and the pulled-out length is gradually increased in the rope releasing state.
In some embodiments of the invention, the second torque output module 303 includes:
a second rotation direction acquisition unit configured to acquire a rotation direction of the motor;
a second state determining unit configured to determine a state of the pull rope according to the rotation direction;
and the second output unit is used for controlling the moment output by the motor to be reduced to zero when the pull rope is in a rope collecting state and the pulled-out length is reduced to a preset length, and gradually reducing the pulled-out length in the rope collecting state.
In some embodiments of the present invention, the preset length includes a first preset length and a second preset length, the second preset length is greater than the first preset length, and the first output unit is further configured to:
when the pulled-out length is determined to be increased to a first preset length, controlling the motor to output a first preset moment;
and when the pulled-out length is determined to be increased to a second preset length, controlling the motor to output a second preset moment, wherein the second preset moment is larger than the first preset moment.
In some embodiments of the invention, the second output unit is further configured to:
when the pulled-out length is determined to be reduced to a second preset length, controlling the torque output by the motor to be reduced from the second preset torque to the first preset torque;
and when the pulled-out length is determined to be reduced to a first preset length, controlling the torque output by the motor to be reduced to zero from the first preset torque.
In some embodiments of the invention, the apparatus further comprises:
the setting signal receiving module is used for receiving a setting signal input by a user before the pulled-out length of the pull rope is obtained, and the setting signal comprises a preset length and a preset moment;
the setting module is used for setting the preset moment output by the motor when the pulled-out length is the preset length according to the setting signal.
The device can execute the method provided by any embodiment of the invention, and has the corresponding functional modules and beneficial effects of executing the method.
Example IV
A fourth embodiment of the present invention provides an exercise apparatus, and fig. 4 is a schematic structural diagram of the exercise apparatus according to the fourth embodiment of the present invention, as shown in fig. 4, where the exercise apparatus includes:
a processor 401, a memory 402, a communication module 403, an input device 404, and an output device 405; the number of processors 401 in the exercise machine may be one or more, one processor 401 being illustrated in fig. 4; the processor 401, memory 402, communication module 403, input device 404, and output device 405 in the exercise machine may be connected by a bus or other means, for example by a bus connection in fig. 4. The processor 401, memory 402, communication module 403, input device 404, and output device 405 described above may be integrated on an exercise machine.
The memory 402 is used as a computer readable storage medium for storing a software program, a computer executable program, and modules corresponding to the torque control method of the exercise machine in the above embodiment (for example, the pulled length acquiring module 301, the first torque output module 302, and the second torque output module 303 in the torque control device of the exercise machine). The processor 401 executes various functional applications and data processing of the exercise machine by running software programs, instructions and modules stored in the memory 402, i.e., implementing the exercise machine torque control method described above.
Memory 402 may include primarily a program storage area and a data storage area, wherein the program storage area may store an operating system, at least one application program required for functionality; the storage data area may store data created according to the use of the microcomputer, and the like. In addition, memory 402 may include high-speed random access memory, and may also include non-volatile memory, such as at least one magnetic disk storage device, flash memory device, or other non-volatile solid-state storage device. In some examples, memory 402 may further include memory remotely located relative to processor 401, which may be connected to the electronic device via a network. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.
The communication module 403 is configured to establish a connection with an external device (e.g. an intelligent terminal), and implement data interaction with the external device. The input device 404 may be used to receive entered numeric or character information and to generate key signal inputs related to user settings and function control of the exercise machine.
The exercise machine provided by the embodiment of the invention can execute the torque control method of the exercise machine provided by the first embodiment and the second embodiment of the invention, and has corresponding functions and beneficial effects.
Example five
A fifth embodiment of the present invention provides a storage medium containing computer executable instructions, where a computer program is stored, where the program when executed by a processor implements a torque control method of an exercise machine according to any of the above embodiments of the present invention.
Of course, the storage medium containing the computer executable instructions provided in the embodiments of the present invention is not limited to the method operations described above, and may also perform the related operations in the torque control method of the exercise machine provided in the embodiments of the present invention.
It should be noted that for the device, exercise machine, and storage medium embodiments, the description is relatively simple as it is substantially similar to the method embodiments, with reference to the description of the method embodiments being made in part.
From the above description of embodiments, it will be clear to a person skilled in the art that the present invention may be implemented by means of software and necessary general purpose hardware, but of course also by means of hardware, although in many cases the former is a preferred embodiment. Based on such understanding, the technical solution of the present invention may be embodied essentially or in a part contributing to the prior art in the form of a software product, which may be stored in a computer readable storage medium, such as a floppy disk, a Read-Only Memory (ROM), a random access Memory (Random Access Memory, RAM), a FLASH Memory (FLASH), a hard disk or an optical disk of a computer, etc., comprising instructions for causing an exercise machine to perform the torque control method of the exercise machine according to any of the embodiments of the present invention.
It should be noted that, in the above apparatus, each module and unit included are only divided according to the functional logic, but not limited to the above division, as long as the corresponding functions can be implemented; in addition, the specific names of the functional modules are only for distinguishing from each other, and are not used for limiting the protection scope of the present invention.
It is to be understood that portions of the present invention may be implemented in hardware, software, firmware, or a combination thereof. In the above embodiments, the various steps or methods may be implemented in software or firmware stored in a memory and executed by a suitable instruction execution device. For example, if implemented in hardware, as in another embodiment, may be implemented using any one or combination of the following techniques, as is well known in the art: discrete logic circuits having logic gates for implementing logic functions on data signals, application specific integrated circuits having suitable combinational logic gates, programmable Gate Arrays (PGAs), field Programmable Gate Arrays (FPGAs), and the like.
In the description of the present specification, a description referring to terms "one embodiment," "some embodiments," "examples," "specific examples," or "some examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present invention. In this specification, schematic representations of the above terms do not necessarily refer to the same embodiments or examples. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
Note that the above is only a preferred embodiment of the present invention and the technical principle applied. It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments described herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the invention. Therefore, while the invention has been described in connection with the above embodiments, the invention is not limited to the embodiments, but may be embodied in many other equivalent forms without departing from the spirit or scope of the invention, which is set forth in the following claims.
Claims (9)
1. A method of torque control for an exercise machine, the exercise machine comprising a motor and a pull cord, the motor outputting a torque through the pull cord, comprising:
acquiring the pulled-out length of the pull rope, wherein the pulled-out length is the distance between the free end of the pull rope and the initial position;
when the pulled-out length is determined to be increased to a preset length, controlling the motor to output a preset moment;
when the pulled-out length is determined to be reduced to a preset length, controlling the moment output by the motor to be reduced to zero from the preset moment;
before the pulled-out length of the pull rope is obtained, the method further comprises:
receiving a setting signal input by a user, wherein the setting signal comprises a preset length and a preset moment;
and setting the preset moment output by the motor when the pulled-out length is a preset length according to the setting signal.
2. The method of claim 1, wherein the obtaining the pulled-out length of the pull cord comprises:
acquiring a rotation angle of a motor;
and determining the pulled-out length according to the relation between the rotation angle of the motor and the pulled-out length.
3. The method of claim 1, wherein controlling the motor to output a preset torque when it is determined that the pulled-out length is increased to a preset length comprises:
acquiring the rotation direction of the motor;
determining the state of the pull rope according to the rotation direction;
when the pull rope is in a rope releasing state and the pulled-out length is increased to a preset length, the motor is controlled to output a preset moment, and the pulled-out length is gradually increased in the rope releasing state.
4. The method of claim 1, wherein said controlling the torque output by said motor to decrease to zero upon determining that said pulled-out length decreases to a preset length comprises:
acquiring the rotation direction of the motor;
determining the state of the pull rope according to the rotation direction;
when the pull rope is in a rope collecting state and the pulled-out length is reduced to a preset length, controlling the moment output by the motor to be reduced to zero, and gradually reducing the pulled-out length in the rope collecting state.
5. The method of torque control for an exercise machine according to any one of claims 1-4, wherein the predetermined length comprises a first predetermined length and a second predetermined length, the second predetermined length being greater than the first predetermined length, and wherein controlling the motor to output the predetermined torque when the pulled length is determined to increase to the predetermined length comprises:
when the pulled-out length is determined to be increased to a first preset length, controlling the motor to output a first preset moment;
and when the pulled-out length is determined to be increased to a second preset length, controlling the motor to output a second preset moment, wherein the second preset moment is larger than the first preset moment.
6. The method of claim 5, wherein upon determining that the pulled-out length decreases to a preset length, controlling the torque output by the motor to decrease to zero comprises:
when the pulled-out length is determined to be reduced to a second preset length, controlling the torque output by the motor to be reduced from the second preset torque to the first preset torque;
and when the pulled-out length is determined to be reduced to a first preset length, controlling the torque output by the motor to be reduced to zero from the first preset torque.
7. A torque control device for an exercise machine, the exercise machine comprising a motor and a pull cord, the motor outputting a torque through the pull cord, comprising:
the pulled-out length acquisition module is used for acquiring the pulled-out length of the pull rope, wherein the pulled-out length is the distance between the free end of the pull rope and the initial position;
the first torque output module is used for controlling the motor to output preset torque when the pulled-out length is determined to be increased to the preset length;
and the second moment output module is used for controlling the moment output by the motor to be reduced to zero when the pulled-out length is determined to be reduced to the preset length.
8. An exercise machine, comprising:
one or more processors;
a storage means for storing one or more programs;
when executed by the one or more processors, causes the one or more processors to implement the torque control method of an exercise machine as recited in any one of claims 1-6.
9. A computer readable storage medium having stored thereon a computer program, which when executed by a processor implements a method of torque control of an exercise machine according to any of claims 1-6.
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| CN114904207B (en) * | 2021-02-10 | 2024-02-27 | 广州源动智慧体育科技有限公司 | Control method and device for strength training instrument and strength training instrument |
| CN113368461A (en) * | 2021-05-31 | 2021-09-10 | 北京觅淘智联科技有限公司 | Auxiliary training method based on electronic counterweight stroke force generation and fitness equipment |
| CN113318393A (en) * | 2021-06-17 | 2021-08-31 | 成都拟合未来科技有限公司 | Load control method and device of intelligent fitness equipment |
| CN116688422A (en) * | 2022-06-14 | 2023-09-05 | 广州源动智慧体育科技有限公司 | Training method, training device, training equipment and readable storage medium |
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| CN109890467A (en) * | 2016-07-25 | 2019-06-14 | 托纳系统公司 | Digital strength building |
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| NO325834B1 (en) * | 2007-01-08 | 2008-07-28 | Redcord As | Vibration device for use on treatment and exercise equipment, and methods for effecting vibration on such equipment |
| US20130190145A1 (en) * | 2011-07-07 | 2013-07-25 | David A. Kugielsky | Dynamic Weight Training Apparatus |
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| CN109890467A (en) * | 2016-07-25 | 2019-06-14 | 托纳系统公司 | Digital strength building |
| CN207426790U (en) * | 2017-11-16 | 2018-05-29 | 成都睿达星辰科技有限公司 | A kind of charger baby charging unit |
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