CN113476787A - Control system and control method for active movement of astronaut - Google Patents
Control system and control method for active movement of astronaut Download PDFInfo
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- CN113476787A CN113476787A CN202110713520.7A CN202110713520A CN113476787A CN 113476787 A CN113476787 A CN 113476787A CN 202110713520 A CN202110713520 A CN 202110713520A CN 113476787 A CN113476787 A CN 113476787A
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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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Abstract
The invention relates to the field of astronaut motion control, in particular to a control system and a control method for active motion of an astronaut. The treadmill comprises a current resistance module coaxial with a treadmill rotating shaft and a control module used for controlling the current resistance module. The control module comprises a tablet personal computer, a digital signal processor connected with the tablet personal computer, a digital-to-analog converter connected with the digital signal processor, an operational amplifier connected with the digital-to-analog converter, a current mirror connected with the operational amplifier and a Hall sensor. The invention is arranged on a space treadmill, adopts a current resistance module as a resistance source to be arranged on a rotating shaft, controls the resistance output of the rotating shaft of the treadmill, and retards the running belt of the treadmill to rotate, thereby leading the muscle of an astronaut to actively exert force to overcome the resistance and realizing the effect of active exercise. And the exercise effect of the astronaut can be evaluated in real time through an algorithm, so that the in-orbit active exercise function of the astronaut is realized.
Description
Technical Field
The invention relates to the field of astronaut motion control, in particular to a control system and a control method for active motion of an astronaut.
Background
Under microgravity conditions, astronauts lose bone mass (particularly in the lower extremities such as the proximal femur) at 1% to 2% per month, with severe effects such as muscular atrophy, which severely restrict the astronauts from staying and working in orbit. With the development of manned spaceflight, the requirement on the health of the astronaut in the rail is higher and higher, and the requirement on the exercise product of the astronaut is higher and higher, so that the astronaut attracts high attention and wide attention in the countries such as the United states, Germany, Britain and the like.
The NASA active space treadmill adopts a direct current motor to drive a running belt to run, achieves the purpose of exercising, exercises the muscles of people to exert force passively, is aerobic exercise, and belongs to the field of passive exercise. However, the active exercise is controlled by the nervous system, so that the level of motor nerve recruitment and the muscle coordination ability can be greatly improved, the working efficiency of muscles is enhanced, and compared with passive exercise, the passive exercise not only realizes aerobic exercise but also realizes anaerobic exercise and can more efficiently solve the problem of on-orbit muscle atrophy, so that astronauts have strong requirements on the active exercise type running machine. By consulting documents, no relevant research on the on-orbit active running motion of astronauts exists at home and abroad at present.
Therefore, the invention provides a control system and a control method for active movement of an astronaut, which aim to overcome the defects in the prior art.
Disclosure of Invention
The invention provides a control system and a control method for active movement of an astronaut, aiming at solving the defects of losing bone, muscular atrophy and the like caused by the passive running of the existing astronaut in orbit, so that the astronaut needs to actively move to exert force to overcome resistance movement, and the exercise effect of the astronaut can be evaluated in real time, thereby achieving the aim of active exercise of the astronaut in orbit.
In order to achieve the purpose, the technical scheme of the invention is as follows:
the invention provides a control system and a control method for active movement of an astronaut. The control module comprises a tablet personal computer, a digital signal processor connected with the tablet personal computer, a digital-to-analog converter connected with the digital signal processor, an operational amplifier connected with the digital-to-analog converter, a current mirror connected with the operational amplifier and a Hall sensor. The output end of the current mirror is connected with the current resistance module, one end of the Hall sensor is connected with the output end of the current mirror, and the other end of the Hall sensor is connected with the digital signal processor through an analog-to-digital converter. The Hall sensor collects the output current of the current mirror, and the fluctuation of the output current of the current mirror is fed back to the digital signal processor, so that feedback regulation control is carried out after calculation.
Further, the current resistance module comprises a wire coil and a circular ring type permanent magnet steel.
Further, the output resistance of the current resistance module is adjustable between 0N and 150N, and the adjusting interval is not more than 5N.
Furthermore, the output current of the current mirror is adjustable between 0mA and 270mA, and the adjustment interval is 9 mA.
A control method for a control system for active movement of an astronaut, comprising the steps of:
(1) the control module is connected with the space station main network in an encryption manner;
(2) the method comprises the following steps that a spaceman enters a treadmill exercise area, a space station obtains identity information of the spaceman through biological identification, and a ground commander is informed of the identity information;
(3) the control module acquires the biological information of the astronaut through a biological information sensor in the space station;
(4) the ground commander determines a medical exercise prescription by referring to the suggestion of the control module;
(5) the astronaut runs and trains, and the control module adjusts and controls the current resistance module according to the medical exercise prescription;
(6) the control module constantly monitors the body temperature, the electrocardio and the consumed power of the astronaut;
(7) when the power consumed by the astronaut is more than 100W and the astronaut still does not enter the optimal motion state of the human body,
giving an inappropriate exercise cue.
Further, the biological information comprises electrocardio, body temperature and body muscle state.
The invention achieves the following beneficial effects:
the invention is arranged on a space treadmill, adopts a current resistance module as a resistance source to be arranged on a rotating shaft, controls the resistance output of the rotating shaft of the treadmill, and retards the running belt of the treadmill to rotate, thereby leading the muscle of an astronaut to actively exert force to overcome the resistance and realizing the effect of active exercise. And the exercise effect of the astronaut can be evaluated in real time through an algorithm, so that the in-orbit active exercise function of the astronaut is realized.
The invention solves the defects of losing sclerotin, amyotrophy and the like caused by the on-orbit passive running of the existing astronauts.
In addition, through multi-feature crowd testing and comprehensive evaluation in a microgravity environment, compared with a running machine passive movement method for an in-orbit manned spacecraft, the system has the advantages that the movement effect is improved by 40%, and the application prospect is wide.
Drawings
FIG. 1 is an overall architecture diagram of the present invention.
Fig. 2 is a schematic diagram of a control module.
FIG. 3 is a control method diagram of the present invention.
Detailed Description
To facilitate an understanding of the present invention by those skilled in the art, specific embodiments thereof are described below with reference to the accompanying drawings.
According to the invention, the current resistance module is arranged at the rotating shaft of the space treadmill and used as a resistance source, the control module controls the current resistance module to output resistance, the astronaut needs to actively exercise to apply force to overcome resistance movement, and the exercise effect of the astronaut is evaluated in real time, so that the aim of the astronaut in-orbit active exercise is achieved.
As shown in fig. 1 to 3, the present invention provides a control system for an active movement of an astronaut and a control method thereof, comprising a current resistance module coaxial with a treadmill rotation shaft, and a control module for controlling the current resistance module, wherein the current resistance module is a resistance source of the present invention and is used for outputting resistance; the control module is used for controlling the current resistance module, so that the resistance output by the current resistance module is more stable, and the conversion is more smooth.
The current resistance module comprises a wire coil and a circular ring type permanent magnet steel. The wire coil is wound on the outer surface of the annular permanent magnet steel, the annular permanent magnet steel is installed outside the treadmill rotating shaft and connected with the treadmill rotating shaft, and when the coil is electrified, the magnetic force generated by the coil inhibits the movement of the rotating shaft.
The control module comprises a tablet personal computer (PAD), a Digital Signal Processor (DSP) connected with the tablet personal computer, a digital-to-analog converter (DAC) connected with the digital signal processor, an operational amplifier connected with the DAC, a current mirror connected with the operational amplifier and a Hall sensor. The output end of the current mirror is connected with the current resistance module, one end of the Hall sensor is connected with the output end of the current mirror, and the other end of the Hall sensor is connected with the digital signal processor through an analog-to-digital converter.
The PAD is used for being connected with the space station in an encrypted mode, obtaining life information of astronauts, providing medical exercise prescriptions, drawing monthly motion curves and the like, when the PAD obtains the life information of the astronauts and combines the suggestions of ground commanders, the PAD can provide the medical exercise prescriptions, and control instructions are sent to the DSP according to the determined medical exercise prescriptions. The DSP converts the commands given by the PAD into digital signals and transmits the signals to the DAC. The DAC converts the digital signal into an analog signal and outputs voltage, and the output voltage is amplified by the operational amplifier and acts on the current mirror.
The current mirror has the maximum function of keeping the current constant, and the current output by the current mirror is connected with the current resistance module and used for driving the current resistance module to provide resistance. The Hall sensor is connected to the positive wire end of the current resistance module, collects the output current of the current mirror and feeds back the fluctuation of the output current of the current mirror to the digital signal processor. The DSP adjusts an output signal according to the voltage value fed back, and ensures the stability of the output resistance of the current resistance module, so that a closed-loop control loop is formed, and the current is stabilized at a value.
Further, the output resistance of the current resistance module is adjustable between 0N and 150N, and the adjusting interval is not more than 5N. The output current of the current mirror is adjustable between 0mA and 270mA, and the adjusting interval is 9 mA.
The invention also includes control module embedded software for providing software support for the control system, the control module embedded software comprises:
1) the communication unit is used for completing the functions of encrypting and decrypting communication with the space station main network;
2) the sensor information acquisition unit is used for completing the signal acquisition function of the biological information sensor;
3) the control unit is used for finishing the active motion closed-loop current control function;
4) and the storage unit is used for finishing the motion information storage function.
A control method for a control system for active movement of an astronaut, comprising the steps of:
(1) the control module is connected with the space station main network in an encryption manner;
(2) the method comprises the following steps that a spaceman enters a treadmill exercise area, a space station obtains identity information of the spaceman through biological identification, and a ground commander is informed of the identity information;
(3) the control module acquires the biological information (electrocardio, body temperature and body muscle state) of the astronaut through a biological information sensor in the space station;
(4) the ground commander determines a medical exercise prescription by referring to the suggestion of the control module;
(5) the astronaut runs and trains, and the control module adjusts and controls the current resistance module according to the medical exercise prescription;
(6) the control module constantly monitors the body temperature, the electrocardio and the consumed power of the astronaut;
(7) when the power consumed by the astronaut is more than 100W and the astronaut still does not enter the optimal motion state of the human body,
giving an inappropriate exercise cue.
The product designs different working scenes: the product automatically starts up on track, and after the astronaut enters a treadmill exercise area, the product carries out biological identification to judge the identity information of the astronaut and informs ground commanders. And identifying the physical states of the astronaut, such as the electrocardio, the body temperature and the body muscle state according to the biological information. After identification, entering an exercise working condition to provide a suggested medical exercise prescription, and carrying out exercise prompt, wherein the astronaut can choose to carry out medical exercise prescription exercise or carry out custom exercise. When the body temperature enters an optimal body temperature area, the electrocardio enters a 70% -90% maximum heart rate area, the optimal motion state of the human body is achieved, the power consumption of the motion is recorded, a monthly motion curve is drawn on the PAD, and an accurate motion effect graph is given. When the power consumed by the astronaut is more than 100W, the astronaut still does not enter the optimal motion state of the human body, and an unsuitable motion prompt is given. The equipment possesses high intelligence, can discern the exercise state by oneself to carry out transmission to space station main web server with exercise data and product parameter.
The above-described embodiments of the present invention do not limit the scope of the present invention. Any modification, equivalent replacement, and improvement made within the spirit and principle of the present invention should be included in the scope of the claims of the present invention.
Claims (6)
1. A control system for active movement of an astronaut, characterized by: the treadmill comprises a current resistance module which is coaxial with a rotating shaft of the treadmill and a control module which is used for controlling the current resistance module; the control module comprises a tablet personal computer, a digital signal processor connected with the tablet personal computer, a digital-to-analog converter connected with the digital signal processor, an operational amplifier connected with the digital-to-analog converter, a current mirror connected with the operational amplifier and a Hall sensor; the output end of the current mirror is connected with the current resistance module, one end of the Hall sensor is connected with the output end of the current mirror, and the other end of the Hall sensor is connected with the digital signal processor through an analog-to-digital converter; the Hall sensor collects the output current of the current mirror, and the fluctuation of the output current of the current mirror is fed back to the digital signal processor, so that feedback regulation control is carried out after calculation.
2. A control system for active movement of an astronaut according to claim 1, wherein: the current resistance module comprises a wire coil and a circular ring type permanent magnet steel.
3. A control system for active movement of an astronaut according to claim 1, wherein: the output resistance of the current resistance module is adjustable between 0N and 150N, and the adjusting interval is not more than 5N.
4. A control system for active movement of an astronaut according to claim 1, wherein: the output current of the current mirror is adjustable between 0mA and 270mA, and the adjusting interval is 9 mA.
5. A control method of a control system for active movement of an astronaut, which is applied to the control system of any one of the claims 1 to 4, and is characterized in that: the method comprises the following steps:
(1) the control module is connected with the space station main network in an encryption manner;
(2) the method comprises the following steps that a spaceman enters a treadmill exercise area, a space station obtains identity information of the spaceman through biological identification, and a ground commander is informed of the identity information;
(3) the control module acquires the biological information of the astronaut through a biological information sensor in the space station;
(4) the ground commander determines a medical exercise prescription by referring to the suggestion of the control module;
(5) the astronaut runs and trains, and the control module adjusts and controls the current resistance module according to the medical exercise prescription;
(6) the control module constantly monitors the body temperature, the electrocardio and the consumed power of the astronaut;
(7) and when the power consumed by the astronaut is more than 100W and the astronaut still does not enter the optimal motion state of the human body, giving an unsuitable motion prompt.
6. A control method for a control system for active movement of an astronaut according to claim 5, wherein: the biological information comprises electrocardio, body temperature and body muscle state.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110713520.7A CN113476787A (en) | 2021-06-25 | 2021-06-25 | Control system and control method for active movement of astronaut |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202110713520.7A CN113476787A (en) | 2021-06-25 | 2021-06-25 | Control system and control method for active movement of astronaut |
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Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2421037Y (en) * | 2000-04-05 | 2001-02-28 | 李颖哲 | Direct drive for electric running apparatus |
| CN202044703U (en) * | 2011-05-20 | 2011-11-23 | 山东汇康运动器材有限公司 | Speed-adjustable no-power treadmill |
| US20150375045A1 (en) * | 2013-03-11 | 2015-12-31 | Bene Power Ltd. | Method and apparatus for controlled rehabilitation and training of muscular system |
| CN105920785A (en) * | 2016-05-19 | 2016-09-07 | 美的集团股份有限公司 | Intelligent treadmill |
| CN108771828A (en) * | 2018-08-08 | 2018-11-09 | 上海懒猫智能科技有限公司 | A kind of speed-adjustable no-power treadmill and its speed control system |
| CN111840898A (en) * | 2019-04-24 | 2020-10-30 | 乔山健身器材（上海）有限公司 | Manpower running machine capable of setting movement speed |
| CN212880785U (en) * | 2020-08-26 | 2021-04-06 | 青岛英派斯健康科技股份有限公司 | Running machine |
-
2021
- 2021-06-25 CN CN202110713520.7A patent/CN113476787A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2421037Y (en) * | 2000-04-05 | 2001-02-28 | 李颖哲 | Direct drive for electric running apparatus |
| CN202044703U (en) * | 2011-05-20 | 2011-11-23 | 山东汇康运动器材有限公司 | Speed-adjustable no-power treadmill |
| US20150375045A1 (en) * | 2013-03-11 | 2015-12-31 | Bene Power Ltd. | Method and apparatus for controlled rehabilitation and training of muscular system |
| CN105920785A (en) * | 2016-05-19 | 2016-09-07 | 美的集团股份有限公司 | Intelligent treadmill |
| CN108771828A (en) * | 2018-08-08 | 2018-11-09 | 上海懒猫智能科技有限公司 | A kind of speed-adjustable no-power treadmill and its speed control system |
| CN111840898A (en) * | 2019-04-24 | 2020-10-30 | 乔山健身器材（上海）有限公司 | Manpower running machine capable of setting movement speed |
| CN212880785U (en) * | 2020-08-26 | 2021-04-06 | 青岛英派斯健康科技股份有限公司 | Running machine |
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Application publication date: 20211008 |
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