CN112237723B - Motor driving method and device for running machine, running machine and storage medium - Google Patents
Motor driving method and device for running machine, running machine and storage medium Download PDFInfo
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- CN112237723B CN112237723B CN201910653660.2A CN201910653660A CN112237723B CN 112237723 B CN112237723 B CN 112237723B CN 201910653660 A CN201910653660 A CN 201910653660A CN 112237723 B CN112237723 B CN 112237723B
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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
- A63B22/00—Exercising apparatus specially adapted for conditioning the cardio-vascular system, for training agility or co-ordination of movements
- A63B22/02—Exercising apparatus specially adapted for conditioning the cardio-vascular system, for training agility or co-ordination of movements with movable endless bands, e.g. treadmills
- A63B22/0235—Exercising apparatus specially adapted for conditioning the cardio-vascular system, for training agility or co-ordination of movements with movable endless bands, e.g. treadmills driven by a motor
- A63B22/0242—Exercising apparatus specially adapted for conditioning the cardio-vascular system, for training agility or co-ordination of movements with movable endless bands, e.g. treadmills driven by a motor with speed variation
- A63B22/025—Exercising apparatus specially adapted for conditioning the cardio-vascular system, for training agility or co-ordination of movements with movable endless bands, e.g. treadmills driven by a motor with speed variation electrically, e.g. D.C. motors with variable speed control
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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
- A63B2024/0093—Electric or electronic controls for exercising apparatus of groups A63B21/00 - A63B23/00, e.g. controlling load the load of the exercise apparatus being controlled by performance parameters, e.g. distance or speed
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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
- A63B2220/00—Measuring of physical parameters relating to sporting activity
- A63B2220/30—Speed
Abstract
The embodiment of the invention provides a motor driving method, a motor driving device, a motor driving system and a storage medium for a treadmill. The method comprises the following steps: acquiring a motion start signal for indicating that a current user is about to start moving; outputting an actual driving current with an initial current value to a motor of the treadmill to drive the motor to rotate in response to the acquisition of the exercise start signal, wherein the actual driving current with the initial current value is used for overcoming the inherent static friction force of the treadmill. The motor driving technology can output actual driving current with initial current value to drive the motor to rotate when the user is about to start moving, can help the user to overcome initial large static friction force, reduces resistance felt by the user, and can improve user experience.
Description
Technical Field
The invention relates to the field of fitness equipment, in particular to a motor driving method and device for a running machine, the running machine and a storage medium.
Background
Treadmills, which may also be referred to as walkers, walking machines, or treadmill, may be used to train a user's gait, training cognitive functions while exercising cardio-pulmonary functions. In the process that a person stands on a treadmill and just begins to move, the person needs to overcome the larger static friction force between the running belt and the running plate to drive the running belt to move, so that the user can feel larger resistance, and the user experience is poor.
Disclosure of Invention
To at least partially solve the problems in the prior art, a motor driving method, apparatus and system for a treadmill, and a storage medium are provided.
According to an aspect of the present invention, there is provided a motor driving method for a treadmill, including: acquiring a motion start signal for indicating that a current user is about to start moving; outputting an actual driving current with an initial current value to a motor of the treadmill to drive the motor to rotate in response to the acquisition of the exercise start signal, wherein the actual driving current with the initial current value is used for overcoming the inherent static friction force of the treadmill.
Illustratively, the acquiring a motion start signal for indicating that a current user is about to start moving includes: receiving a starting signal which is input by the current user and used for indicating the starting of the treadmill, wherein the movement starting signal is the starting signal.
Illustratively, the acquiring a motion start signal for indicating that a current user is about to start moving includes: detecting whether a user stands on the treadmill; generating the motion start signal upon detecting that the current user is on the treadmill.
Illustratively, the detecting whether the user stands on the treadmill includes: receiving pressure data output by a pressure sensor disposed on the treadmill; and judging whether the pressure data exceeds a preset threshold value, if so, determining that the treadmill is on the current user station, and otherwise, determining that the treadmill is not on the user station.
Illustratively, before the outputting of the actual driving current having the initial current value to the motor of the treadmill to drive the motor to rotate in response to the obtaining of the exercise start signal, the method further comprises: gradually increasing the test driving current for driving the motor to rotate from zero until a current recording instruction of a tester is received; and determining the current value of the test driving current when the current recording instruction is received as the initial current value.
Illustratively, the initial current value is any current value within a range of [6A,8A ].
Illustratively, after the outputting of the actual driving current having the initial current value to the motor of the treadmill to drive the motor to rotate in response to the obtaining of the exercise start signal, the method further comprises: monitoring an actual speed of the motor; adjusting the actual driving current based on the change of the actual speed to change the theoretical speed of the motor, wherein the adjusting the actual driving current based on the change of the actual speed to change the theoretical speed of the motor comprises: adjusting the actual drive current to increase the theoretical speed when the actual speed increases; when the actual speed decreases, the actual drive current is adjusted to decrease the theoretical speed.
Illustratively, in the adjusting the actual driving current based on the change of the actual speed to change the theoretical speed of the motor, the method further comprises: and controlling the current value of the actual driving current not to be lower than the initial current value.
According to another aspect of the present invention, there is also provided a motor driving apparatus for a treadmill, including: the device comprises an acquisition module, a display module and a control module, wherein the acquisition module is used for acquiring a motion starting signal for indicating that a current user is about to start motion; and the output module is used for responding to the acquisition of the motion starting signal and outputting an actual driving current with an initial current value to a motor of the treadmill so as to drive the motor to rotate, wherein the actual driving current with the initial current value is used for overcoming the inherent static friction force of the treadmill.
According to another aspect of the present invention, there is also provided a treadmill comprising a processor and a memory, wherein the memory has stored therein computer program instructions for executing the above-described motor drive method for a treadmill when executed by the processor.
According to another aspect of the present invention, there is also provided a storage medium having stored thereon program instructions for executing the above-described motor driving method for a treadmill when executed.
According to the motor driving method and device for the treadmill, the treadmill and the storage medium provided by the embodiment of the invention, when the user is about to start exercise, the actual driving current with the initial current value is output to drive the motor to rotate, so that the user can be helped to overcome the initial larger static friction force, the resistance felt by the user is reduced, and the user experience can be improved.
A series of concepts in a simplified form are introduced in the summary of the invention, which is described in further detail in the detailed description section. This summary is not intended to identify key features or essential features of the claimed subject matter, nor is it intended to be used as an aid in determining the scope of the claimed subject matter.
The advantages and features of the present invention are described in detail below with reference to the accompanying drawings.
Drawings
The following drawings of the invention are included to provide a further understanding of the invention. The drawings illustrate embodiments of the invention and, together with the description, serve to explain the principles of the invention. In the drawings, there is shown in the drawings,
FIG. 1 shows a schematic flow diagram of a motor driving method for a treadmill according to one embodiment of the present invention;
FIG. 2 shows a schematic block diagram of a motor drive for a treadmill according to one embodiment of the present invention;
FIG. 3 shows a schematic block diagram of a treadmill according to one embodiment of the present invention.
Detailed Description
In the following description, numerous details are provided to provide a thorough understanding of the present invention. One skilled in the art, however, will understand that the following description merely illustrates a preferred embodiment of the invention and that the invention may be practiced without one or more of these details. In other instances, well known features have not been described in detail so as not to obscure the invention.
In order to at least partially solve the above technical problems, embodiments of the present invention provide a motor driving method and apparatus for a treadmill, and a storage medium. The motor driving technique according to the embodiment of the present invention may provide a driving current having an initial current value to drive the motor to rotate when the user is about to start exercise, thereby helping the user to overcome the inherent static friction of the treadmill. The motor driving method and apparatus provided by the embodiments of the present invention may be applied to any suitable type of treadmill, including but not limited to a commercial treadmill used in a gymnasium, or a home treadmill, or a home walker, etc.
FIG. 1 shows a schematic flow diagram of a motor drive method 100 for a treadmill according to one embodiment of the present invention. As shown in fig. 1, the motor driving method 100 includes the following steps S110 and S120.
In step S110, a motion start signal indicating that the current user is about to start moving is acquired.
The treadmill may include control circuitry for controlling the motion of the motor, which may optionally be implemented on a separately designed circuit board. For example, the control circuit may include a processing module configured to output a command signal for driving the motor to rotate, and a motor driving module configured to receive the command signal from the processor and output a corresponding driving current. The drive current may be a Pulse Width Modulated (PWM) current that may be output to the motor to rotate the motor.
A motion start signal indicating that the current user is about to start moving may be acquired by the control circuit. The current user may be any person using the treadmill at the current time. The current user's intention to start exercise may refer to a state in which the current user has a desire to use the treadmill but has not yet performed exercise formally. For example, a current user may stand on a treadmill (i.e., stand on the treadmill's belt) and remain stationary on the treadmill for a while, and the current user remaining stationary on the treadmill may be considered the current user is about to begin exercising. As another example, a user may make some exercise settings for a treadmill, such as starting the treadmill, with or without standing the treadmill, and the user making the exercise settings may be considered that the user is about to begin exercising.
The exercise start signal may be any suitable signal that informs the treadmill that the current user is about to start exercising. In one example, the exercise start signal may be a start signal of the treadmill. In another example, the motion start signal may be a signal generated when a treadmill is detected while the user is standing.
In step S120, in response to the acquisition of the exercise start signal, an actual driving current having an initial current value is output to the motor of the treadmill to drive the motor to rotate, wherein the actual driving current having the initial current value is used to overcome the inherent static friction of the treadmill.
When the user is about to start exercise but is not yet exercising formally, for example, when the user starts the treadmill or the user just stands on the treadmill, the actual drive current having the initial current value may be output.
The inherent static friction may include a static friction between a running belt and a running plate of the treadmill. The actual drive current having the initial current value may be used to drive the motor to rotate at a smaller initial speed to overcome the inherent static friction force and enable the running belt to move relative to the running board, so that the user can easily kick the running belt to rotate. At this time, the moving speed of the running belt relative to the running board is also relatively small.
The initial current value may be pre-tested by a tester, which may be any person, such as a technician who manufactures the treadmill, or a user who uses the treadmill. During the test, the drive current used is referred to as the test drive current. In actual use of the treadmill, the drive current used is referred to as the actual drive current. That is, the terms of test drive current and actual drive current are used mainly for distinction and have no other special meaning.
Alternatively, the initial current value may be any current value within the range of [6A,8A ], such as 6A, 6.5A, 7A, 7.5A, 8A, etc., where A is unity amperes.
Alternatively, the initial speed may be any speed value within the range of [0,100rpm ], such as 10rpm, 20rpm, 50rpm, 80rpm, 100rpm, etc., where rpm is a unit of revolutions per minute.
At the initial moment of the user's exercise on the treadmill, the user needs to overcome the large inherent static friction between the running belt and the running plate to drive the running belt to move. According to the motor driving method provided by the embodiment of the invention, when a user is about to start moving, the actual driving current with the initial current value is output to drive the motor to rotate, so that the user can be helped to overcome the initial larger static friction force, the resistance felt by the user is reduced, and the user experience can be improved.
According to an embodiment of the present invention, acquiring a motion start signal indicating that a current user is about to start moving (step S110) may include: and receiving a starting signal which is input by a current user and is used for indicating the starting of the treadmill, wherein the movement starting signal is a starting signal.
As described above, when the user starts the treadmill, the actual driving current having the initial current value may be output. The user may enter the activation signal in any suitable manner. In one example, a switch key is provided on the treadmill, and the user can input the start signal by pressing the switch key. The control circuit may receive a corresponding activation signal from the power-on key. After receiving the start signal, the control circuit may output an actual driving current having an initial current value accordingly. In another example, a communication device is provided on the treadmill, and the treadmill may be associated with a smart device of the user. The smart device may include, but is not limited to, a personal computer, a mobile terminal, and the like. The control circuit may communicate with the intelligent device via a communication device of the treadmill. The user may input the activation signal via the smart device, which may send a corresponding activation signal to the control circuit of the treadmill. After receiving the start signal, the control circuit may output an actual driving current having an initial current value accordingly.
The user starts the running machine to indicate that the user wants to exercise, and the user can start to output actual driving current with initial current value to overcome the inherent static friction force and move the running belt relative to the running board no matter whether the user stands on the running machine or not. In this case, the user can stand the treadmill at any time to exercise.
According to an embodiment of the present invention, acquiring a motion start signal indicating that a current user is about to start moving (step S110) may include: detecting whether a user stands on the treadmill or not; upon detecting that the treadmill is currently on the user station, an exercise start signal is generated.
The step of detecting whether the user is standing on the treadmill may be accomplished by any suitable sensor, including but not limited to infrared reflective sensors, pressure sensors, and the like. The sensor may send the detected data to the control circuit to determine by the control circuit whether a person is present on the treadmill based on the data.
It is possible to detect whether there is a user standing the treadmill in real time. Once it is found that there is a user standing on the treadmill, the user can be regarded as the current user and the above-mentioned step of outputting the actual driving current having the initial current value is started.
When the user stands on the treadmill and the user wants to exercise, the user can start to output actual driving current with initial current value, so that the inherent static friction force is overcome, and the running belt moves relative to the running board. The scheme can be adaptive to the action of the user, namely, the user can respond in time when standing on the treadmill and provide assistance for overcoming the static friction force for the user in time, so that the user experience is better.
According to an embodiment of the present invention, detecting whether a user stands on a treadmill may include: receiving pressure data output by a pressure sensor arranged on the treadmill; and judging whether the pressure data exceeds a preset threshold value, if so, determining that the treadmill is currently used by the user, and otherwise, determining that the treadmill is not used by the user.
For example, a pressure sensor may be provided under the running belt of the treadmill. The pressure sensor can detect the pressure born by the running belt in real time, and the control circuit can read pressure data from the pressure sensor in real time. Whether a user is standing the treadmill can be determined by comparing the pressure data to a preset threshold. Whenever it is found that there is a treadmill on the user station, the user is regarded as the current user and step S120 is performed.
The preset threshold may be any suitable value, which may be set according to needs, and the present invention is not limited thereto.
According to an embodiment of the present invention, before outputting the actual driving current having the initial current value to the motor of the treadmill to drive the motor to rotate in response to the acquisition of the exercise start signal (step S120), the method 100 may further include: gradually increasing the test driving current for driving the motor to rotate from zero until a current recording instruction of a tester is received; and determining the current value of the test driving current when the current recording command is received as an initial current value.
For example, the tester may send a test start command to the treadmill instructing the control circuit to gradually increase the test drive current from zero. Meanwhile, a tester can observe the running belt of the treadmill, and when the running belt is found to be changed into a motion state from a previous static state, a current recording instruction can be sent to the treadmill. That is, the moment when the tester issues the current recording command may be the moment when it observes that the running belt starts to move relative to the running board, i.e. the moment when the inherent static friction of the treadmill can be overcome.
The control circuit can record the current value of the test driving current when the current recording instruction is received, and the current value is used as an initial current value, so that the actual driving current with the initial current value can be provided for a user when the user actually uses the treadmill later.
It should be understood that the manner of determining the initial current value is not limited to the above-described test manner, and may also be determined by means of theoretical calculation.
According to an embodiment of the present invention, after outputting the actual driving current having the initial current value to the motor of the treadmill to drive the motor to rotate in response to the acquisition of the exercise start signal (step S120), the method 100 may further include: monitoring the actual speed of the motor; adjusting the actual driving current based on the variation of the actual speed to change the theoretical speed of the motor, wherein adjusting the actual driving current based on the variation of the actual speed to change the theoretical speed of the motor comprises: when the actual speed increases, adjusting the actual driving current to increase the theoretical speed; when the actual speed decreases, the actual drive current is adjusted to decrease the theoretical speed.
In the actual working process of the treadmill, the actual speed of the motor can be monitored in real time. The motor has an actual speed and a theoretical speed. The theoretical speed refers to a rotational speed of the motor corresponding to a driving current output to the motor. Without the action of external force, the actual speed of the motor is consistent or basically consistent with the theoretical speed. The correspondence between the theoretical speed and the driving current may be obtained by theoretical calculation or experimentally by the designer of the treadmill in advance.
When the user uses the treadmill, the treadmill experiences resistance from the user's own weight, the user's force of pushing against the ground, etc., which may be translated through mechanical structure into mechanical force applied to the motor, thereby causing the motor to rotate at a faster or slower speed. Therefore, there is a high probability that the actual speed of the motor will not coincide with its theoretical speed.
By monitoring the change in the actual speed of the motor, it can be determined whether the user is currently accelerating or decelerating. For example, when the user accelerates, he or she pushes hard on the ground, which causes the motor to rotate at a faster speed, whereas when the user decelerates, he or she pushes less hard on the ground, which causes the motor to rotate at a slower speed.
Illustratively, monitoring the actual speed of the motor of the treadmill may include: receiving position information of a position encoder corresponding to a motor; the actual speed is monitored based on the location information.
Monitoring the actual speed of the motor may be accomplished by any suitable speed detection means, including but not limited to a position encoder or the like. The speed detection means may be connected to the control circuit and may transmit detected speed-related information (e.g. the position information mentioned above) to the control circuit.
Alternatively, adjusting the driving current for driving the motor to rotate based on the variation of the actual speed to change the theoretical speed of the motor may include: and adjusting the driving current based on the change situation of the actual speed so as to keep the theoretical speed consistent with or basically consistent with the actual speed. The embodiment in which the theoretical speed is kept in agreement or substantially in agreement with the actual speed is merely an example and not a limitation, and for example, the theoretical speed may also be kept different from the actual speed by a predetermined speed value or in a predetermined proportion to the actual speed, and so on. In summary, the purpose of adjusting the drive current to change the theoretical speed is to provide a user with a matched boost.
From the above description, the control circuit of the treadmill can determine the current pedaling force of the user according to the variation of the actual speed of the motor, and further know the acceleration or deceleration will of the user. The control circuit can adjust the driving current to change the theoretical speed of the motor in coordination with the acceleration or deceleration will of the user, and then provides the matched assistance for the user.
For example, when a user pedals the ground with a large force and wants to increase the movement speed, the control circuit can output a larger driving current to control the motor to rotate faster, so as to apply a larger assisting force to the user; when the user reduces the force of stepping on the ground and wants to reduce the movement speed, the control circuit can output smaller driving current to control the motor to rotate more slowly, so that smaller assisting force is applied to the user. This solution can be understood as a solution where assistance is applied to the user by means of positive feedback.
According to the embodiment, the theoretical speed of the motor can be adjusted correspondingly according to the change situation of the actual speed of the motor. Therefore, the motor driving method can be matched with the acceleration or deceleration will of the user to self-adaptively adjust the motor speed, so that the user can easily improve or reduce the movement speed, namely, the resistance felt by the user can be greatly reduced, and the user experience is better.
According to an embodiment of the present invention, in the process of adjusting the actual driving current based on the variation of the actual speed to change the theoretical speed of the motor, the method 100 may further include: and controlling the current value of the actual driving current not to be lower than the initial current value.
Alternatively, the current value of the actual driving current may be controlled not to be lower than the initial current value at all times no matter how the actual driving current is adjusted to adapt to the running desire of the user. Thus, during the exercise of the user, the current value of the actual driving current can be ensured not to be too low, and the inherent static friction force of the treadmill can be at least overcome.
According to another aspect of the present invention, a motor driving apparatus for a treadmill is provided. Fig. 2 shows a schematic block diagram of a motor driving apparatus 200 for a treadmill according to one embodiment of the present invention.
As shown in fig. 2, a motor driving apparatus 200 for a treadmill according to an embodiment of the present invention includes an acquisition module 210 and an output module 220. The various modules may each perform the various steps/functions of the motor drive method 100 for a treadmill described above in connection with fig. 1. Only the main functions of the respective components of the motor driving device 200 for a treadmill will be described below, and the details that have been described above will be omitted.
The obtaining module 210 is configured to obtain a motion start signal indicating that a current user is about to start moving.
The output module 220 is configured to output an actual driving current having an initial current value to a motor of the treadmill to drive the motor to rotate in response to the obtaining of the exercise start signal, wherein the actual driving current having the initial current value is used to overcome an inherent static friction force of the treadmill.
Those of ordinary skill in the art will appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware or combinations of computer software and electronic hardware. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the implementation. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present invention.
According to another aspect of the present invention, a treadmill is provided. FIG. 3 shows a schematic block diagram of a treadmill 300 in accordance with one embodiment of the present invention. Treadmill 300 includes a processor 310 and a memory 320.
The memory 320 stores computer program instructions for implementing corresponding steps in the motor driving method 100 for a treadmill according to an embodiment of the present invention.
The processor 310 is configured to execute the computer program instructions stored in the memory 320 to perform the corresponding steps of the motor driving method 100 for a treadmill according to an embodiment of the present invention. Illustratively, the processor 310 may be the control circuitry described above.
According to another aspect of the present invention, there is provided a storage medium on which program instructions for executing the respective steps of the motor driving method for a treadmill according to an embodiment of the present invention when the program instructions are executed by a computer or a processor, and for implementing the respective modules in the motor driving apparatus for a treadmill according to an embodiment of the present invention are stored. The storage medium may include, for example, a memory card of a smart phone, a storage component of a tablet computer, a hard disk of a personal computer, a Read Only Memory (ROM), an Erasable Programmable Read Only Memory (EPROM), a portable compact disc read only memory (CD-ROM), a USB memory, or any combination of the above storage media.
In the several embodiments provided in the present application, it should be understood that the disclosed apparatus and method may be implemented in other ways. For example, the above-described device embodiments are merely illustrative, and for example, the division of the units is only one logical functional division, and other divisions may be realized in practice, for example, a plurality of units or components may be combined or integrated into another device, or some features may be omitted, or not executed.
Similarly, it should be appreciated that in the description of exemplary embodiments of the invention, various features of the invention are sometimes grouped together in a single embodiment, figure, or description thereof for the purpose of streamlining the invention and aiding in the understanding of one or more of the various inventive aspects. However, the method of the present invention should not be construed to reflect the intent: that the invention as claimed requires more features than are expressly recited in each claim. Rather, as the following claims reflect, inventive aspects lie in less than all features of a single disclosed embodiment. Thus, the claims following the detailed description are hereby expressly incorporated into this detailed description, with each claim standing on its own as a separate embodiment of this invention.
It will be understood by those skilled in the art that all of the features disclosed in this specification (including any accompanying claims, abstract and drawings), and all of the processes or elements of any method or apparatus so disclosed, may be combined in any combination, except combinations where such features are mutually exclusive. Each feature disclosed in this specification (including any accompanying claims, abstract and drawings) may be replaced by alternative features serving the same, equivalent or similar purpose, unless expressly stated otherwise.
The various component embodiments of the invention may be implemented in hardware, or in software modules running on one or more processors, or in a combination thereof. Those skilled in the art will appreciate that a microprocessor or Digital Signal Processor (DSP) may be used in practice to implement some or all of the functions of some of the modules in a motor drive for a treadmill according to embodiments of the present invention. The present invention may also be embodied as apparatus programs (e.g., computer programs and computer program products) for performing a portion or all of the methods described herein. Such programs implementing the present invention may be stored on computer-readable media or may be in the form of one or more signals. Such a signal may be downloaded from an internet website or provided on a carrier signal or in any other form.
It should be noted that the above-mentioned embodiments illustrate rather than limit the invention, and that those skilled in the art will be able to design alternative embodiments without departing from the scope of the appended claims. In the claims, any reference signs placed between parentheses shall not be construed as limiting the claim. The word "comprising" does not exclude the presence of elements or steps not listed in a claim. The word "a" or "an" preceding an element does not exclude the presence of a plurality of such elements. The invention may be implemented by means of hardware comprising several distinct elements, and by means of a suitably programmed computer. In the unit claims enumerating several means, several of these means may be embodied by one and the same item of hardware. The usage of the words first, second and third, etcetera do not indicate any ordering. These words may be interpreted as names.
The above description is only for the specific embodiment of the present invention or the description thereof, and the protection scope of the present invention is not limited thereto, and any person skilled in the art can easily conceive of the changes or substitutions within the technical scope of the present invention, and the changes or substitutions should be covered within the protection scope of the present invention. The protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (9)
1. A motor driving method for a treadmill, comprising:
acquiring a motion start signal for indicating that a current user is about to start moving;
outputting an actual driving current with an initial current value to a motor of the treadmill to drive the motor to rotate in response to the acquisition of the exercise starting signal, wherein the actual driving current with the initial current value is used for overcoming the inherent static friction force of the treadmill;
wherein after the outputting of the actual driving current having the initial current value to the motor of the treadmill to drive the motor to rotate in response to the obtaining of the exercise start signal, the method further comprises:
monitoring an actual speed of the motor, wherein the monitoring the actual speed of the motor comprises: receiving position information of a position encoder corresponding to the motor; monitoring the actual speed based on the location information;
adjusting the actual driving current based on the change situation of the actual speed to change the theoretical speed of the motor;
wherein the adjusting the actual driving current to change the theoretical speed of the motor based on the change of the actual speed comprises:
adjusting the actual drive current to increase the theoretical speed when the actual speed increases;
adjusting the actual drive current to decrease the theoretical speed when the actual speed decreases;
in the adjusting the actual driving current based on the change of the actual speed to change the theoretical speed of the motor, the method further comprises:
and controlling the current value of the actual driving current not to be lower than the initial current value.
2. The method of claim 1, wherein said obtaining a motion start signal indicating that a current user is about to start motion comprises:
receiving a starting signal which is input by the current user and used for indicating the starting of the treadmill, wherein the movement starting signal is the starting signal.
3. The method of claim 1, wherein said obtaining a motion start signal indicating that a current user is about to start motion comprises:
detecting whether a user stands on the treadmill;
generating the motion start signal upon detecting that the current user is on the treadmill.
4. The method of claim 3, wherein said detecting whether the treadmill is standing by a user comprises:
receiving pressure data output by a pressure sensor disposed on the treadmill;
and judging whether the pressure data exceeds a preset threshold value, if so, determining that the treadmill is on the current user station, and otherwise, determining that the treadmill is not on the user station.
5. The method of claim 1, wherein prior to said outputting an actual drive current having an initial current value to a motor of the treadmill to drive the motor to rotate in response to the acquisition of the exercise start signal, the method further comprises:
gradually increasing the test driving current for driving the motor to rotate from zero until a current recording instruction of a tester is received;
and determining the current value of the test driving current when the current recording instruction is received as the initial current value.
6. The method of claim 1, wherein the initial current value is any current value within a range of [6A,8A ].
7. A motor drive for a treadmill, comprising:
the device comprises an acquisition module, a display module and a control module, wherein the acquisition module is used for acquiring a motion starting signal for indicating that a current user is about to start motion;
the output module is used for responding to the acquisition of the movement starting signal and outputting actual driving current with initial current value to a motor of the treadmill so as to drive the motor to rotate, wherein the actual driving current with the initial current value is used for overcoming the inherent static friction force of the treadmill;
wherein the motor drive device further includes:
a monitoring module for monitoring an actual speed of the motor after the output module outputs an actual driving current having an initial current value to the motor of the treadmill to drive the motor to rotate in response to the acquisition of the exercise start signal, wherein the monitoring module comprises: the receiving submodule is used for receiving the position information of the position encoder corresponding to the motor; a monitoring submodule for monitoring the actual speed based on the position information;
the adjusting module is used for adjusting the actual driving current based on the change situation of the actual speed so as to change the theoretical speed of the motor;
wherein the adjustment module comprises:
a first adjusting submodule for adjusting the actual drive current to increase the theoretical speed when the actual speed increases;
a second adjustment submodule for adjusting the actual drive current to decrease the theoretical speed when the actual speed decreases;
the motor drive device further includes:
and the control module is used for controlling the current value of the actual driving current not to be lower than the initial current value in the process that the adjustment module adjusts the actual driving current based on the change condition of the actual speed so as to change the theoretical speed of the motor.
8. A treadmill comprising a processor and a memory, wherein the memory has stored therein computer program instructions for execution by the processor to perform a motor drive method for a treadmill according to any of claims 1 to 6.
9. A storage medium having stored thereon program instructions for executing, when executed, the motor driving method for a treadmill according to any one of claims 1 to 6.
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| FR2923099B1 (en) * | 2007-10-29 | 2009-12-11 | Areva T & D Ag | ELECTROMECHANICAL ACTUATOR WITH SPRING SPIRE SPRING-TYPE MECHANICAL BRAKE |
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| US5382207A (en) * | 1989-06-19 | 1995-01-17 | Life Fitness | Exercise treadmill |
| US5382207B1 (en) * | 1989-06-19 | 1998-08-04 | Life Fitness Inc | Exercise treadmill |
| CN102614624A (en) * | 2012-04-10 | 2012-08-01 | 山东汇祥健身器材有限公司 | Electric runner provided with automatic weight measuring system and running method thereof |
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