CN113318393A - Load control method and device of intelligent fitness equipment - Google Patents
Load control method and device of intelligent fitness equipment Download PDFInfo
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- CN113318393A CN113318393A CN202110673106.8A CN202110673106A CN113318393A CN 113318393 A CN113318393 A CN 113318393A CN 202110673106 A CN202110673106 A CN 202110673106A CN 113318393 A CN113318393 A CN 113318393A
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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
- 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
Abstract
The invention discloses a load control method and a load control device of an intelligent fitness device, which relate to the field of intelligent fitness control, wherein the fitness mode of the intelligent fitness device is that a user pulls a pull rope to overcome the output resistance of a motor to perform fitness, and the method comprises the following steps: compensating and controlling the output resistance of the motor to the pull rope according to the rotational inertia of the motor; by the aid of the intelligent fitness equipment, using experience of using the intelligent fitness equipment is close to that of using traditional equipment, and using experience of a user is guaranteed.
Description
Technical Field
The invention relates to the field of intelligent fitness, in particular to a load control method and device of intelligent fitness equipment.
Background
The working principle of the intelligent fitness equipment is as follows: including the motor among the intelligence fitness equipment, differential mechanism, the support arm, stay cord and corresponding controller, circuit and accessory, be connected with the belt between motor output shaft and the differential mechanism, stay cord one end is connected with differential mechanism, the stay cord other end is connected corresponding pull ring or other body-building accessories after advancing along the support arm, the user can take exercise through the pulling stay cord when the body-building, also can utilize the support arm to take exercise, the stay cord passes through differential mechanism and belt drive motor motion, produce output torque and resistance when the motor circular telegram, the output torque of motor need be overcome to the user pulling stay cord, and then realized that the user carries out the purpose of strength training.
Resistance training is the active movement of muscles in overcoming external resistance. The resistance is determined according to the requirement, and the exercise can be completed by overcoming the resistance after force is applied. Resistance can be performed by others, their own extremities or by instruments (such as dumbbells, sandbags, springs, elastic bands, etc.).
In a traditional body-building mode, the resistance exercise is that one end of a pull rope is connected with a load, the other end of the pull rope is connected with a pull ring and the like, and then a user performs pulling training. In the strength type intelligent fitness equipment, a user pulls a pull rope controlled by a motor through a handle or a barbell bar and other devices, and the output resistance of the motor needs to be overcome in the pulling process to perform impedance movement, so that the aim of strength training is fulfilled.
In performing conventional instrument resistance exercises, the user's pulling force is not directly equal to the instrument weight, but adds to the force caused by the acceleration of the instrument. In the strength type intelligent fitness equipment, when the pull rope is used for impedance exercise, a user can manually set a certain quality value, or an intelligent algorithm sets a value according to the performance of the user, the quality value is assumed to be known and is used as the load of the impedance exercise, and the intelligent fitness equipment does not have the force caused by the acceleration of the additional equipment, so that the difference between the use feeling of the intelligent fitness equipment and the use feeling of the traditional equipment is large, and the use experience of the user is reduced.
Disclosure of Invention
In order to enable the pull rope in the intelligent fitness equipment to simulate the pulling hand feeling of loads with different qualities so as to maximally approach the fitness effect of the traditional equipment, the invention provides the load control method and the load control system of the intelligent fitness equipment.
In order to achieve the above object, the present invention provides a load control method for an intelligent fitness device, wherein the fitness mode of the intelligent fitness device is that a user pulls a pull rope to overcome the output resistance of a motor for fitness, and the method comprises the following steps:
and performing compensation control on the output resistance output from the motor to the pull rope according to the rotational inertia of the motor.
The method comprises the following steps: the applicant finds that the difference between the use feeling of the intelligent fitness equipment and the use feeling of the traditional equipment is larger and the use experience of the user is reduced because the intelligent fitness equipment does not have the force caused by the acceleration of the additional equipment. In order to solve the problems, the applicant performs inertia compensation on the intelligent fitness equipment when the intelligent fitness equipment is used, namely, the output resistance output to the pull rope by the motor is compensated and controlled according to the rotational inertia of the motor, so that the pull rope can simulate the pulling hand feeling of different mass loads, the effect of the intelligent fitness equipment close to that of the traditional equipment is achieved to the maximum extent, the use feeling of the intelligent fitness equipment is close to that of the traditional equipment, and the use experience of a user is guaranteed.
Preferably, in the method:
Fcord＝mgoalg+mgoala
wherein, FcordIs the actual tension of the pull cord, mgoalFor a set mass, g is the gravitational constant and a is the real-time acceleration of the pull cord.
The actual expected pulling force of the pulling rope can be accurately calculated in the above mode, the compensation control on the output resistance of the pulling rope output by the motor according to the rotational inertia of the motor is facilitated, and the compensation method is that the output pulling force of the motor is as follows:
Fmotor＝mgoalg+(mgoal-mmotor)a
due to Fcord＝Fmotor+mmotora, the actual pulling force of the pulling rope can be equal to the expected pulling force.
Preferably, the method comprises:
if mgoalIs greater than or equal to mmoterCompensating and controlling the output resistance output from the motor to the pull rope according to the rotational inertia of the motor;
if mgoalLess than mmoterThen, the compensation control is not carried out on the output resistance output to the pull rope by the motor;
wherein m isgoalFor a set mass, mmoterThe equivalent mass of the rotational inertia of the motor.
Wherein the inertia compensation needs to be selectively turned on according to a set mass value, mgoalIs greater than or equal to mmoterWhen the mass is set to be lower than the equivalent mass of the system inertia, the influence caused by the system inertia is reduced by starting the inertia compensation, and meanwhile, the continuous displacement of the pull rope can be structurally reduced. When the mass is set to be larger than the equivalent mass of the system inertia, the inertia compensation is not used, so that the magnitude of force change caused by the inertia is reduced, namely the influence caused by acceleration is weakened, and therefore the inertia compensation is not needed.
Preferably, the method comprises:
setting the load size of the intelligent fitness equipment in the intelligent fitness equipment by a user;
obtaining the rotational inertia of the motor based on the set load size of the intelligent fitness equipment;
and performing compensation control on the output resistance output from the motor to the pull rope according to the rotational inertia of the motor.
Wherein, the size of the load in the intelligent fitness equipment can be flexibly adjusted according to the needs of users.
Preferably, the method comprises:
setting a fitness mode in the intelligent fitness equipment by a user;
generating a corresponding load control mode of the intelligent fitness equipment based on the fitness mode;
and controlling the load of the intelligent fitness equipment based on the load control mode of the intelligent fitness equipment.
Different fitness models are set in the intelligent fitness equipment for selection of mechanical energy of a user, different load control modes are set according to different fitness modes, and the load control effect according with specific fitness types and modes can be achieved through the load control mode matched with the fitness modes.
Preferably, the load control mode of the intelligent fitness machine comprises:
a constant speed mode in which:
Fmotor＝f0+max(v-vref,0)p1+max(v-vref,0)2p2
wherein, FmotorFor the motor to output a force to the pull cord, f0V is the speed at which the user pulls the pull cord, v is the reference forcerefFor reference speed, p1And p2Are coefficients.
In order to ensure different training effects, sometimes the speed of the user needs to be kept within a certain range, which is called a constant speed mode, and the load can be accurately controlled through the constant speed mode, so that the constant speed training effect of the user can be realized within a certain range.
Preferably, the load control mode of the intelligent fitness machine comprises:
free-curve mode, in which:
obtaining a corresponding movement range RoM when a user performs a certain group of body-building exercises; wherein the body-building movement direction comprises pulling out and retracting; obtaining the maximum distance value S pulled out in the group of body-building exercises1And the minimum distance value S of pull-out2Obtaining the maximum distance value S recovered in the group of body-building exercises3And the minimum distance value S of pull-out4Comparison S1To S4Obtain the maximum valueSmaxAnd minimum value Smin，RoM＝Smax-Smin；
The pulled-out distance value is a distance difference between the initial position and the pulled-out distance of the pull cord, and similarly, the retrieved distance value is a distance difference between the initial position and the pulled-out distance of the pull cord, and the retrieved distance value is a distance difference between the initial position and the pulled-out distance of the pull cord, the pulled-out distance value being 0.
Obtaining the real-time pull-out distance S of the pull ropeaOr the recovery distance SbCalculating SaOr SbA ratio to RoM, a tension proportionality coefficient being obtained based on said ratio;
and controlling the output resistance of the motor based on the tension proportional coefficient.
The method is characterized in that some users need different load changes in different action stages, in order to generate flexible loads, a free curve mode is set, a coefficient can be added to the load output by the motor according to the proportion of action positions in the RoM through the free curve mode, and flexible control of the load changes can be achieved through the coefficient.
Preferably, the method comprises:
dividing the ratio into 10 ratio intervals, including: interval 0 to interval 9; the ratio in the interval 0 is more than or equal to 0 and less than 20 percent, the body-building movement direction corresponding to the interval 0 is pulled out, and the corresponding tension proportional coefficient is k0(ii) a The ratio in the interval 1 is more than or equal to 20 percent and less than 40 percent, the body-building movement direction corresponding to the interval 1 is pulled out, and the corresponding tension proportional coefficient is k1(ii) a The ratio in the interval 2 is more than or equal to 40 percent and less than 60 percent, the body-building movement direction corresponding to the interval 2 is pulled out, and the corresponding tension proportional coefficient is k2(ii) a The ratio in the interval 3 is more than or equal to 60 percent and less than 80 percent, the body-building movement direction corresponding to the interval 3 is pulled out, and the corresponding tension proportionality coefficient is k3(ii) a The ratio in the interval 4 is more than or equal to 80 percent and less than or equal to 100 percent, the body-building movement direction corresponding to the interval 4 is pulled out, and the corresponding tension proportionality coefficient is k4(ii) a The ratio in the interval 5 is less than or equal toEqual to 100 percent and more than 80 percent, the body-building movement direction corresponding to the interval 5 is recovery, and the corresponding tension proportionality coefficient is k5(ii) a The ratio in the interval 6 is less than or equal to 80 percent and more than 60 percent, the body-building movement direction corresponding to the interval 5 is recovery, and the corresponding tension proportional coefficient is k6(ii) a The ratio in the interval 7 is less than or equal to 60 percent and more than 40 percent, the body-building movement direction corresponding to the interval 7 is recovery, and the corresponding tension proportional coefficient is k7(ii) a The ratio in the interval 8 is less than or equal to 40% and more than 20%, the body-building movement direction corresponding to the interval 8 is recovery, and the corresponding tension proportional coefficient is k8(ii) a The ratio in the interval 9 is less than or equal to 20 percent and more than or equal to 0 percent, the body-building movement direction corresponding to the interval 9 is recovery, and the corresponding tension proportional coefficient is k9。
Preferably, the method comprises:
when the body building movement direction is pulling out, i is 0 or 1 or 2 or 3 or 4:
the tension proportional coefficient ki＝Argi+(Argi+1-Argi)*(ratio-leftboundary(ratio))/0.2
When the direction of the body building movement is recovery, i is 6 or 7 or 8 or 9 or 10:
the tension proportional coefficient ki-1＝Argi+(Argi+1-Argi)*(ratio-leftboundary(ratio))/0.2
Wherein is ArgiFor the ith coefficient, a leftboundary (ratio) of the interval in which the ratio is located.
The invention also provides a load control device of the intelligent fitness equipment, which comprises a memory, a processor and a computer program stored in the memory and capable of running on the processor, wherein the processor executes the computer program to realize the steps of the load control method of the intelligent fitness equipment.
The present invention also provides a computer readable storage medium having stored thereon a computer program which, when executed by a processor, performs the steps of the method of load control for an intelligent fitness machine.
One or more technical schemes provided by the invention at least have the following technical effects or advantages:
the method can perform inertia compensation on the intelligent fitness equipment, enables the use feeling of the intelligent fitness equipment to be close to that of the traditional fitness equipment, and guarantees the use experience of users.
The invention provides a plurality of load control modes, can flexibly or accurately control the load according to different fitness requirements of users, and ensures the fitness effect and safety of the users.
Drawings
The accompanying drawings, which are included to provide a further understanding of the embodiments of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the principles of the invention;
FIG. 1 is a schematic diagram of a load control method for an intelligent exercise machine according to the present invention.
Detailed Description
In order that the above objects, features and advantages of the present invention can be more clearly understood, a more particular description of the invention will be rendered by reference to the appended drawings. It should be noted that the embodiments of the present invention and features of the embodiments may be combined with each other without conflicting with each other.
In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention, however, the present invention may be practiced in other ways than those specifically described and thus the scope of the present invention is not limited by the specific embodiments disclosed below.
It should be understood that "system", "device", "unit" and/or "module" as used herein is a method for distinguishing different components, elements, parts, portions or assemblies at different levels. However, other words may be substituted by other expressions if they accomplish the same purpose.
As used in this specification and the appended claims, the terms "a," "an," "the," and/or "the" are not intended to be inclusive in the singular, but rather are intended to be inclusive in the plural, unless the context clearly dictates otherwise. In general, the terms "comprises" and "comprising" merely indicate that steps and elements are included which are explicitly identified, that the steps and elements do not form an exclusive list, and that a method or apparatus may include other steps or elements.
The present description uses flowcharts to illustrate operations performed by a system according to embodiments of the present description. It should be understood that the preceding or following operations are not necessarily performed in the exact order in which they are performed. Rather, the various steps may be processed in reverse order or simultaneously. Meanwhile, other operations may be added to the processes, or a certain step or several steps of operations may be removed from the processes.
Example one
The embodiment of the invention provides a load control method of an intelligent fitness device, wherein the fitness mode of the intelligent fitness device is that a user pulls a pull rope to overcome the output resistance of a motor to perform fitness, and the method comprises the following steps:
and performing compensation control on the output resistance output from the motor to the pull rope according to the rotational inertia of the motor.
Referring to fig. 1, fig. 1 is a schematic diagram of a load control method of an intelligent exercise machine;
applicants have discovered that it is desirable to control the motor pull cord to produce the appropriate load at various stages of exercise using appropriate control methods to achieve safe and effective strength training.
In the strength type intelligent fitness equipment, a user selects certain parameters through an interface or switches a load control mode, an upper computer calculates the parameters through a built-in algorithm, updates an expected load by combining a parameter calculation result and real-time action parameters of the user and sends the load to a motor, and the effect of changing the load in real time is achieved. The motion parameters of the user are obtained by a sensor or obtained by calculation, and the motion parameters are known and comprise the position and the speed of the pull rope of the user.
The load control method has a plurality of modes, and a user can freely switch according to self exercise requirements, wherein the load control modes in the method comprise: an inertia compensation mode, a constant speed mode, a free curve mode, a centrifugal contraction mode, and an iron chain mode, wherein the inertia compensation mode may be turned on simultaneously with the other modes.
The load control method comprises the following modes:
inertia compensation mode:
in performing conventional instrument resistance exercises, the user's pulling force is not directly equal to the instrument weight, but adds to the force caused by the acceleration of the instrument. When the user indicates that the pull rope is performing impedance movement, the user manually sets a certain quality value, or a value set by an intelligent algorithm according to the user performance, and if the quality value is known and is used as the load of the impedance movement, the pull rope should simulate the pulling hand feeling of loads with different qualities so as to maximally approach the effect of the traditional apparatus.
Because frictional force and acceleration are irrelevant, do not consider frictional force temporarily when carrying out motor pulling force calculation, therefore stay cord pulling force can be expressed as motor output torque and motor inertia multiply motor angular acceleration's sum divided by the radius again, and in the motor rotation process, the radius of rotation can be regarded as unchangeable, therefore for convenient representation, can be equivalent to the motor rotation model as the mass point motion model, consequently, when using the stay cord to carry out impedance motion, have:
Fcord＝Fmotor+mmotora
wherein, FcordIs the actual tension of the pull cord, FmotorForce m output to the pull cord by the motormotorIs the equivalent mass of the rotational inertia of the motor, wherein mmotorThe force compensation device can be obtained through the setting parameters or the control system or the processing system or an additional computing system or a computing mode of the intelligent fitness equipment, the obtaining mode is not particularly limited, a is the real-time acceleration of the pull rope, and in order to ensure that the force sensed by a user is similar to that of the traditional equipment, the force output to the pull rope by the motor is compensated according to the rotational inertia of the motor, and the force compensation device is set as follows:
Fmotor＝Fgoal+(mgoal-mmotor)a＝mgoalg+(mgoal-mmotor)a
wherein, FgoalTo be provided withGravity corresponding to a constant mass, the force being constant and not influenced by acceleration, mgoalIs a set mass. Thus, the pull rope tension is as follows:
Fcord＝mgoalg+mgoala
wherein g is a gravitational constant.
I.e. the user load may be made to feel like a conventional instrument. In addition, the inertia compensation needs to be selectively turned on according to a set mass value, at mgoalLess than mmotorWhen, opening inertia compensation, otherwise, closing inertia compensation, at the moment:
Fmotor＝Fgoal
at this time, when the set mass is lower than the equivalent mass of the system inertia, the influence caused by the system inertia is reduced by starting the inertia compensation, and meanwhile, the continuous displacement of the pull rope can be structurally reduced. When the mass is set to be larger than the equivalent mass of the system inertia, the inertia compensation is not used, so that the magnitude of force change caused by the inertia is reduced, namely the influence caused by acceleration is weakened, and therefore the inertia compensation is not needed.
A constant speed mode:
to ensure different training results, it is sometimes necessary to keep the user's speed within a certain range, called constant speed mode, in which:
Fmotor＝f0+max(v-vref,0)p1+max(v-vref,0)2p2
wherein, FmotorFor the motor to output a force to the pull cord, f0V is the speed at which the user pulls the pull cord, v is the reference forcerefFor reference speed, p1And p2For different users p as coefficients1And p2In contrast, the process of determining the coefficient is force evaluation, and the invention does not give details to the specific force evaluation.
smartflex/free curve mode:
some users need different load changes in different action stages, in order to generate flexible load, a smartflex/free curve mode is set, a coefficient is added to the load output by the motor according to the proportion of action positions in RoM, and the tension coefficient belongs to [ 50%, 200% ], RoM: 0% → 100% → 0%, and since there are two strokes (pull-out, recovery) of the motion, the RoM is divided into ten sections, that is, one adjustable node is set for every 20% of the RoM, as shown in table 1.
TABLE 1
| RoM proportional interval | The associated stroke | Ratio of tensile forces |
| 0～20％ | Is pulled out | K0 |
| 20％～40％ | Is pulled out | K1 |
| 40％～60％ | Is pulled out | K2 |
| 60％～80％ | Is pulled out | K3 |
| 80％～100％ | Is pulled out | k4 |
| 100％～80％ | Recovering | K5 |
| 80％～60％ | Recovering | K6 |
| 60％～40％ | Recovering | K7 |
| 40％～20％ | Recovering | K8 |
| 20％～0 | Recovering | K9 |
Dividing the ratio into 10 ratio intervals, including: interval 0 to interval 9; the ratio in the interval 0 is more than or equal to 0 and less than 20 percent, the body-building movement direction corresponding to the interval 0 is pulled out, and the corresponding tension proportional coefficient is k0(ii) a The ratio in the interval 1 is more than or equal to 20 percent and less than 40 percent, the body-building movement direction corresponding to the interval 1 is pulled out, and the corresponding tension proportional coefficient is k1(ii) a The ratio in the interval 2 is more than or equal to 40 percent and less than 60 percent, the body-building movement direction corresponding to the interval 2 is pulled out, and the corresponding tension proportional coefficient is k2(ii) a The ratio in the interval 3 is more than or equal to 60 percent and less than 80 percent, the body-building movement direction corresponding to the interval 3 is pulled out, and the corresponding tension proportionality coefficient is k3(ii) a The ratio in the interval 4 is more than or equal to 80 percent and less than or equal to 100 percent, and the body-building movement direction corresponding to the interval 4 is pullingThe corresponding tension proportionality coefficient is k4(ii) a The ratio in the interval 5 is less than or equal to 100 percent and more than 80 percent, the body-building movement direction corresponding to the interval 5 is recovery, and the corresponding tension proportional coefficient is k5(ii) a The ratio in the interval 6 is less than or equal to 80 percent and more than 60 percent, the body-building movement direction corresponding to the interval 5 is recovery, and the corresponding tension proportional coefficient is k6(ii) a The ratio in the interval 7 is less than or equal to 60 percent and more than 40 percent, the body-building movement direction corresponding to the interval 7 is recovery, and the corresponding tension proportional coefficient is k7(ii) a The ratio in the interval 8 is less than or equal to 40% and more than 20%, the body-building movement direction corresponding to the interval 8 is recovery, and the corresponding tension proportional coefficient is k8(ii) a The ratio in the interval 9 is less than or equal to 20 percent and more than or equal to 0 percent, the body-building movement direction corresponding to the interval 9 is recovery, and the corresponding tension proportional coefficient is k9。
In order to ensure that the tension between the intervals does not change suddenly, the load changes linearly in the intervals, two coefficients can be subtracted, so that 12 coefficients are needed, the first 6 coefficients describe the pulling-out process, the last 6 coefficients describe the retracting process, and the ith coefficient is written as ArgiThe coefficient can be flexibly set by a user according to needs, the invention is not specifically limited, and the tensile ratio of the ith interval is written as a ratio;
when the body building movement direction is pulling out, i is 0 or 1 or 2 or 3 or 4:
the tension proportional coefficient ki＝Argi+(Argi+1-Argi)*(ratio-leftboundary(ratio))/0.2
When the direction of the body building movement is recovery, i is 6 or 7 or 8 or 9 or 10:
the tension proportional coefficient ki-1＝Argi+(Argi+1-Argi)*(ratio-leftboundary(ratio))/0.2
Wherein is ArgiFor the ith coefficient, a leftboundary (ratio) of the interval in which the ratio is located.
Centrifugal shrinkage mode:
centrifugation shrinkage can be considered as a special form of SmartFlex, as shown in Table 2.
TABLE 2
| RoM proportional interval | The associated stroke | Ratio of tensile forces |
| 0～100％ | Is pulled out | 1 |
| 100％～0 | Recovering | 1+n |
Wherein n is an adjustable parameter, and the adjusting range is [ 0%, 60% ].
Iron chain mode:
the iron chain pattern can be considered as a special form of SmartFlex as shown in table 3.
TABLE 3
| RoM proportional interval | The associated stroke | Ratio of tensile forces |
| 0～100％ | Is pulled out | 1+n*ratio |
| 100％～0 | Recovering | 1+(1-n)*ratio |
Wherein n is an adjustable parameter, and the adjusting range is [ 0%, 60% ].
Example two
The second embodiment of the invention provides a load control device of an intelligent fitness device, which comprises a memory, a processor and a computer program stored in the memory and capable of running on the processor, wherein the processor executes the computer program to realize the steps of the load control method of the intelligent fitness device.
The processor may be a Central Processing Unit (CPU), or other general-purpose processor, a digital signal processor (digital signal processor), an Application Specific Integrated Circuit (Application Specific Integrated Circuit), an off-the-shelf programmable gate array (field programmable gate array) or other programmable logic device, a discrete gate or transistor logic device, a discrete hardware component, or the like. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.
The memory may be used to store the computer programs and/or modules, and the processor may implement the various functions of the load control device of the intelligent exercise machine of the invention by operating or executing the data stored in the memory. The memory may mainly include a storage program area and a storage data area, wherein the storage program area may store an operating system, an application program required for at least one function (such as a sound playing function, an image playing function, etc.), and the like. Further, the memory may include high speed random access memory, and may also include non-volatile memory, such as a hard disk, a memory, a plug-in hard disk, a smart memory card, a secure digital card, a flash memory card, at least one magnetic disk storage device, a flash memory device, or other volatile solid state storage device.
EXAMPLE III
The third embodiment of the invention provides a computer-readable storage medium, wherein a computer program is stored in the computer-readable storage medium, and when the computer program is executed by a processor, the steps of the load control method of the intelligent fitness equipment are realized.
The load control device of the intelligent exercise machine, if implemented in the form of a software functional unit and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, all or part of the flow in the method of implementing the embodiments of the present invention may also be stored in a computer readable storage medium through a computer program, and when the computer program is executed by a processor, the computer program may implement the steps of the above-described method embodiments. Wherein the computer program comprises computer program code, an object code form, an executable file or some intermediate form, etc. The computer readable medium may include: any entity or device capable of carrying said computer program code, a recording medium, a usb-disk, a removable hard disk, a magnetic disk, an optical disk, a computer memory, a read-only memory, a random access memory, a point carrier signal, a telecommunications signal, a software distribution medium, etc. It should be noted that the computer readable medium may contain content that is appropriately increased or decreased as required by legislation and patent practice in the jurisdiction.
While the invention has been described with respect to the basic concepts, it will be apparent to those skilled in the art that the foregoing detailed disclosure is only by way of example and not intended to limit the invention. Various modifications, improvements and adaptations to the present description may occur to those skilled in the art, although not explicitly described herein. Such modifications, improvements and adaptations are proposed in the present specification and thus fall within the spirit and scope of the exemplary embodiments of the present specification.
Also, the description uses specific words to describe embodiments of the description. Reference throughout this specification to "one embodiment," "an embodiment," and/or "some embodiments" means that a particular feature, structure, or characteristic described in connection with at least one embodiment of the specification is included. Therefore, it is emphasized and should be appreciated that two or more references to "an embodiment" or "one embodiment" or "an alternative embodiment" in various places throughout this specification are not necessarily all referring to the same embodiment. Furthermore, some features, structures, or characteristics of one or more embodiments of the specification may be combined as appropriate.
Moreover, those skilled in the art will appreciate that aspects of the present description may be illustrated and described in terms of several patentable species or situations, including any new and useful combination of processes, machines, manufacture, or materials, or any new and useful improvement thereof. Accordingly, aspects of this description may be performed entirely by hardware, entirely by software (including firmware, resident software, micro-code, etc.), or by a combination of hardware and software. The above hardware or software may be referred to as "data block," module, "" engine, "" unit, "" component, "or" system. Furthermore, aspects of the present description may be represented as a computer product, including computer readable program code, embodied in one or more computer readable media.
The computer storage medium may comprise a propagated data signal with the computer program code embodied therewith, for example, on baseband or as part of a carrier wave. The propagated signal may take any of a variety of forms, including electromagnetic, optical, etc., or any suitable combination. A computer storage medium may be any computer-readable medium that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device. Program code located on a computer storage medium may be propagated over any suitable medium, including radio, cable, fiber optic cable, RF, or the like, or any combination of the preceding.
Computer program code required for the operation of various portions of this specification may be written in any one or more programming languages, including an object oriented programming language such as Java, Scala, Smalltalk, Eiffel, JADE, Emerald, C + +, C #, VB.NET, Python, and the like, a conventional programming language such as C, Visual Basic, Fortran 2003, Perl, COBOL 2002, PHP, ABAP, a dynamic programming language such as Python, Ruby, and Groovy, or other programming languages. The program code may execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server. In the latter scenario, the remote computer may be connected to the user's computer through any network format, such as a Local Area Network (LAN) or a Wide Area Network (WAN), or the connection may be made to an external computer (for example, through the Internet), or in a cloud computing environment, or as a service, such as a software as a service (SaaS).
Additionally, the order in which the elements and sequences of the process are recited in the specification, the use of alphanumeric characters, or other designations, is not intended to limit the order in which the processes and methods of the specification occur, unless otherwise specified in the claims. While various presently contemplated embodiments of the invention have been discussed in the foregoing disclosure by way of example, it is to be understood that such detail is solely for that purpose and that the appended claims are not limited to the disclosed embodiments, but, on the contrary, are intended to cover all modifications and equivalent arrangements that are within the spirit and scope of the embodiments herein. For example, although the system components described above may be implemented by hardware devices, they may also be implemented by software-only solutions, such as installing the described system on an existing server or mobile device.
Similarly, it should be noted that in the preceding description of embodiments of the present specification, various features are sometimes grouped together in a single embodiment, figure, or description thereof for the purpose of streamlining the disclosure aiding in the understanding of one or more of the embodiments. This method of disclosure, however, is not intended to imply that more features than are expressly recited in a claim. Indeed, the embodiments may be characterized as having less than all of the features of a single embodiment disclosed above.
For each patent, patent application publication, and other material, such as articles, books, specifications, publications, documents, etc., cited in this specification, the entire contents of each are hereby incorporated by reference into this specification. Except where the application history document does not conform to or conflict with the contents of the present specification, it is to be understood that the application history document, as used herein in the present specification or appended claims, is intended to define the broadest scope of the present specification (whether presently or later in the specification) rather than the broadest scope of the present specification. It is to be understood that the descriptions, definitions and/or uses of terms in the accompanying materials of this specification shall control if they are inconsistent or contrary to the descriptions and/or uses of terms in this specification.
Finally, it should be understood that the embodiments described herein are merely illustrative of the principles of the embodiments of the present disclosure. Other variations are also possible within the scope of the present description. Thus, by way of example, and not limitation, alternative configurations of the embodiments of the specification can be considered consistent with the teachings of the specification. Accordingly, the embodiments of the present description are not limited to only those embodiments explicitly described and depicted herein.
While preferred embodiments of the present invention have been described, additional variations and modifications in those embodiments may occur to those skilled in the art once they learn of the basic inventive concepts. Therefore, it is intended that the appended claims be interpreted as including preferred embodiments and all such alterations and modifications as fall within the scope of the invention.
It will be apparent to those skilled in the art that various changes and modifications may be made in the present invention without departing from the spirit and scope of the invention. Thus, if such modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include such modifications and variations.
Claims (10)
1. The intelligent fitness equipment is characterized in that the method comprises the following steps:
and performing compensation control on the output resistance output from the motor to the pull rope according to the rotational inertia of the motor.
2. The method of claim 1, wherein the method comprises:
Fcord＝mgoalg+mgoala
wherein, FcordIs the actual tension of the pull cord, mgoalFor a set mass, g is the gravitational constant and a is the real-time acceleration of the pull cord.
3. The method of load control for a smart exercise machine of claim 1, wherein the method comprises:
if mgoalIs greater than or equal to mmoterCompensating and controlling the output resistance output from the motor to the pull rope according to the rotational inertia of the motor;
if mgoalLess than mmoterThen, the compensation control is not carried out on the output resistance output to the pull rope by the motor;
wherein m isgoalFor a set mass, mmoterThe equivalent mass of the rotational inertia of the motor.
4. The method of load control for a smart exercise machine of claim 1, wherein the method comprises:
setting the load size of the intelligent fitness equipment in the intelligent fitness equipment by a user;
obtaining the rotational inertia of the motor based on the set load size of the intelligent fitness equipment;
and performing compensation control on the output resistance output from the motor to the pull rope according to the rotational inertia of the motor.
5. The method of load control for a smart exercise machine of claim 1, wherein the method comprises:
setting a fitness mode in the intelligent fitness equipment by a user;
generating a corresponding load control mode of the intelligent fitness equipment based on the fitness mode;
and controlling the load of the intelligent fitness equipment based on the load control mode of the intelligent fitness equipment.
6. The method of claim 5, wherein the load control mode of the intelligent exercise machine comprises:
a constant speed mode in which:
Fmotor＝f0+max(v-vref,0)p1+max(v-vref,0)2p2
wherein, FmotorFor the motor to output a force to the pull cord, f0V is the speed at which the user pulls the pull cord, v is the reference forcerefFor reference speed, p1And p2Are coefficients.
7. The method of claim 5, wherein the load control mode of the intelligent exercise machine comprises:
free-curve mode, in which:
obtaining a corresponding movement range RoM when a user performs a certain group of body-building exercises; wherein the body-building movement direction comprises pulling out and retracting; obtaining the maximum distance value S pulled out in the group of body-building exercises1And the minimum distance value S of pull-out2Obtaining the maximum distance value S recovered in the group of body-building exercises3And the minimum distance value S of pull-out4Comparison S1To S4Obtain the maximum value SmaxAnd minimum value Smin，RoM＝Smax-Smin；
Obtaining the real-time pull-out distance S of the pull ropeaOr the recovery distance SbCalculating SaOr SbRatio to RoM, based on the ratio obtaining a tension proportional coefficient;
and controlling the output resistance of the motor based on the tension proportional coefficient.
8. The method of load control for a smart exercise machine of claim 7, wherein the method comprises:
dividing the ratio into 10 ratio intervals, including: interval 0 to interval 9; the ratio in the interval 0 is more than or equal to 0 and less than 20 percent, the body-building movement direction corresponding to the interval 0 is pulled out, and the corresponding tension proportional coefficient is k0(ii) a The ratio in the interval 1 is more than or equal to 20 percent and less than 40 percent, the body-building movement direction corresponding to the interval 1 is pulled out, and the corresponding tension proportional coefficient is k1(ii) a The ratio in the interval 2 is more than or equal to 40 percent and less than 60 percent, the body-building movement direction corresponding to the interval 2 is pulled out, and the corresponding tension proportional coefficient is k2(ii) a The ratio in the interval 3 is more than or equal to 60 percent and less than 80 percent, the body-building movement direction corresponding to the interval 3 is pulled out, and the corresponding tension proportionality coefficient is k3(ii) a The ratio in the interval 4 is more than or equal to 80 percent and less than or equal to 100 percent, the body-building movement direction corresponding to the interval 4 is pulled out, and the corresponding tension proportionality coefficient is k4(ii) a The ratio in the interval 5 is less than or equal to 100 percent and more than 80 percent, the body-building movement direction corresponding to the interval 5 is recovery, and the corresponding tension proportional coefficient is k5(ii) a The ratio in the interval 6 is less than or equal to 80 percent and more than 60 percent, the body-building movement direction corresponding to the interval 5 is recovery, and the corresponding tension proportional coefficient is k6(ii) a The ratio in the interval 7 is less than or equal to 60 percent and more than 40 percent, the body-building movement direction corresponding to the interval 7 is recovery, and the corresponding tension proportional coefficient is k7(ii) a The ratio in the interval 8 is less than or equal to 40% and more than 20%, the body-building movement direction corresponding to the interval 8 is recovery, and the corresponding tension proportional coefficient is k8(ii) a The ratio in the interval 9 is less than or equal to 20 percent and more than or equal to 0 percent, the body-building movement direction corresponding to the interval 9 is recovery, and the corresponding tension proportional coefficient is k9。
9. The method of load control for a smart exercise machine of claim 7, wherein the method comprises:
when the body building movement direction is pulling out, i is 0 or 1 or 2 or 3 or 4:
the tension proportional coefficient ki＝Argi+(Argi+1-Argi)*(ratio-leftboundary(ratio))/0.2
When the direction of the body building movement is recovery, i is 6 or 7 or 8 or 9 or 10:
the tension proportional coefficient ki-1＝Argi+(Argi+1-Argi)*(ratio-leftboundary(ratio))/0.2
Wherein is ArgiFor the ith coefficient, a leftboundary (ratio) of the interval in which the ratio is located.
10. A load control device for an intelligent fitness machine, comprising a memory, a processor and a computer program stored in the memory and executable on the processor, wherein the processor, when executing the computer program, performs the steps of the method of load control for an intelligent fitness machine according to any of claims 1-9.
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Application publication date: 20210831 |