CN114699710B

CN114699710B - Mechanical arm force field control method and system

Info

Publication number: CN114699710B
Application number: CN202210320063.XA
Authority: CN
Inventors: 王屴; 张路通
Original assignee: Jingshu Shanghai Technology Co ltd
Current assignee: Jingshu Shanghai Technology Co ltd
Priority date: 2022-03-29
Filing date: 2022-03-29
Publication date: 2023-05-23
Anticipated expiration: 2042-03-29
Also published as: CN114699710A

Abstract

The invention provides a method and a system for controlling a mechanical arm force field, wherein the method comprises the following steps: determining force vector information to be applied by the mechanical arm at the space coordinates according to the space coordinates of the tail end of the mechanical arm and the corresponding parameters of the training action; and sending a control instruction containing force vector information to the mechanical arm. The mechanical arm force field control system comprises a force field control module, a motion control module and a mechanical arm, wherein the force field control module is used for determining force vector information which is required to be applied by the mechanical arm at the space coordinate according to the space coordinate of the tail end of the mechanical arm and the corresponding parameters of training actions, and sending the force vector information to the motion control module; the motion control module is used for determining the magnitude and the direction of the total force which the mechanical arm should apply at a given space coordinate according to the force vector information, and sending a control instruction containing the magnitude and the direction of the total force to the mechanical arm; and the mechanical arm is used for applying force according to the control instruction. The scheme of the invention simultaneously realizes the functions of a free weight instrument, a fixed instrument and a semi-fixed instrument on one device, can rapidly switch action types, flexibly set movement intensity, rapidly change track parameters according to the physical condition of a user, and simultaneously ensures the safety of the user after exhaustion.

Description

Mechanical arm force field control method and system

Technical Field

The invention relates to the technical field of training instruments, in particular to a mechanical arm force field control method and system.

Background

Strength training, also known as resistance training (Resistance training), is a physical exercise that enhances strength, anaerobic endurance and skeletal muscle size by inducing muscle contractions against external resistance. Strength training typically employs various specific actions and devices to target specific muscle groups. Common strength training equipment includes: free weight devices, fixed devices, semi-fixed devices/rope type devices.

The free weight instrument refers to a non-fixed training instrument such as a barbell, a dumbbell, a kettle bell and the like. The user can reach the purpose of strength training by overcoming the gravity of the instrument. Free weight training is considered a very efficient training due to the large number of muscle groups involved, but its movements are relatively not easy to hand. In particular to classical free weight training projects such as deep squat, hard pull, horizontal pushing and the like, and a beginner cannot even complete a standard action without guidance. Therefore, the free weight instrument has the problem of high safety risk, on one hand, the training action is easy to deform, the improper muscle compensation is caused by light weight, the sports injury is caused by heavy weight, and on the other hand, when the heavy weight training is carried out, a coach or a body-building partner is often required to assist or protect, otherwise, the dangerous situations such as instrument falling and the like are easily released.

The fixation device refers to a number of specially designed training devices. The trainer can sit/lie on the apparatus and exercise against the resistance by moving the grip, pedals or other accessories. The fixing device controls the movement track of the user through a specially designed connecting rod, a pulley or other mechanical structures, and helps the user to carry out strength training. The immobilization device allows for a simplified exercise process by limiting the physical position of the user and the trajectory of the movement. Meanwhile, the fixing device is provided with mechanical limit, and even if a user is exhausted halfway, the device can ensure the safety of the user. The disadvantages of the fixation devices are also evident: firstly, it is disadvantageous to improve the stabilizing function and coordination of the user's body. The motion trail of the fixing device is fixed, so that the fixing device does not need to rely on the self-stabilization capability of a user in the action, and the fixing device is often in a sitting posture or a prone posture, so that the stabilization function and coordination of the body cannot be improved. Secondly, in order to realize the control of the track, a relatively complex mechanical structure is often needed, so that the weight and the occupation of land are large, and the purchase cost is relatively high. Again, a single fixation instrument is often used for only one to a few strength training exercises. If one wants to cover all muscle groups training, one needs to purchase several different devices, further increasing the space and monetary costs for the user. In addition, the fixing device can only be designed according to an imaginary average body shape to design the geometric dimension, and has very limited adjusting capability, so that the requirement of each trainer on the individuation of the track cannot be met.

The semi-fixed apparatus/rope apparatus refers to an apparatus using ropes and pulley blocks, and is characterized in that the resistance generated by the apparatus acts on a handle, a wrist strap or a waistband held by a user through the ropes, and the direction of the force can be changed according to the intention of the user, but the movement track and the movement range are not limited. Common free weight devices include portal frames, rope high-level pulldown machines, rope sitting position rowing machines, and the like. Such a device is interposed between the free weight instrument and the fixed instrument. Compared with the action of a fixed instrument, the semi-fixed instrument needs more muscle groups to participate in training, and the single equipment can complete more kinds of strength training. The use safety of semi-fixed instruments/rope instruments is improved, but the semi-fixed instruments/rope instruments are quite large in size and high in price, and the defect that the free weight instruments are high in use threshold and can not be used for isolated muscle training cannot be overcome.

Therefore, the free weight apparatus, the fixed apparatus and the semi-fixed apparatus/rope apparatus have the applicable range, and have the defect that the free weight apparatus, the fixed apparatus and the semi-fixed apparatus/rope apparatus cannot be replaced by each other, and the strength trainer can always use the three apparatuses. The existing training equipment can not realize the functions of the three types of instruments at the same time and overcome the defects of the instruments.

Disclosure of Invention

The invention aims to solve the technical problem of providing a control method and a system for a mechanical arm force field, which are used for determining the relevant parameters of a total force field according to the space coordinates of the tail end of the mechanical arm and the corresponding parameters of training actions to drive the mechanical arm, simultaneously realizing the functions of a free weight instrument, a fixed instrument and a semi-fixed instrument on one device, rapidly switching action types, flexibly setting movement intensity, rapidly changing track parameters according to the physical condition of a user and simultaneously ensuring the safety of the user after exhaustion.

In order to solve the technical problems, the technical scheme of the invention is as follows:

the embodiment of the invention provides a mechanical arm force field control method, which comprises the following steps:

determining force vector information to be applied by the mechanical arm at the space coordinates according to the space coordinates of the tail end of the mechanical arm and the corresponding parameters of the training action;

and sending a control instruction containing force vector information to the mechanical arm.

Optionally, the method further comprises: the training action corresponding parameters comprise a training action type, a training action type corresponding sum force field function, a track force field boundary parameter and/or training intensity.

Optionally, the method further comprises: the force vector information

Can be expressed by the formula:

wherein, the liquid crystal display device comprises a liquid crystal display device,

f _N-M is the sum force field function of the Mth action in the Nth action, wherein f _N-M Simulating a physical mode of equipment corresponding to the motion when C (x, y, z) is positioned in the track force field boundary of the motion, and simultaneously superposing a mechanical arm maximum force which is vertical to the track force field boundary and the direction of which is directed in the track force field boundary when C (x, y, z) is positioned outside the track force field boundary of the motion;

a is the trajectory force field boundary of the action;

b is the training intensity reached by the action selected by the user;

c (x, y, z) is the real-time spatial coordinates of the end of the robotic arm;

is the magnitude and direction of the force field that the robotic arm should generate at position C (x, y, z).

Optionally, the trajectory force field boundary a of the action is determined by a key point definition method, a boundary indication method, a path recording method, and/or a key parameter definition method. In particular, the trajectory force field boundary a of the action is determined by defining a force field boundary point location, by a user moving a robotic arm to input a trajectory boundary, by a user moving a robotic arm to input a trajectory path, and/or by inputting parameters identifying a trajectory force field boundary.

Optionally, the real-time spatial coordinates are obtained by an image acquisition method or a spatial coordinate solution algorithm.

Optionally, the method further comprises: classifying the training actions according to the simulated instrument types;

and storing the training action corresponding sum force field function corresponding to each training action type under each instrument type, or storing the training action corresponding sum force field function corresponding to each training intensity of each training action type under each instrument type.

Optionally, the method further comprises: the track parameters and/or the switching action types and/or the set motion intensities are changed according to the input of the user, or the track parameters and/or the switching action types and/or the set motion intensities are changed according to the input of the third-party interface.

Optionally, the method further comprises: simulating the physical mode of the action-corresponding device includes: generating a track force field simulating gravity downward aiming at the free weight instrument type; generating a track force field with a fixed track direction aiming at the type of the fixed instrument; for semi-fixed/rope type instruments, a trajectory force field is generated that moves around a virtual center of a circle.

The embodiment of the invention also provides a mechanical arm force field control system, which at least comprises: the force field control module, the motion control module and the mechanical arm, wherein,

the force field control module is used for determining force vector information which is required to be applied by the mechanical arm at the space coordinate according to the space coordinate of the tail end of the mechanical arm and the corresponding parameters of the training action, and sending the force vector information to the motion control module;

The motion control module is used for determining the magnitude and the direction of the total force which the mechanical arm should apply at a given space coordinate according to the force vector information, and sending a control instruction containing the magnitude and the direction of the total force to the mechanical arm;

and the mechanical arm is used for applying force according to the control instruction.

Optionally, aFurther comprising: further comprises: the force vector information

Can be expressed by the formula:

a is the trajectory force field boundary of the action;

b is the training intensity reached by the action selected by the user;

c (x, y, z) is the real-time spatial coordinates of the end of the robotic arm;

Optionally, the system further comprises a parameter input module for changing track parameters and/or switching action types and/or setting motion intensity to the force field control module.

Optionally, the system further comprises a mechanical arm tail end position input module for inputting mechanical arm tail end position information to the force field control module; the position information is obtained through an image acquisition method or a space coordinate solution algorithm.

Optionally, classifying the training actions according to the simulated instrument type;

and storing each training action type under the condition that the training action corresponds to the sum force field function corresponds to each instrument type in a force field control module, or storing each training intensity under the condition that the training action corresponds to the sum force field function corresponds to each instrument type in the force field control module.

The embodiment of the invention also provides an exercise machine, which comprises the mechanical arm force field control system.

Embodiments of the present invention also provide an exercise machine comprising: the mechanical arm, the sensor arranged on the mechanical arm, the processor and the memory storing the computer program, wherein the computer program executes the mechanical arm force field control method when being run by the processor.

The scheme of the invention at least comprises the following beneficial effects:

the mechanical arm force field control method and system provided by the invention use the total force field composed of the track force field and the boundary force field to drive the mechanical arm, specifically, three types of actions and corresponding boundary spaces set for three types of body-building apparatuses are combined with user setting parameters to calculate the total force field, the action types can be quickly switched, the movement intensity can be flexibly set, the track parameters can be quickly changed according to the physical condition of the user, and meanwhile, the safety of the user after exhaustion is ensured. The functions of the free weight instrument, the fixed instrument and the semi-fixed instrument can be simultaneously realized on one device without a plurality of mechanical parts, the weight is light, the occupied area is small, the purchasing cost is reduced, the problems of high safety risk of the free weight instrument, single exercise mode of the fixed instrument and limited adjustment capability are overcome, and the defects of huge volume, high price and high using threshold of the semi-fixed instrument/rope instrument are overcome.

Drawings

FIG. 1 is a schematic diagram of a robotic arm force field control system according to an embodiment of the present invention;

FIG. 2 is a schematic diagram of a spatial coordinate solution algorithm according to an embodiment of the present invention;

FIG. 3 is a schematic diagram of an image acquisition method according to an embodiment of the present invention;

FIG. 4 is a flow chart of a method for controlling a force field of a mechanical arm according to an embodiment of the present invention;

FIG. 5 is a schematic diagram of the type of strength training actions according to an embodiment of the present invention;

FIG. 6 is a schematic diagram of a force field control module data store according to an embodiment of the invention;

FIG. 7 is a schematic diagram of sum force field generation in an embodiment of the invention;

FIG. 8 is a schematic diagram of the operation of the robotic arm control system after the exercise goal is set by the user of the exercise machine in accordance with an embodiment of the present invention;

FIG. 9 is a schematic diagram of a key point definition method for determining the boundary of a trajectory force field in an embodiment of the invention;

FIG. 10 is a schematic diagram of boundary indication determining the boundary of a trajectory force field in an embodiment of the invention;

FIG. 11 is a schematic diagram of a path recording method for determining the boundary of a path force field in an embodiment of the present invention;

FIG. 12 is a schematic diagram of critical parameter definition determining trajectory force field boundaries in an embodiment of the invention;

FIG. 13 is a specific example of a class I action in an embodiment of the invention;

FIG. 14 is a specific example of a class II action in an embodiment of the invention;

FIG. 15 is a specific example of a class III action in an embodiment of the invention.

Detailed Description

Exemplary embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. While exemplary embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure may be embodied in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the disclosure to those skilled in the art.

As shown in fig. 1, an embodiment of the present invention provides a mechanical arm force field control system, at least including: the force field control module, the motion control module and the mechanical arm, wherein,

The mechanical arm can be driven by a motor, hydraulically driven, pneumatically driven and the like in various driving modes; may be a single arm or multiple mechanical arms; and can be any degree of freedom mechanical arm.

To simulate the physical modes of three types of exercise machines, the robotic arm may include three articulated sub-arms, such as AB, BC, and CD segments, that cooperate to simulate the physical modes of the machine corresponding to the various actions. Further, the simulating the physical mode of the action corresponds to the equipment includes: generating a track force field simulating gravity downward aiming at the free weight instrument type; generating a track force field with a fixed track direction aiming at the type of the fixed instrument; for semi-fixed/rope type instruments, a trajectory force field is generated that moves around a virtual center of a circle.

The motion control module is used for receiving control parameters sent by the force field control module, namely the resistance and the direction which are generated by the mechanical arm at a certain point in the space of the motion track. The control parameter is used as a control target of the mechanical arm, and the motion control module converts the control parameter into a specific control signal according to the characteristics of the controlled mechanical arm. Those skilled in the art can add various control strategies (such as PID, LQR, etc.) to this motion control module so that the robotic arm can quickly reach the control targets issued by the force field control module.

Further, the mechanical arm force field control system also comprises a parameter input module, which can comprise a plurality of information sources such as man-machine interaction, a third party data interface, a mechanical arm feedback signal and the like, and can also automatically generate related parameters by a computer algorithm so as to input different force training actions to the force field control module and/or change the related parameters or calculation parameters (such as the size, the direction, the boundary and the like) of the total force field.

Optionally, the training action corresponding parameters include a training action type, a training action type corresponding sum force field function, a trajectory force field boundary parameter, and/or a training intensity.

The tail end of the mechanical arm is often fixed with accessories such as a handle, a pedal and the like, which is the contact part of a user and the body-building mechanical arm, and the user realizes the body-building purpose by resisting the resistance of the tail end of the mechanical arm.

Further, the device also comprises a mechanical arm tail end position input module which can input the real-time space position of the mechanical arm tail end into the force field control module. The mechanical arm tail end position input module can come from a sensor of the mechanical arm, and other independent sensors can also be used.

The specific mechanical arm end position acquisition mode comprises an image acquisition method and a space coordinate solution algorithm, and specifically comprises the following steps:

(one) a spatial coordinate solution algorithm:

the spatial coordinate solution algorithm refers to a mechanical arm joint angle parameter obtained through a sensor, and the spatial coordinates of the mechanical arm end points are solved in a calculation mode by combining the known inherent geometric dimensions of the mechanical arm.

Taking two-dimensional planar motion as an example, a planar rectangular coordinate system is constructed as shown in fig. 2.

ABCD is the arm, and AB, BC, CD are the three sections of arm. AB can rotate around joint B, BC can rotate around joint C, DE is the horizontal base of arm, CD is fixed in DE perpendicularly.

The length of AB, BC, CD is known.

The joint B sensor can acquire the included angle between AB and BC in real time, and the joint C sensor can acquire the included angle between BC and DC in real time.

The geometrical relationship indicates that the x and y coordinates of the point a are:

x _A ＝x _B +l ₁ ×sin[α-(π-β)]＝l ₂ ×sin(π-β)+l ₁ ×sin[α-(π-β)]y _A ＝y _B -l ₁ ×cos[α-(π-β)]＝l ₃ +l ₂ ×cos(π-β)-l ₁ ×cos[α-(π-β)]

the space coordinate calculation method can be calculated according to different motion track characteristics, and is not limited to the calculation method.

(II) image acquisition method

The image acquisition method is a method of acquiring a relative positional relationship between an end point of a robot arm and a reference point by image acquisition and recognition, and calculating a spatial coordinate of the end point.

Taking two-dimensional planar motion as an example, a planar rectangular coordinate system is constructed as shown in fig. 3.

Knowing the actual length L of DE ₁ 。

Markers for easy identification are respectively arranged at three points A, D, E.

There is a camera out of plane that can take the real-time relative positional relationship of A, D, E.

The DE length in the image is l according to the relative position relation ₁ AD length of l ₂ The angle between AD and ED is alpha.

The actual length of the AD obtainable by calculation is:

as shown in fig. 4, a method for controlling a mechanical arm force field includes:

step 1, determining force vector information to be applied by a mechanical arm at a space coordinate according to the space coordinate of the tail end of the mechanical arm and corresponding parameters of training actions;

and 2, sending a control instruction containing force vector information to the mechanical arm.

In this embodiment, as shown in FIG. 5, the user's strength training activities are categorized into at least 3 categories according to the type of instrument being simulated. The force training motion of the simulated free weight instrument is referred to as "class I motion" (fig. 5 a), and the corresponding bounding space is referred to as "class I bounding space". Since the conventional free weight instrument is not provided with a boundary rail, the instrument always generates downward resistance under the action of gravity. The user's movements are performed in a boundary space with only a lower boundary (e.g., the ground). The strength training action simulating the use of the immobilization instrument is referred to as "class II action" (fig. 5 b), and the corresponding bounding space is referred to as "class II bounding space". Because the fixing device uses the mechanical limit rail, a user can only resist resistance along the rail, and the resistance direction is opposite to the movement direction and tangential to the rail. The user resists resistance in a boundary space, which is a straight line or curve, which is identical to the physical trajectory of the stationary instrument it simulates. The force training motion simulating a semi-fixed/rope type of instrument is referred to as "class III motion" (fig. 5 c), and the corresponding bounding space is referred to as "class III bounding space". When the semi-fixed apparatus/rope apparatus uses the rope, the force blocked by the user always points to the circle center of the rope along the rope, and the circle center can rotate freely, so that a semi-open boundary space is created. In addition, new action types can be added according to external third party APP input, user habits or personalized training targets.

The sum force field function f corresponding to the above actions _N-M May be pre-stored in a force field control module included in the robotic force field control system, as shown in fig. 6. Wherein, aiming at the actions of class I, class II and class III, … … and class NThe actions "store the sum force field functions corresponding to the sub-actions (I-1, I-2, … …, II-1, II-2, … …, III-1, III-2, … …, N-1, N-2) contained therein, respectively, to calculate the sum force field according to the selection of the user of the exercise machine. Alternatively, the corresponding sum force field functions may be stored for different training strengths for specific sub-actions included in different types of actions. The desired sum force field function may be determined by means of a query or search, in particular the corresponding sum force field function may be queried or searched for according to the entered action category, training intensity and/or trajectory force field boundary.

Further, the force vector information depends on the specific training actions under various training actions, the set trajectory force field boundaries, the training intensity selected by the user, and the relationship between the current position and the trajectory force field range. Force vector information

Can be expressed by the formula:

f _N-M is the sum force field function of the Mth action in the Nth action, wherein f _N-M Simulating a physical mode of equipment corresponding to the motion (namely generating a track force field) when C (x, y, z) is positioned inside the track force field boundary of the motion, and simultaneously superposing the maximum force (namely generating a boundary force field) of the mechanical arm which is vertical to the track force field boundary and is directed inside the track force field boundary when C (x, y, z) is positioned outside the track force field boundary of the motion. Finally calculated

Is the sum force field generated by the mechanical arm at position C (x, y, z), which is the result of the superposition of the trajectory force field and the boundary force field, and fig. 7 shows the sum force field in a typical two-dimensional space. Each summation force field is formed by the corresponding track force field and edgeThe boundary force field is formed by superposing vectors, and the principle is also applicable to three-dimensional space. The trajectory force field simulates the resistance generated by a conventional free weight/fixed/semi-fixed instrument/other device used in a certain strength training motion. The boundary force field simulates the limited access space defined by the conventional free weight/fixed/semi-fixed instrument used in a certain strength training motion.

A is the boundary of the track force field of the action, namely, the track force field is in a safe or user-set target movement range;

b is the training intensity reached by the action selected by the user; b can be input by a user through a man-machine interaction interface or a third party platform, and the training strength can correspond to training grade or training difficulty, for example, the training kilogram can be used;

c (x, y, z) is the real-time spatial coordinates of the end of the robotic arm;

FIG. 8 shows the operation of the robotic arm control system after the user sets the exercise goal, and before the exercise begins, the user determines the sum force field function f corresponding to the Mth action in the N-th action selected by the user through the parameter input module _N-M And setting a trajectory force field boundary A of the motion and a training intensity B of the motion. When the exercise is started, the mechanical arm tail end position input module transmits the space coordinate position C (x, y, z) of the tail end of the mechanical arm to the force field control module so as to enable the force field control module to use the sum force field function f _N-M Calculating a resistance vector to be applied by the mechanical arm aiming at the current space coordinate position

Motion control module with resistance vector- >

Feeding the robotic arm for control purposesAnd (5) row control.

Alternatively, the trajectory force field boundary may be set arbitrarily by the user according to his own body type, sports preference, etc. The trajectory force field boundary A of the action can be determined by a key point definition method, a boundary indication method, a path recording method and/or a key parameter definition method.

Key point definition method:

the key point definition method is a method that a system generates a trajectory force field boundary through a key point after defining a plurality of key points of the boundary. The method can be used for inputting the track force field boundaries of the I, II and III actions. FIG. 9 is a schematic diagram of a key point definition method for determining the boundary of a trajectory force field in an embodiment of the invention.

Taking class I instrument actions in a two-dimensional plane as an example, fig. 9a:

the trace force field boundary for a motion is shown in dashed orange line.

To enter this boundary, the user may move the end of the robot arm to point a and send the coordinates of this point to the force field control module in the input mode.

Thereafter, the robot arm end is moved to point B and the coordinates of this point are sent to the force field control module.

Thereafter, the robot arm end is moved to point C and the coordinates of this point are sent to the force field control module.

Thereafter, the robot arm end is moved to point D and the coordinates of this point are sent to the force field control module.

After finishing input, the system can be sequentially connected with A, B, C, D points to form the track force field boundary.

Taking class II instrument actions in a two-dimensional plane as an example, fig. 9b:

the trace force field boundary for a motion is shown in dashed orange line.

After the input is finished, the system can pass through A, B points to form the track force field boundary.

Taking group III instrument actions in a two-dimensional plane as an example, fig. 9c:

the trace force field boundary for a motion is shown in dashed orange line.

After finishing input, the system can connect the AB and AC points by using a straight line, judge the lengths of the AB and the AC (in the figure, the length of the AC is smaller than that of the AB), and connect the AB and the AC by using an arc (the circle center is the point A and the radius is the AC) so as to form the boundary of the track force field.

(II) boundary indication method:

the boundary indication method is a method of inputting by directly indicating the boundary of the trajectory force field. Input of boundaries commonly used for class I actions.

Taking class I instrument actions in a two-dimensional plane as an example, fig. 10:

the trace force field boundary for a motion is shown in dashed orange line.

To enter this boundary, the user may move the end of the arm from point a, through points B, C, D in sequence and finally back to near point a in the input mode.

In this process, the robot arm tip coordinates are recorded and sent to the force field control module.

After the input is finished, the system generates a track force field boundary according to the recorded path.

(III) a path recording method:

the path recording method is a method of generating a trajectory force field boundary by recording a desired motion trajectory. Input of boundaries commonly used for class II actions.

Taking class II instrument actions in a two-dimensional plane as an example, as shown in fig. 11:

the trace force field boundary for a motion is shown in dashed orange line.

To enter this boundary, the user may move the end of the arm from point a in the input mode, eventually reaching point B.

In this process, the robot arm end coordinates are recorded and sent to the force field control module.

These column coordinates constitute the path that we wish the robot arm to be moved.

Outside the path are boundary force fields, and the boundary between the boundary force field and the path is the boundary of the track force field.

And (IV) key parameter definition method:

the key parameter definition method is a method for generating a trajectory force field boundary by inputting key parameters of the trajectory force field boundary. The input of boundary a for class I, II, III actions is available.

FIG. 12 is a schematic diagram of critical parameter definition determining trajectory force field boundaries in an embodiment of the invention.

Taking class I instrument actions in a two-dimensional plane as an example, fig. 12a:

the trace force field boundary for a motion is shown in dashed orange line.

To input this boundary, the user can move the end of the arm to point a and send the coordinates of this point to the force field control module in input mode, assuming (x _A ,y _A )。

Thereafter, the robot arm end is moved to point C and the coordinates of this point are sent to the force field control module, assuming (x) _C ,y _C )。

The system can calculate the coordinates of the point B as (x) _A ,y _C ) The D point coordinates are (x _C ,y _A )。

And A, B, C, D points are sequentially connected to form the track force field boundary.

Taking class II instrument movements in a two-dimensional plane as an example, as shown in fig. 12b, one possible way is:

The trace force field boundary for a motion is shown in dashed orange line.

To input this boundary, the user can move the end of the arm to point a and send the coordinates of this point to the force field control module in input mode, assuming (x _A ，y _A )。

After that, the included angle a of the track force field and the horizontal plane is input, the track force field length L, the system can calculate the coordinates of the point B, and the assumption is that:

(x _A -L×cos a，y _A +L×sin a)

Taking class III instrument actions in a two-dimensional plane as an example, as shown in FIG. 12c, one possible way is:

the trace force field boundary for a motion is shown in dashed orange line.

Thereafter, an included angle a is input.

After finishing input, the system uses A as the center of a circle, AB as the radius, and B point location starting point to construct arc BC with an included angle a, and ABC forms the track force field boundary.

Of particular note is: in the method for determining the force field boundary, the key points and the paths can be acquired, and the indication can be performed through the position of the tail end of the mechanical arm or through the UI interface or the virtual interface.

When instructed through the UI or virtual interface, the system first loads a default trajectory force field boundary after selecting an action. This boundary may be specified by the device at the time of shipment, or may originate from a location saved when the user last used the same action.

The above examples are only examples, and not limiting of the implementation, and the skilled person may develop more input ways for boundary a. The device can be used alone or in combination for inputting the track force field boundary.

The following is a detailed example of various actions.

In this embodiment, taking a typical force training action of the class I action, namely barbell flat recumbent pushing, as shown in fig. 13:

when training with a conventional free weight apparatus, a barbell, the user lies flat and removes the barbell from the barbell stand, and the weight force applied to the barbell provides resistance to this action, as shown in fig. 13a. The force is determined by the barbell disc, and the direction is always vertical downwards. The motion track of the motion is not fixed-is fully open, and a user can move the barbell randomly in the plane.

In the process of simulating such movement by the apparatus of the present invention, as shown in fig. 13b, the trajectory force field is required to simulate the resistance force generated by the weight plate, and the size can be adjusted according to the user-set training intensity value, and the direction is always vertically downward. The boundary force field is the maximum resistance which can be generated by the mechanical arm at the point, and the direction is perpendicular to the boundary of the track force field space. During the user's attempt to move the robot handle to the boundary force field, which is used to define the movement space, a large resistance will be created preventing the user from moving the robot handle to the wrong position. For example, when the user attempts to move the handle below the home level, the boundary force field will oppose this displacement, which simulates the constraints of the barbell stand on the barbell during exercise with the self-weight instrument, creating a "virtual boundary". Currently, the applied resistance value may be set to the maximum value that the exercise machine can apply.

Taking a typical strength training action in class II action, smith machine squat, as shown in fig. 14:

when performing squat exercises using a conventional stationary instrument, the smith machine, the user stands in the middle of the smith machine, places the lever in a back shoulder position, and performs squat movements along a given trajectory of the smith machine, as shown in fig. 14a. The motion trajectory is completely fixed and the user must complete the motion within this trajectory.

In simulating such a motion by the apparatus of the present invention, as shown in fig. 14b, the trajectory force field is required to simulate the resistance created by the smith chart, which is adjustable in magnitude, by the user setting before the start of the exercise via the "parameter input module" in a direction diagonally down along the tangent line of the trajectory. The trajectory is set by the user through a "parameter input module" before the exercise begins. The resistance generated by the boundary force field is the maximum force which can be generated by the mechanical arm at the point of the boundary force field, and the direction of the resistance is perpendicular to the boundary of the track force field space. If the user moves the manipulator handle into the boundary force field, the manipulator will now create a large resistance and attempt to push the handle back into the trajectory force field. The effect that this produces is that the movement of the user in the trajectory force field space is most labour-saving, whereby the restriction of the movement trajectory of the user, i.e. the realization of a "virtual boundary", is achieved. Currently, the applied resistance value may be set to the maximum value that the exercise machine can apply.

Taking the typical strength training action in class III action, rope bending as an example, as shown in FIG. 15:

when training with a conventional semi-fixed instrument, the portal frame, the user stands facing the instrument, and after adjusting the weight, biceps bending is performed with the elbow as the axis, as shown in fig. 15a. Because the interface between the fixing device and the human body is a rope, the motion track is not fixed-semi-open, and the user can complete the motion in a sector. The amount of resistance is determined by the number of weights of the instrument, the direction of resistance being directed toward the free end point of the rope.

In the process of simulating such a movement by the apparatus according to the invention, as shown in fig. 15b, the trajectory force field needs to simulate the resistance generated by the weight of the gantry, which is adjustable in size, and is set by the user before the start of the exercise by means of the "parameter input module", the direction always points to a virtual center of circle. This virtual center is set by the user through the "parameter input module" before the exercise begins.

The resistance generated by the boundary force field is the maximum force which can be generated by the mechanical arm at the point of the boundary force field, and the direction of the resistance is perpendicular to the boundary of the track force field space. If the user moves the manipulator handle into the boundary force field, the manipulator will now create a large resistance and attempt to push the handle back into the trajectory force field. The effect that this produces is that the movement of the user in the trajectory force field space is most labour-saving, whereby the restriction of the movement trajectory of the user, i.e. the realization of a "virtual boundary", is achieved. Currently, the applied resistance value may be set to the maximum value that the exercise machine can apply.

Embodiments of the present invention also provide an exercise machine comprising: the mechanical arm force field control system.

It should be noted that, the apparatus includes the system corresponding to fig. 1, and all the implementation manners in the method embodiment are applicable to the embodiment of the apparatus, so that the same technical effects can be achieved.

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 solution. 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.

It will be clear to those skilled in the art that, for convenience and brevity of description, specific working procedures of the above-described systems, apparatuses and units may refer to corresponding procedures in the foregoing method embodiments, and are not repeated herein.

In the embodiments provided in the present invention, it should be understood that the disclosed apparatus and method may be implemented in other manners. For example, the apparatus embodiments described above are merely illustrative, e.g., the division of the units is merely a logical function division, and there may be additional divisions when actually implemented, e.g., multiple units or components may be combined or integrated into another system, or some features may be omitted or not performed. Alternatively, the coupling or direct coupling or communication connection shown or discussed with each other may be an indirect coupling or communication connection via some interfaces, devices or units, which may be in electrical, mechanical or other form.

The units described as separate units may or may not be physically separate, and units shown as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

In addition, each functional unit in the embodiments of the present invention may be integrated in one processing unit, or each unit may exist alone physically, or two or more units may be integrated in one unit.

The functions, if implemented in the form of software functional units and sold or used as a stand-alone product, may be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention may be embodied essentially or in a part contributing to the prior art or in a part of the technical solution, in the form of a software product stored in a storage medium, comprising several instructions for causing a computer device (which may be a personal computer, a server, a network device, etc.) to perform all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a usb disk, a removable hard disk, a ROM, a RAM, a magnetic disk, or an optical disk, etc.

Furthermore, it should be noted that in the apparatus and method of the present invention, it is apparent that the components or steps may be disassembled and/or assembled. Such decomposition and/or recombination should be considered as equivalent aspects of the present invention. Also, the steps of performing the series of processes described above may naturally be performed in chronological order in the order of description, but are not necessarily performed in chronological order, and some steps may be performed in parallel or independently of each other. It will be appreciated by those of ordinary skill in the art that all or any of the steps or components of the methods and apparatus of the present invention may be implemented in hardware, firmware, software, or a combination thereof in any computing device (including processors, storage media, etc.) or network of computing devices, as would be apparent to one of ordinary skill in the art after reading this description of the invention.

The object of the invention can thus also be achieved by running a program or a set of programs on any computing device. The computing device may be a well-known general purpose device. The object of the invention can thus also be achieved by merely providing a program product containing program code for implementing said method or apparatus. That is, such a program product also constitutes the present invention, and a storage medium storing such a program product also constitutes the present invention. It is apparent that the storage medium may be any known storage medium or any storage medium developed in the future. It should also be noted that in the apparatus and method of the present invention, it is apparent that the components or steps may be disassembled and/or assembled. Such decomposition and/or recombination should be considered as equivalent aspects of the present invention. The steps of executing the series of processes may naturally be executed in chronological order in the order described, but are not necessarily executed in chronological order. Some steps may be performed in parallel or independently of each other.

While the foregoing is directed to the preferred embodiments of the present invention, it will be appreciated by those skilled in the art that various modifications and adaptations can be made without departing from the principles of the present invention, and such modifications and adaptations are intended to be comprehended within the scope of the present invention.

Claims

1. A method of controlling a mechanical arm force field, the method comprising:

sending a control instruction containing force vector information to the mechanical arm;

the track force field boundary A of the action is determined by defining a force field boundary point position mode, inputting the track boundary by a user moving the mechanical arm, inputting a track path by the user moving the mechanical arm or inputting parameters for marking the track force field boundary;

when the real-time space coordinate of the tail end of the mechanical arm is outside the track force field boundary of the action, simultaneously superposing the mechanical arm maximum force which is vertical to the track force field boundary and the direction of which is directed into the track force field boundary;

the training action corresponding parameters comprise a training action type, a total force field function corresponding to the training action type, a track force field boundary parameter and training intensity.

2. The method as recited in claim 1, further comprising: the force vector information

Can be expressed by the formula:

a is the trajectory force field boundary of the action;

b is the training intensity reached by the action selected by the user;

c (x, y, z) is the real-time spatial coordinates of the end of the robotic arm;

3. The method according to claim 2, wherein the real-time spatial coordinates are obtained by an image acquisition method or a spatial coordinate solution algorithm.

4. The method as recited in claim 1, further comprising: classifying the training actions according to the simulated instrument types;

5. The method as recited in claim 1, further comprising: the track parameters and/or the switching action types and/or the set motion intensities are changed according to the input of the user, or the track parameters and/or the switching action types and/or the set motion intensities are changed according to the input of the third-party interface.

6. The method as recited in claim 2, further comprising: simulating the physical mode of the action-corresponding device includes: generating a track force field simulating gravity downward aiming at the free weight instrument type; generating a track force field with a fixed track direction aiming at the type of the fixed instrument; for semi-fixed/rope type instruments, a trajectory force field is generated that moves around a virtual center of a circle.

7. A mechanical arm force field control system, the system comprising at least: the force field control module, the motion control module and the mechanical arm, wherein,

the mechanical arm is used for applying force according to the control instruction;

8. The system of claim 7, further comprising: the force vector information

Can be expressed by the formula:

f _N-M is the sum force field function of the Mth action in the Nth action, wherein f _N-M Simulating the motion when C (x, y, z) is within the trajectory field boundary of the motionCorresponding to the physical mode of the equipment, when C (x, y, z) is outside the track force field boundary of the action, simultaneously superposing the maximum force of the mechanical arm which is vertical to the track force field boundary and the direction of which is directed into the track force field boundary;

a is the trajectory force field boundary of the action;

b is the training intensity reached by the action selected by the user;

c (x, y, z) is the real-time spatial coordinates of the end of the robotic arm;

9. The system according to claim 7, further comprising a parameter input module for changing trajectory parameters and/or switching action types and/or setting motion intensities to the force field control module.

10. The system of claim 7, further comprising a robotic arm tip position input module for inputting robotic arm tip position information to the force field control module; the position information is obtained through an image acquisition method or a space coordinate solution algorithm.

11. The system of claim 7, wherein the training actions are categorized by the type of instrument being simulated;

12. An exercise machine comprising a robotic force field control system as claimed in any one of claims 7 to 11.

13. An exercise machine, comprising: a robotic arm, a sensor provided on the robotic arm, a processor, a memory storing a computer program which, when executed by the processor, performs the method of any one of claims 1 to 6.