EP2720764A1

EP2720764A1 - Training devices, attachment sets, control circuits and method for controlling a training device

Info

Publication number: EP2720764A1
Application number: EP12733612.1A
Authority: EP
Inventors: Erwin PRASSLER; Walter Nowak; Sebastian BLUMENTHAL; Alexey Zakharov; Thilo Zimmermann
Original assignee: Locomotec Ug
Current assignee: Locomotec Ug
Priority date: 2011-06-14
Filing date: 2012-06-13
Publication date: 2014-04-23
Anticipated expiration: 2032-06-13
Also published as: US9370706B2; DE102011051054A1; EP2720764B1; DE102011051054B4; US20150025660A1; WO2012171956A1

Abstract

The invention relates to a training device, which can comprise a drive that can be configured for the locomotion of the training device and a control circuit that can comprise an interface configured for receiving a physiological parameter of a user of the training device. The control circuit can be configured to specify a speed of the drive based on the received physiological parameter.

Description

description

Training Equipment / Mounting Kits, Control Circuits and

Method for controlling a training device

Various embodiments relate to exercise equipment, attachment kits, control circuitry, and methods of controlling the exercise equipment. Ergometers are common exercise equipment designed to enhance a person's fitness and to increase the endurance and endurance of a person's cardiovascular system

improve. They find use both in the

Rehabilitation medicine, in the private sector or

Amateur sports, including professional sports.

Common types of ergometers are stationary ergometers,

Treadmill ergometer or rowing ergometer. Ergometers are

typically stationary and indoors for example in gyms, sports halls or fitness rooms set up.

Targeted outdoor training is either done with

Heart rate meters, which indicate via alarm signals leaving the ideal training area, or by

professional treadmill, the most controlled

Speed as the pacemaker precedes the exercising person.

The invention is based on the problem of providing a training device which allows the user, even without a professional treadmill, to do a good outdoor exercise tailored to his physical fitness and his ambitions. The problem is solved by methods, training devices, mounting kits for exercise equipment and control circuits with the features of the independent claims. Further developments emerge from the dependent claims.

In one embodiment, a exerciser may include a driver configured to propel the exerciser and a control circuit that may include an interface configured to receive a physiological parameter of a user of the exerciser. The control circuit may be configured for

Predetermining a speed of the drive based on the received physiological parameter,

In an embodiment, the control circuit may be further configured to drive the drive according to the predetermined speed.

In one embodiment, the drive may include wheels.

In one embodiment, the drive may include chains and / or beads.

In one embodiment, the drive may include legs.

In one embodiment, the drive may include means for changing a direction of travel of the exerciser.

In an embodiment, the control circuit may be further configured to regulate a predetermined direction of the exercise apparatus by means for changing the

Direction of movement.

In an embodiment, the control circuit may be further configured to reduce the predetermined

Speed based on a rate of change of direction of travel. In one embodiment, the exerciser may further include a

GPS signal receiving circuit included, which may be configured to receive a GPS signal. In an embodiment, the control circuit may be further configured to control the predetermined direction of the exerciser based on the captured GPS signal.

The exerciser may further include a direction sensor

included, which may be configured to determine an orientation of the training device.

In one embodiment, the direction sensor may be

Gyroscope and / or an accelerometer and / or compass (s).

In one embodiment, the control circuit may be further configured to control the predetermined direction of the exercise device based on the determined orientation.

In an embodiment, the control circuit may be further configured to specify a predetermined trajectory of the exerciser. In an embodiment, the control circuit may be further configured to drive the drive and

Driving the means for changing the direction of travel of the training device according to the predetermined path. In one embodiment, the exerciser may further include a distance sensor that may be configured to determine a distance of the exerciser from a

Obstacle. In an embodiment, the control circuit may be further configured to specify a Speed reduction of the drive based on a predetermined condition for the determined distance.

In one embodiment, the exerciser may further include an emergency stop switch that may be configured to determine a hazard situation. For example, a dangerous situation may be detected by removing the clip and activating an emergency stop associated therewith. In one embodiment, the control circuit may be further configured to specify a

Speed reduction of the drive based on a predetermined condition for the determined hazard situation.

In one embodiment, the exercise device may further include a sensor that may be configured to determine the at least one physiological parameter and to

Transmitting the determined physiological parameter to the control circuit via the interface.

In one embodiment, the at least one

physiological parameters a heart rate of a user of the exercise device and / or a respiratory rate of a

User of the training device and / or one

Oxygen saturation of a user of the exercise device and / or a skin conductivity of a user of the

Exerciser and / or body temperature of a

User of the training device and / or a blood pressure of a user of the training device and / or energy consumption of a user of the training device or be included.

In an embodiment, the control circuit may be further configured to increase the predetermined one

Speed based on a first predetermined

Condition for the received physiological parameter and for reducing the given speed based on a second predetermined condition for the received physiological parameter.

In one embodiment, wherein the control circuit may further be configured to set the speed such that the at least one physiological parameter is within a predetermined range.

In one embodiment, the predetermined range

be changeable with a continuous training time.

In one embodiment, the predetermined range

be changeable with a completed training track. In one embodiment, the predetermined range

be changeable with a current position of the

Training device.

In an embodiment, the control circuit may be further configured to set the speed based on a continuous training time.

In one embodiment, the control circuit may be further configured to set the speed based on a distance traveled.

In an embodiment, the control circuit may be further configured to set the speed based on a current position of the exerciser.

In one embodiment, the exerciser may further include a user input circuit that may be configured to receive a user input. The control circuitry may be further configured to specify the speed based on the received user input. In one embodiment, a mounting kit for a

Training device included a drive, set up for

Moving the training device, a fastening means, adapted for securing the drive to the

A training apparatus, and a control circuit including one for receiving a physiological parameter of a

User of the training device set up interface, included. The control circuit may be configured to set a speed of the drive based on the received physiological parameter. It will be understood that the phrase "training device for exercise device" and the following use of the term "exercise device" also include the case where the attachment kit is attached to a

existing vehicle is mounted, for example, to a standard stroller and thereby a vehicle for

Training device is made. The attachment kit may be part of the modular device design described below.

In one embodiment, the drive may include wheels. In one embodiment, the drive may include chains and / or beads.

In one embodiment, the drive may include legs. In one embodiment, the drive may be a means for

Change a direction of movement of the training device

contain.

In one embodiment, the control circuit may be further configured to regulate a predetermined direction of the exercise apparatus by means for changing the

Direction of movement. In an embodiment, the control circuit may be further configured to reduce the predetermined one

Speed based on a rate of change of direction of travel.

In one embodiment, the kit may further include a GPS signal receiving circuit that may be configured to receive a GPS signal.

In an embodiment, the control circuit may be further configured to control the predetermined direction of the exercise device based on the received GPS signal. In an embodiment, the mounting kit may further include a direction sensor that may be configured to determine an orientation of the training device.

In one embodiment, the direction sensor may be

Gyroscope and / or an acceleration sensor and / or compass (s).

In an embodiment, the control circuit may be further configured to control the predetermined direction of the exercise device based on the determined orientation.

In an embodiment, the control circuit may be further configured to specify a predetermined trajectory of the exerciser.

In an embodiment, the control circuit may be further configured to drive the drive and

Driving the means for changing the direction of travel of the training device according to the predetermined path.

In one embodiment, the mounting kit may further include a distance sensor that may be configured for Determining a distance of the exerciser from a

Obstacle.

In an embodiment, the control circuit may be further configured to specify a

Speed reduction of the drive based on a predetermined condition for the determined distance.

In one embodiment, the kit may further include an emergency stop switch that may be configured to determine a hazardous situation.

In an embodiment, the control circuit may be further configured to specify a

In one embodiment, the mounting kit may further include a sensor that may be configured to determine the at least one physiological parameter and to

In one embodiment, the at least one

physiological parameters an oxygen saturation of a

User of the training device and / or a skin conductivity of a user of the training device and / or a

Heart rate of a user of the training device and / or a respiratory rate of a user of the training device

and / or a body temperature of a user of the

Training device and / or a blood pressure of a user of the training device and / or energy consumption of a

User of the training device included or his. In an embodiment, the control circuit may be further configured to increase the predetermined one

Speed based on a first predetermined Condition for the received physiological parameter and for decreasing the predetermined speed based on a second predetermined condition for the received physiological parameter.

In one embodiment, the control circuit may be further configured to set the speed so that the at least one physiological parameter in a

given range lies,

In one embodiment, the predetermined range

be changeable with a continuous training time.

In one embodiment, the predetermined range

be changeable with a completed training track.

In one embodiment, the predetermined range

be changeable with a current position of the

Training device.

In an embodiment, the control circuit may be further configured to set the speed based on a continuous training time. In one embodiment, the control circuit may be further configured to set the speed based on a distance traveled.

In one embodiment, the kit may further include a user input circuit that may be configured to receive a user input. The control circuit may be further configured to specify the Speed based on the received user input. In one embodiment, a control circuit for controlling a training device may include an interface that may be configured to receive a

physiological parameter of a user of the control circuit. The control circuit may be configured to set a travel speed of the

Training devices based on the received

physiological parameters.

In an embodiment, the control circuit may be further configured to drive a drive of the

Training device according to the predetermined speed.

In an embodiment, the control circuit may be further configured to control a predetermined direction of the exercise apparatus by means for changing the

Movement direction of the training device.

In an embodiment, the control circuit may be further configured to reduce the predetermined one

Speed based on a rate of change of direction of travel.

In one embodiment, the control circuitry may further include a GPS signal receive circuit that

may be configured to receive a GPS signal.

In an embodiment, the control circuit may be further configured to control the predetermined direction of the exercise device based on the received GPS signal. In an embodiment, the control circuit may further include a direction sensor that may be configured to determine an orientation of the exercise device. In. an embodiment form, the direction sensor can

Gyroscope and / or an accelerometer and / or compass (s).

In an embodiment, the control circuit may be further configured to control the predetermined direction of the exercise device based on the determined orientation. In an embodiment, the control circuit may be further configured to specify a predetermined trajectory of the exerciser.

In an embodiment, the control circuit may further include an outdoor sensor, which may be configured to determine a distance of the exerciser from an obstacle.

In one embodiment, the control circuit may be further configured to specify a

In one embodiment, the control circuit may further include an emergency stop switch that may be configured to determine a hazardous situation.

In an embodiment, the control circuit may be further configured to specify a

Speed reduction of the drive based on a predetermined condition for the determined hazard situation. In an embodiment, the control circuit may further include a sensor that may be configured for

Determining the at least one physiological parameter and for transmitting the determined physiological parameter to the control circuit via the interface.

In one embodiment, the at least one

physiological parameters an oxygen saturation of a

and / or a body temperature of a user of the

User of the training device included or his.

Speed based on a first predetermined

Condition for the received physiological parameter and for decreasing the predetermined speed based on a second predetermined condition for the received physiological parameter.

predetermined range lies.

In one embodiment, the predetermined range

be changeable with a continuous training time.

In one embodiment, the predetermined range

be changeable with a completed training track. In one embodiment, the predetermined range may be variable with a current position of the

Training device. In one embodiment, the control circuit may be further configured to set the speed based on a continuous training time.

In one embodiment, the control circuit may further include a user input circuit that

may be configured to receive a user input. The control circuit may be further configured for

Specifying the speed based on the received user input.

In one embodiment, methods for controlling a exerciser may be provided. It can be one

physiological parameters of a user of the training device. A speed of a drive set up to move the exercise device may be specified based on the received physiological parameter.

In one embodiment, the drive according to the

predetermined speed are controlled. In one embodiment, a predetermined

Direction of the training device by means of a change the direction of travel of the training device is regulated.

In one embodiment, the predetermined

Speed can be reduced based on a rate of change of direction of travel.

In one embodiment, a GPS signal may also be received.

In one embodiment, further, the predetermined direction of the exerciser may be controlled based on the received GPS signal. In one embodiment, an orientation of the exercise device may be further determined.

In one embodiment, furthermore, the predetermined direction of the training device based on the determined

Orientation to be regulated.

In one embodiment, furthermore, a predetermined path of the training device can be specified. In one embodiment, furthermore, the drive for changing the direction of travel of the training device can be controlled in accordance with the predetermined path.

In one embodiment, a distance of the

Training device to be determined by an obstacle.

In one embodiment, a

Speed reduction of the drive can be specified based on a predetermined condition for the determined distance. In one embodiment, furthermore, a dangerous situation can be determined.

In one embodiment, a

Speed reduction of the drive can be specified based on a predetermined condition for the determined hazard situation.

In one embodiment, the at least one

physiological parameters an oxygen saturation of a user of the exercise device and / or a

Skin conductivity of a user of the training device and / or a heart rate of a user of the training device and / or a respiratory rate of a user of the

Exerciser and / or body temperature of a

User of the training device and / or a blood pressure of a user of the training device and / or energy consumption of a user of the training device or be included. In one embodiment, the predetermined

Speed may be increased based on a first predetermined condition for the received physiological parameter and / or the predetermined speed may be reduced based on a second predetermined condition for the received physiological parameter.

In one embodiment, furthermore, the speed can be predetermined such that the at least one physiological parameter is within a predetermined range.

In one embodiment, the predetermined range

be changeable with a continuous training time.

In one embodiment, the predetermined range

Exerciser, In one embodiment, further, the speed may be predetermined based on a continuous exercise time.

In one embodiment, further, the speed may be predetermined based on a distance traveled.

In an embodiment, further, the speed may be predetermined based on a current position of the exerciser.

In one embodiment, a user input may also be received and. the speed can be set based on the received user input.

Embodiments of the invention are illustrated in the figures and are explained in more detail below.

Figure 1 shows a training device according to a

Embodiment.

Figure 2 shows a training device according to a

Ausführungsbeispie1. Figure 3 shows a mounting kit according to a

Embodiment.

FIG. 4 shows a control circuit according to FIG

Embodiment. FIG. 5 shows a flow chart illustrating a method for

Controlling a training device according to a

Embodiment illustrated.

FIG. 6 shows an exemplary mechanical construction of a

Training device according to one embodiment.

FIG. 7 shows an exemplary schematic arrangement of

Components according to an embodiment.

Figure 8 shows an interconnection of the components according to a

Embodiment.

FIG. 9 shows a flow chart illustrating a method for

Selection of a manual control or

Program control illustrated according to one embodiment.

FIG. 10 shows a flow chart illustrating a method for

manual control illustrated according to an embodiment.

FIG. 11 shows a flow chart illustrating a method for

Program control illustrated according to one embodiment.

FIG. 12 shows examples of training programs according to FIG

various embodiments. FIG. 13 shows an illustration of a possibility for

Riehtungsänderung according to an embodiment.

Figure 14 shows an illustration of a security device according to an embodiment. FIG. 15 is a flow chart illustrating a manual direction control method according to an embodiment. FIG. 16 shows an example of a travel route according to a

Embodiment.

Figure 17 shows an illustration of a longitudinal distance according to an embodiment.

FIG. 18 illustrates the relationship between steering angle and maximum speed according to FIG

Embodiment. FIG. 19 illustrates a turn according to a

Embodiment.

FIG. 20 shows in a) a projection of sensor data into a

Raster (local map) and in b) a one-dimensional obstacle map in polar coordinates as polar

Obstacle image according to an embodiment, wherein gray marked WinkeIbe oak obstacles

correspond . FIG. 21 illustrates an evasion trip according to FIG

Embodiment.

Figure 22 shows a modular drive according to a

Embodiment.

FIG. 23 illustrates a creation of location-independent

Training programs according to one embodiment.

Figure 24 illustrates a creation or dependent

Training programs according to one embodiment. FIG. 1 shows a training device 100 according to a

Embodiment. The exerciser 100 may include a driver 102 configured to move the driver

Training apparatus, and a control circuit 104, which is one for receiving a physiological parameter of a

User of the training device may contain established interface. The control circuit 104 may be configured to set a speed of the drive

based on the received physiological parameter. The drive 102 and the control circuit 104 may be connected to each other via a connection 106. The compound can e.g. an electrical or an optical connection, e.g. a cable or a bus. In an embodiment, the control circuit 104 may be further configured to drive the drive according to the predetermined speed.

In one embodiment, the drive 102 may be wheels

contain.

In one embodiment, the drive 102 may include chains and / or tracks. In one embodiment, the drive 102 may be legs

contain.

In one embodiment, the drive 102 may include means for changing a direction of travel of the exerciser 100.

In an embodiment, the control circuit 104 may be further configured to regulate a predetermined one

Direction of the exercise device 100 by means for changing the direction of travel. In an embodiment, the control circuit 104 may be further configured to decrease the predetermined speed based on a rate of change of the

Direction of movement.

In one embodiment, exerciser 100 may further include a GPS signal receive circuit (not shown).

which may be arranged to receive a

GPS signal,

In one embodiment, the control circuit 104 may be further configured to control the predetermined direction of the exercise device based on the received GPS signal.

FIG. 2 shows a training device 200 according to a

Embodiment. The exerciser 200 may be similar to that shown in FIG. 1 training device 200 include a Antr eb 102. The exercise device 200 may, similar to the i-FIG. 1 shown training device 200 include a control circuit 104. The exercise device 200 may further include a

Directional sensor 202 included, which may be configured to determine an orientation of the exercise device 200. The drive 102, the control circuit 104 and the

Directional sensor 202 may be connected via a connection 204

be connected to each other. The compound can e.g. an electrical or an optical connection, e.g. a cable or a bus. In one embodiment, the direction sensor 202 may include or be a gyroscope and / or acceleration sensor (s) and / or compass (s).

In an embodiment, the control circuit 104 may be further configured to control the predetermined direction of the exercise apparatus 200 based on the determined one

Orientation . In one embodiment, the control circuit 104 may be further configured to specify a predetermined trajectory of the exercise device 200.

In an embodiment, the control circuit 104 may be further configured to drive the drive 102 and to drive the means for changing the drive

Movement direction of the training device according to the

predetermined path.

In one embodiment, exerciser 200 may further include a distance sensor (not shown)

may be configured to determine a distance of

Exerciser 200 from an obstacle.

In an embodiment, the control circuit 104 may be further configured to specify a

Speed reduction of the drive 102 based on a predetermined condition for the determined distance.

In one embodiment, exerciser 200 may further include an emergency stop switch (not shown)

can be set up to determine a dangerous situation.

In one embodiment, the exercise device 200 may further include a sensor that may be configured to

Determining the at least one physiological parameter and for transmitting the determined physiological parameter to the control circuit 104 via the interface. In one embodiment, the at least one physiological parameter may be a heart rate of a user of the exercise device and / or a respiratory rate of a user

User of exercise device 200 and / or a

Oxygen saturation of a user of the exercise device 200 and / or a skin conductivity of a user of the

Training device 200 and / or a body temperature of a user of the exercise device 200 and / or a blood pressure of a user of the exercise device 200 and / or a

Consuming a user of the training device 200 or be included.

In an embodiment, the control circuit 104 may be further configured to increase the predetermined one

Speed based on a first predetermined

In an embodiment, the control circuit 104 may further be configured to set the speed such that the at least one physiological parameter is within a predetermined range.

In one embodiment, the predetermined range

be changeable with a continuous training time.

In one embodiment, the predetermined range

be changeable with a completed training track.

In one embodiment, the predetermined range may be variable with a current position of the

Training device 200. In one embodiment, the control circuit may be further configured to set the speed based on a continuous training time. In one embodiment, the control circuit 104 may be further configured to set the speed based on a distance traveled.

In one embodiment, the control circuit 104 may be further configured to set the speed based on a current position of the exerciser.

In one embodiment, exerciser 200 may further include a user input circuit (not shown) that may be configured to receive a user input. The control circuit 104 may be further configured to specify the speed based on the received user input. FIG. 3 shows a mounting kit 300 according to a

Embodiment. The mounting kit 300 may be a training tool kit and a drive 302 configured to move the exerciser, a fastener 304 configured to secure the driver 302 to the exerciser, and a control circuit 306 including one for receiving a physiological parameter User of the training device set up interface, included. The control circuit 306 may be configured to specify a speed of the drive based on the received physiological parameter. The drive 302 and the control circuit 306 may be interconnected via a connection 308. The connection may be, for example, an electrical or an optical link, for example a cable or a bus. In an embodiment, the control circuit 306 may be further configured to drive the actuator 302 according to the predetermined speed. In one embodiment, the drive 302 may be wheels

contain .

In one embodiment, the drive 302 may include chains and / or tracks.

In one embodiment, the drive 302 may be legs

contain .

In one embodiment, the drive 302 may include means (not shown) for changing a direction of travel of the exerciser.

In one embodiment, the control circuit 306 may be further configured to control a predetermined one

Direction of the training device by means for changing the direction of movement.

In an embodiment, the control circuit 306 may be further configured to decrease the predetermined speed based on a rate of change in the direction of travel.

In one embodiment, mounting kit 300 may further include a GPS signal receiving circuit (not shown) that may be configured to receive a GPS signal.

In an embodiment, the control circuit 306 may be further configured to control the predetermined direction of the exerciser based on the received GPS signal. In one embodiment, the mounting kit 300 may further include a direction sensor {not shown) that may be configured to determine an orientation of the device

Training device.

In one embodiment, the direction sensor may be

Gyroscope and / or an acceleration sensor and / or compass (s). In an embodiment, the control circuit 306 may be further configured to control the predetermined direction of the exercise device based on the determined one

Orientation . In one embodiment, the control circuit 306 may be further configured to specify a predetermined trajectory of the exerciser.

In one embodiment, the control circuit 306 may be further configured to drive the driver 302 and to drive the means for changing the drive

Movement direction of the training device according to the

given Bah. In one embodiment, mounting kit 300 may further include a distance sensor (not shown) that may be configured to determine a distance of exerciser 300 from an obstacle. In an embodiment, the control circuit 306 may be further configured to specify a

Speed reduction of the drive based on a predetermined condition for the determined distance. In one embodiment, mounting kit 300 may further include an emergency shroud (not shown) that may be configured to determine a hazardous situation. In an embodiment, the control circuit 306 may be further configured to specify a

Speed reduction of the drive 302 based on a predetermined condition for the determined

Guidance situation.

In one embodiment, mounting kit 300 may further include a sensor (not shown) that may be configured to determine the at least one physiological parameter and to communicate the determined physiological parameter

Parameters to the control circuit via the interface.

In one embodiment, the at least one

physiological parameters an oxygen saturation of a

and / or a body temperature of a user of the

User of the training device included or his. In an embodiment, the control circuit 306 may be further configured to increase the predetermined one

Speed based on a first predetermined

In one embodiment, the control circuit 306 may further be configured to set the speed such that the at least one physiological parameter is within a predetermined range. In one embodiment, the predetermined range may be variable with a continuous training time.

In one embodiment, the predetermined range may be variable with a distance traveled.

Training device.

In an embodiment, the control circuit 306 may further be configured to set the speed based on a continuous training time. In one embodiment, the control circuit 306 may further be configured to set the speed based on a distance traveled.

In one embodiment, the control circuit 306 may further be configured to set the speed based on a current position of the exerciser.

In one embodiment, mounting kit 300 may further include a user input circuit {not shown) that may be configured to receive a user input. The control circuit 306 may further be configured to specify the speed based on the received user input. FIG. FIG. 4 shows a control circuit 400 according to FIG

Embodiment. The control circuit 400 may be a control circuit for controlling a exerciser. The control circuit 400 may include an interface 402 that may be configured to receive a physiological parameter of a user of the control circuit. The control circuit 400 may be configured to set a travel speed of the Training device based on the received physiological parameters.

In one embodiment, the control circuit 400 may be further configured to drive a drive of the

Training device according to the predetermined speed.

In an embodiment, the control circuit 400 may be further configured to regulate a predetermined one

Direction of the training device by means for changing the direction of movement of the training device.

In an embodiment, the control circuit 400 may be further configured to decrease the predetermined speed based on a rate of change of the travel direction.

In one embodiment, the control circuit 400 may further include a GPS signal receive circuit (not shown) that may be configured to receive a GPS signal

GPS signal.

In an embodiment, the control circuit 400 may be further configured to control the predetermined direction of the exerciser based on the received GPS signal.

In one embodiment, the control circuit 400 may further include a direction sensor (not shown) that may be configured to determine an orientation of the sensor

Training device.

In one embodiment, the direction sensor may be

Gyroscope and / or egg (s) Accelerometer and / or compass (s) included or be. In an embodiment, the control circuit 400 may be further configured to control the predetermined direction of the exercise device based on the determined one

Orientation .

In an embodiment, the control circuit 400 may be further configured to specify a predetermined trajectory of the exerciser. In an embodiment, the control circuit 400 may be further configured to drive the drive and to drive the means for changing the direction of travel of the exerciser according to the predetermined path. In one embodiment, the control circuit 400 may further include a distance sensor (not shown) that may be configured to determine a distance of the sensor

Training device from an obstacle. In an embodiment, the control circuit 400 may be further configured to specify a

Speed reduction of the drive based on a predetermined condition for the determined distance. In one embodiment, the control circuit 400 may further include an emergency stop switch that may be configured to determine a hazardous situation.

In an embodiment, the control circuit 400 may be further configured to specify a

In an embodiment, the control circuit 400 may further include a sensor that may be configured to determine the at least one physiological parameter and for transmitting the determined physiological parameter to the control circuit via the interface 402.

In one embodiment, the at least one

physiological parameters an oxygen saturation of a

Heart rate of a user of the training device and / or a respiratory rate of a user of the training device and / or a body temperature of a user of

User of the training device included or his. In an embodiment, the control circuit 400 may be further configured to increase the predetermined one

Speed based on a first predetermined

In an embodiment, the control circuit 400 may further be configured to set the speed such that the at least one physiological parameter is within a predetermined range.

In one embodiment, the predetermined range

be changeable with a continuous training time.

In one embodiment, the default range may be

be variable with a zurückgeleg en training range.

In one embodiment, the predetermined range

be changeable with a current position of the

Training device. In an embodiment, the control circuit 400 may be further configured to set the speed based on a continuous training time. In one embodiment, the control circuit 400 may further be configured to set the speed based on a distance traveled.

In an embodiment, the control circuit 400 may further be configured to set the speed based on a current position of the exerciser.

In one embodiment, control circuit 400 may further include a ^'user input circuitry (not shown), which may be configured to receive a user input. The control circuit 400 may further be configured to set the speed based on the received user input. FIG. 5 shows a flowchart 500 that describes a method for

Controlling a training device illustrated according to an embodiment. In 502, a physiological parameter of a user of the exerciser may be received. In 504, a speed of travel of the

Training device configured based on the received physiological parameters.

In one embodiment, the drive according to the

predetermined speed are controlled.

In one embodiment, a predetermined

Direction of the exercise device can be controlled by means for changing the direction of movement of the exercise device. In one embodiment, the predetermined

Speed can be reduced based on a rate of change of direction of travel. In one embodiment, a GPS signal may also be received.

In one embodiment, further, the predetermined direction of the exerciser may be controlled based on the received GPS signal.

In one embodiment, an orientation of the exercise device may be further determined. In one embodiment, furthermore, the predetermined direction of the training device based on the determined

Orientation to be regulated.

In one embodiment, furthermore, a predetermined path of the training device can be specified.

In one embodiment, furthermore, the drive for changing the direction of travel of the training device can be controlled in accordance with the predetermined path.

In one embodiment, a distance of the

Training device to be determined by an obstacle.

I an embodiment orm may further a

Speed reduction of the drive can be specified based on a predetermined condition for the determined distance.

In one embodiment, furthermore, a dangerous situation can be determined. In one embodiment, a

In one embodiment, the at least ei e

Skin conductivity of a user of the training device and / or a heart rate of a user of the training device and / or a respiratory rate of a user of

Exerciser and / or body temperature of a

In one embodiment, the predetermined

In one embodiment, the predetermined range

be changeable with a for running workout time.

In one embodiment, the predetermined range

be changeable with a completed training track.

In one embodiment, the predetermined range

be changeable with a current position of the

Training device. In one embodiment, further, the speed may be predetermined based on a continuous training time. In one embodiment, the speed may further be based on a distance traveled

be specified.

In one embodiment, further, a user input may be received and the speed may be predetermined based on the received user input.

In the following, further embodiments will be described.

In one embodiment, a self-propelled

Training device, as a pacemaker targeted movement or

Running training based on physiological measurements

supported, provided.

The invention relates to a self-propelled, manually

controllable or programmable training device for supporting outdoor running ("outdoor ergometer", in English: field ergometer) .The training device performs a similar function as a treadmill, the user of a variable speed over a

exposes you to alternating physical strain and, with regular use, leads to a better fitness and a higher resilience and endurance of the user's cardiovascular system in the medium and long term. Unlike a treadmill, however, said exercise device is not stationary. Rather, it is configured as a vehicle driven by one or more motors with a variable one Speed as a pacemaker before the user drove and this gives the Laufgesch indigkeit.

The driving speed of the training device is determined by a control unit via a direct speed setting or indirectly as a function of a physiological measured value of the user ("biosignal" for short), such as

Heart rate or respiratory rate or even one

predicted energy consumption. In the case of indirect control over a physiological measured value, this is determined via a suitable sensor, e.g. a heart rate monitor measured and transmitted to a control computer. This compares the control variable with a predetermined measured value, calculates a correction value, for example a

Difference value, and corrects the speed of the

Vehicle accordingly.

The exerciser is in several configurations

executable: only speed control (manual or program controlled, directly or indirectly via physiological

Measured values); Cruise control and

Direction stabilization; Autopilot (automatic departure of a training route); Autopilot with automatic

Obstacle avoidance; Modular device design for mounting on stroller, golf trolley or walking aids.

In various embodiments, a self-propelled, manually-controllable or programmable exercise equipment may be provided to assist outdoor running training.

FIG. 6 shows an exemplary mechanical structure of a training device 600 according to one exemplary embodiment. FIG. 6A shows a side view, FIG. 6B is a front view and

FIG. 6C is a plan view. The exerciser 600 may have one or more drives, such as wheels 602, a rack 606, and a handlebar 604. FIG. 7 shows an exemplary schematic arrangement 700 of components according to an exemplary embodiment. Sub a) shows a top view 700 of a training device, b) shows a detailed view of a drive unit 708, and c) shows two embodiments of a safety device 714.

FIG. 8 shows an interconnection 800 of the components according to an exemplary embodiment,

It will be understood that the following utilization of components need not be complete and that not all of the listed components must be included. Each of the following components is a basic version of the

Training device may be shown in the figures with continuous lines. Components that

Part of extensions are with

shown broken lines. The exerciser may contain the following major and minor components:

- Chassis 600 with

Frame 606 with axes 702,

• wheels (three or more) or caterpillars or skis or

Combination of these 602,

Support for drive unit and power supply 704,

Steering column 706 with handlebar 604,

- Drive unit 708 with

Motor 730 (one or more, for example electric motor and / or internal combustion engine),

Gear 716,

Measuring device for measuring the driving speed and distance ("speed / distance meter ^M ) 718,

• engine control 720,

· Power supply, for example 722 power supply via battery with charging connection, - Control circuit, such as a control unit 710, with

• Calculator 814 with

Receiver for physiological measurements 816,

• Device for driving direction measurement

("Direction sensor"), e.g., digital compass, gyroscope or inertial measuring unit 802,

• Device for global positioning

("Position sensor"), e.g., GPS 80,

• obstacle detection device

("Obstacle sensor") 806, connected to a device for determining the rotation angle (roll, turn and tilt angle) of the obstacle sensor to his

Main axes,

• connection to input / output unit,

Connection to engine control,

Connection to safety switch,

Connection to PC,

Connection to the power supply,

- Input / output unit 712 with

On / off switch 812,

Input / output panel 810,

Directional input element 808, e.g. Button, rocker switch, control lever,

• control lever for direction and speed change, additional controls (switch or lever),

- Sensor for physiological parameters (heart rate,

Respiratory rate or other physiological readings for

Monitoring the cardiovascular system) ("Biosignalmesser") 818,

- Safety device 714 with

• Safety switch 724,

• safety plug or clip 726,

• Safety Leash 728, and

• Safety belt (around hips or wrist). The control computer 814 may be coupled to the direction sensor 802, the position sensor 804 and the obstacle sensor 806 via a serial connection or serial bus 828. All components shown may be coupled via an electrical or optical connection 830. The biometric signal generator 818 (in other words the physiological parameter signal generator) can communicate with the receiver for

Biosignals 816 (in other words: the receiver for

physiological signals) via a wireless or

be coupled to a wired connection 832.

The following describes a simple device version.

One component of the controller (in other words, the control circuit) is the control computer 814, either as an embedded PC (embedded PC) or alternatively as a

Microprocessor can be designed with appropriate interfaces. The control computer is connected via signal lines, which are designed as an interrupt signal, serial interface or as a serial bus, with all other components of the control circuit. From the power supply 722, such as a battery, the control computer is powered. It reads corresponding inputs from the input / output unit 712 and physiological measurements from the receiver 816. Based on these inputs and signals, it calculates appropriate control settings for the receiver

Motor controller 720. The computer is connected to the safety device 714 via an interrupt signal or a periodically interrogated serial line. The control computer can be connected to an external interface via a serial interface

Computer and exchange data and programs with it.

The engine controller 720 has power electronics that dictate the rotational speed and direction of rotation of the motor. The engine controller 720 is via a serial

Line connected to the control computer and receives from this Speed specifications. If the training device is equipped with several Äntrxebsmotoren, then these are usually controlled by several engine controls, which are connected in the same way with the control computer. Mechanically connected to the engine is a transmission 716 which adapts the speed and power of the engine. With the

Transmission is connected to a signal transmitter 718, the

Rotational speed of the wheel and derived given the wheel circumference derived from the travel path. Engine and

Motor control are powered by the power supply 722 with the necessary drive power.

The connection between power supply and motor and

Motor control leads via the safety device 714. If the safety chip or plug 726 from the

Safety device removed, then the

Power supply of the engine and the engine control

interrupted and the drive of the training device is

disabled.

The switching on and off of the training device, the selection of programs, the input of control variables, the output and the particular graphical representation of control and

Measured variables take place via the input / output unit 712. The input / output unit consists of the subcomponents

On / off switch 812, input / output panel 810, element for

Direction specifications 808, as well as other input / output elements for direction and speed changes. It is connected to the control computer via a serial interface. Optionally, the on / off switch 812 and the input / output panel 810 may be integrated with the control computer in one unit. The input element for

Direction specifications 808 and the further input / output elements (404 and 405) are then connected separately via serial connections to the control computer. The sensor for physiological parameters {"Biosignalmesser")

818 is worn and measured by the user on the body

characteristic parameters such as heart rate, respiratory rate or other physiological parameters for monitoring the cardiovascular system. By means of radio or light waves, these are first transmitted to the receiver for physiological measured values 816 and then via a serial connection to the control computer 814. Possible extended embodiments are described below.

The simple configuration of the training device can be extended by several components in order to realize additional functionalities,

The direction sensor 802, for example, a digital

Compass, serves to determine the direction of travel of the

Training device and is connected to the control computer 814 with a serial connection or a serial bus as ÜSB

connected. This asks at regular time intervals from the current direction of the vehicle. The direction sensor comes with the automatic described later

Directional stabilization, the autopilot function and the

Obstacle avoidance used.

The position sensor 804, for example a sensor, determines its position from a satellite-based global

Positioning system such as NAVSTAR-GPS, Galileo or GLONASS {Russian for Globalnaya Nawigazionnaj a Sputnikovaja Sistema, i. in German: Global satellite navigation system), serves to determine the position of the

Training tool. To increase the accuracy can

Corrective additional systems such as WAAS (Wide Area Augmentation System) or EGNOS (European Geostationary Navigation Overlay)

Service, ie in German: European geostationary Navigation Overlay Service)

(Accuracy for example between 1 and 3 m) or

possibly also the signals of several

Positioning systems are used simultaneously. The position sensor is also connected to the control computer 814 via a serial link or a serial bus. The control computer reads the position data of the sensor at regular intervals via the serial connection. The position sensor comes in the later described

Autopilot function and obstacle avoidance,

As Obstaclesso (en) 806 distance-measuring 2D or 3D sensors are used. For example, ultrasonic sensors such as those used in parking aids, 2D or 3D laser range finders or

Microwave radars, as they are also in the

Automotive industry for distance measurement or distance control already in use. Particularly suitable are those sensors which have a range within which the training vehicle can be brought to a standstill in front of an object at maximum speed and maximum deceleration. The obstacle sensors are attached to the training vehicle such that their detection area covers the space on the route that the vehicle can assume at any permitted directional changes from the current position.

FIG. 9 shows a plus diagram 900 illustrating a method of selecting a manual control or program control according to an embodiment.

When powering up in unit 902, controller 710 with all of its components, input / output unit 712, and motor controller 720 are activated.

On the input / output panel 810 appears an interactive menu guide with different displays or Visualizations for physiological measurements {eg

present value, average value, maximum value, time course of the heart rate, calorie consumption,

Respiratory rate), for receiving strength of the physiological

Signals, for system states of the device such as (current, average, maximum, time) of the speed, battery level, distance traveled and for environmental data such as temperature. After powering up the device, control computer 814 checks in 904 whether security plug 726 is in place with it

fastened safety line 728 is connected to the safety switch 724 or are introduced into the safety switch and waits for entry of input / output panel 810. Without connection, the training device can not be moved

(Power supply from power supply to motors is

interrupted). The user is notified and asked to connect. The user can select in 906 whether he wants to speed the vehicle by manually entering setpoints

(Speed or physiological parameters) wants to control in 908 or whether he has a training program in 910

wants to activate, over which the speed of the

Training device is then controlled automatically.

After the end of the operation, the exerciser becomes 912

switched off . FIG. 10 shows a flowchart 1000 illustrating a manual control method according to an embodiment

illustrated.

After selecting the option "manual control", the

Users on the input / output panel 810 in 1002 select whether they want to specify the speed of the exerciser directly (speed control) or whether the speed is to be controlled indirectly as a function of a physiological parameter ("biosignal control").

After selecting a setpoint in 1004 or one

In 1006, the user must activate the switch or the "Start" button on the input / output panel to start the vehicle.

After activating the switch or the "Start" button on the input / output panel, the computer in 1010 starts to measure or determine the actual value v _{m of} the selected signal (physiological parameter or speed) in 1008 at regular intervals computer compares the measured and filtered signal with the predetermined desired value v _s, and determines the difference between the two signals. via a control method, the difference between the actual value v _m and setpoint values are in 1012 v _s of the signal and minimizes and corresponding control signals to the motor controller (720 ) transmitted .

The user activates the "Break" button in

1014, then the speed of the exerciser is reduced to zero and the device is stopped.

Will the safety plug in 1014 while driving

removed, then the power supply to the motors is interrupted as described below. The vehicle also comes to a standstill in 1020th At the same time

Setpoint for the controller set to zero. Will the

Security connection is restored, then the training device continues its journey in 1022 and 1024, unless the user completes the drive by activating the

Exit button, in which case the

Training device reset in 1026. The user has the possibility to change the setpoint of the control signal in 1018 while driving over corresponding fields in the input / output unit {810}, and his load and accordingly the speed of the

Training vehicle to increase or decrease.

FIG. 11 shows a flowchart 1100 illustrating a method of program control according to an embodiment

illustrated, wherein steps similar to steps of the in FIG. 10 described method are the same

Reference signs may have and can be dispensed with duplicate description.

Training programs can be loaded onto the control computer 814 via a temporary connection to an external computer 826, for example via a serial connection (by wire, radio or light). Alternatively, training programs can also be created via an editor directly on the control computer. A training program consists of a sequence 1200 of nominal values {speed or physiological

Parameters) that are valid for a certain amount of time or distance, as shown in FIG. 12 shown.

The training program is processed by the control computer in a similar manner as if the user manually entered a soli value and operated the vehicle for some time or some distance with this setpoint before manually entering the next value until training is completed.

In 1102, the exercise program is selected and started.

In 1104, a count variable i is set to 0 and a

Program length L is set according to the selected program.

In step 1108, the control computer accesses the next not yet referenced entry in the sequence, takes this as a new setpoint and regulates for one

given time the driving speed of

Training device directly or indirectly with this setpoint. After expiration of the time interval or after traveling the path length (which can be done, for example, by reading the measured values in 1110 and subsequent comparison in 1114), the control computer accesses the next entry in the sequence and repeats the procedure just described until the sequence is complete is finished

(for example, until i equals L in 1106).

The device comes to a standstill in 1020 when either the user activates the "Interrupt" button in 1014 or the training program is completed (case i = L in

1106) or the safety plug is removed. In all cases, the control computer reduces the speed of the

Training device to zero. On the input / output panel 810, two buttons "Quit" and "Continue" appear in the first two cases. To actually quit the exercise program, the

Users who activate the corresponding button, the user wants to interrupt the training program only temporarily - for example, to a training break

To insert - and continue it at a later date, then he can do so by activating the button

"Continue" do. The program is then at the

continued interrupted place. If the user ends the program, then the vehicle is reset to the initial state and can be switched off.

FIG. 13 shows an illustration 1300 of a direction change option according to one embodiment. In one embodiment, only the travel speed of the exerciser may be automatically controlled as described above. The kinematics of the vehicle allow movement only in a fixed direction. Once set in motion, the exerciser moves in this one fixed direction until it is stopped either by reducing the

Speed or by triggering the safety switch or by an obstacle.

Unintentional changes in direction, which can be caused by one of the drive wheels, for example, over an unevenness leads or slips are not compensated. The vehicle can therefore move away from the direction of travel if the direction of travel is not corrected by the user.

A change or correction of the direction of travel of the

By way of example, exercising a low force on the handlebar down toward the ground, the user can lift the front wheel of the exerciser (as shown in FIG. 13), the vehicle over the wheels of the rear axle in the desired new direction then lower the front wheel to the ground by releasing the pressure on the handlebar. The exerciser moves in the new direction until it is stopped or the direction is changed again.

FIG. 14 shows an illustration 1400 of FIG

Safety device according to one embodiment.

For the safe operation of the vehicle, it may be desired that the training vehicle can never independently move beyond a predetermined maximum distance. If this distance is exceeded, then the training vehicle must be slowed down and stopped under all circumstances. The following is an example Safety device described which the just

function described fulfilled.

In one embodiment, as shown in FIG. 14 shows the exerciser and the user through a

Security line 728 be connected. An end to this

Safety leash is connected to the wrist or hip of the user. The other end is connected to a safety plug or chip 726 which is inserted into the safety switch 724 and provides an electrical connection between

Motor (s) and power supply (see FIG 7 c).

If the user can no longer follow the training device, for example, due to fatigue, distraction or even injury, then the safety line is stretched and removed with increasing train the safety plug or chip from the safety switch.

As a result of this removal, the connection between motor (s) 730 and power supply 722 is interrupted and the device is braked, for example by an engine brake, and comes to a standstill. The program execution on the control computer is interrupted. The computer goes into a waiting position and informs the user of the interruption of the

Security connection via the input / output unit.

If the user inserts the safety plug 726 back into the safety switch 724, then the control computer continues the training ride by increasing the speed of the

Training vehicle as long increased until the measured value for the control signal equalizes the target value.

As long as the user does not use the exercise machine through the

Activation of the buttons "Start" or "Continue" sets in motion, the control computer controls the speed of the training device to zero. This means that the Drive motors are blocked and the device is not

moved or can not be moved.

During this state, a "brake release" button appears on the input / output unit, only by activating this button the user can release the drive motors or wheels and move the device as desired by physical force

Device execution described with directional stabilization.

A training device with directional stabilization is similar to the simple device design in particular with regard to the safety orrichtung and with regard to the setting and the regulation of the speed of the vehicle. As in the simple device design, the training vehicle

be controlled either by a training program or manue11. In addition, the exerciser can be used in a fixed

predetermined direction are controlled and unintentional changes in direction, for example, be compensated by bumps automatically.

A device version with directional stabilization can be two or more drive motors 730, for example as

In addition, one or more steerable wheels, in addition a directional sensor 802 (e.g., digital compass, gyroscope, or inertial measurement unit), are additionally provided, one or more directional input input elements 808 (e.g., knob, rocker switch, control lever) and single mechanical or electric wheel brakes for two or more wheels

contain .

The direction of travel can be set as follows before driving. After setting the setpoint over which the

Speed of the vehicle is regulated, respectively

Selection of a training program and before the user Training device starts ("Start" button is

deactivated}, the user must specify the initial direction of travel (request is made via the input / output unit

displayed). For this purpose the user has the

Align the exerciser in the desired direction and activate the directional input member 808 on the handlebar for several seconds (e.g., pressing a

Button "(Ride) direction")

If necessary, the control computer also reads the direction value which the direction sensor indicates several times. Subsequently, the control computer determines from the

Directional sensor read direction values a new one

Target direction for the training vehicle. This desired direction can be, for example, the mean value of the read values of the direction sensor. After that, on the

The user is able to start the exerciser by pressing / touching the button Fig. 15 shows a flow chart 1500 illustrating a method of manual control with directional stabilization according to one embodiment, steps similar to steps of the method described in FIG.10 can have the same reference numerals and duplicate description can be omitted.

The user may set biosignal setpoints (in other words, the physiological parameter or the

physiological parameters) and / or specify the speed and / or desired direction in 1502.

While driving, the control computer reads in 1506 in

regular intervals from the current course from the

Directional sensor (which measures the direction in 1504) and

compares this current value with the target direction. If the actual direction of travel deviates from the desired direction, then the control computer changes the rotational speeds of Drive motors, for example, by appropriate specifications to the engine governor or by activating a brake to the difference between the actual direction of travel and

Target direction in 1508 to minimize. The

Direction stabilization is interrupted as soon as the user activates the direction input input element.

In 1510, the setpoint values for the biosignal (in other words, the physiological parameter or the

physiological parameters) and / or the speed and / or desired direction.

Flowchart 1500 is a flow chart illustrating the directional stabilization with manual control

combined. A similar procedure results for the combination of direction stabilization and

Program control.

Changes in direction of the training device while driving are feasible in different ways. In the following example, several variants are described:

- raising the front wheel and activating an input element for {travel) direction,

- control lever for direction and speed change, and

- Mechanical or electric single wheel brake.

The following is a change of direction by lifting

Front wheel and activate an input element for

(Driving) direction described. The user activates the input element for (travel) direction 808. While the

Input element is activated, no automatic

Course correction performed. All drive wheels rotate at the same speed. With the input element activated, the user lifts the front wheel of the car as described above Training device, turns the device in the desired

Driving direction and then sets the front wheel off again. After setting the front wheel, the user keeps the input element activated for several seconds. As long as the input element is activated, the control computer reads one or more

Directional values from the directional sensor. After deactivating the input element (releasing the switch or lever) calculates the control computer, for example via the

Mean value from the read direction values a new one

Target direction for the training vehicle.

The following is a change of direction by a

Control lever for direction and speed change described. In this embodiment, the

Input element for (travel) direction 808 combined with a control lever for direction and speed change.

This control lever can be like the control lever of a

Remote control can be tilted in all directions. Reference point for directions "left", "right", "front", "rear" is the user. An inclination to the front or to the rear serves as an indication that the speed of the training device should be increased or reduced. A tilt to the right or to the left serves as an indication that the direction should be changed to the right or to the left. In the case of an inclination of the control lever to the right or left, the control computer changes the rotational speed of the wheels,

for example, by increasing or decreasing the speed of the motors until the user returns the control lever to the neutral position, thereby signaling that the desired direction of travel has been achieved. The control computer determines the new setpoint direction for the control by reading the direction from the RiehtungsmessInstrument after returning to the neutral position and calculates therefrom a suitable method, the new target size for the direction of travel. The automatic control of the driving speed of the training device is exposed during de direction change or by the specifications of the control lever overwritten. After return of the lever to the neutral position, the automatic control of

Driving speed of the training device active again and the exerciser returns to the original speed. If the control lever is tilted forward or backward, then increases or reduces the control computer, the speed of the training vehicle, until the

User the control lever in the neutral position

returns. During this process, the automatic regulation of the driving speed of the training device

exposed and by the specifications of the control lever

overwritten . After return of the lever to the neutral position is automatic control of

Driving speed of the training device active again and the exerciser returns to the original speed.

The following is a change of direction by a

mechanical or electric Einzelradbremse described. In this embodiment, the training device is equipped with a device that allows individual reduction of the speed of the drive wheels. The

mechanical design of the device consists of two brake levers, which are mounted as in a bicycle on the left and right side of the handlebar. The two brake levers are connected by a brake cable with

mechanical shoe brakes. The electrical configuration of the device consists of two rocker switches, like the

Brake lever is mounted on the left and right side of the handlebar. Both switches are connected to the control computer. When the user actuates the rocker switch on one side of the exerciser, the control computer reduces the rotational speed of the motor of the drive wheel on that side until the user returns the switch to the neutral position. If both switches are activated, the control computer accordingly reduces the

Rotational speed of the motors of both drive wheels. The automatic regulation of the driving speed of the

Training device is disabled during the operation of the rocker switch and overwritten by the specifications of the switch or. After returning the switch or switch (s) in the neutral position is automatic control of

Driving speed of the training device active again and the exerciser returns to the original speed. In one embodiment, an autopilot function device may include, in addition to directional stabilization, a device that provides locomotion along a series of waypoints and an autopilot function

location-dependent direction determination to achieve this

Waypoints allowed. The operation of the autopilot is described below.

An embodiment with autopilot function can

In addition to the device version with directional stabilization via a position sensor 804.

In the following, a movement along a sequence of waypoints will be described. FIG. 16 shows an example 1600 of a route according to an embodiment.

In contrast to the speed control, which is largely location-independent and with aspects of running training

is related, the direction of travel of the training device is highly location-dependent. The direction changes that go beyond the directional stabilization, take place at certain locations, so-called waypoints. These waypoints are unambiguously described by global coordinates (eg Longitude) - latitude (latitude). The trajectory of the exerciser is marked by a sequence of waypoints as shown in FIG. 16 shown. The

Distance between two consecutive waypoints can also be referred to as a path segment. The waypoints or path segments can be stored, for example, in a list that can be accessed sequentially by the control computer.

For an efficient representation of the driving route, waypoints are sufficient at which a change of direction is to be made, for example in curves or at junctions. However, it may be desirable to have significantly more waypoints

use. A detailed representation of the route over a higher number of waypoints allows, for example, a more detailed tracking and allows it to better take into account terrain and lane conditions such as lane constrictions and adjust the route accordingly.

When operating in autopilot mode, the training device automatically moves from waypoint to waypoint until the last waypoint has been reached and the route has completely traveled.

To determine the current position of the

Training device reads the control computer while driving continuously measured by the position sensor 804

Position values and determines the geographical distance between current position and controlled

Waypoint. The control computer considers a waypoint as reached if both the absolute distance d (p _G , wp _k ) and the

(Longitudinal-) distance dj (p _G , wp _k ) between the projection of the currently driven waypoint on the

Vehicle centerline and a reference point on the vehicle falls below a predetermined minimum value as in the illustration 1700 in FIG. 17 shown. The control computer then selects the next waypoint in the

List and look at it next to reach

Intermediate target. If there is no other waypoint in the list, the destination of the route is reached and the training vehicle stops.

Hereinafter, a determination of the direction of travel according to an embodiment will be described. The current position of the exerciser and the location of the currently selected waypoint also determine the setpoint for the direction of travel of the exerciser. The shortest connection of two points on the earth's surface is called orthodrome.

To determine the direction of travel of the training device can be used from the nautical the formula work for the calculation of the course angle along an orthodrome. The calculated heading angle1 is given to the direction stabilization as a target direction. As described, the direction stabilization compares the direction read out of the direction sensor with the desired direction and, if necessary, makes a direction correction.

Hereinafter, an interaction of autopilot function and speed control according to an embodiment will be described. The operation of the autopilot and the associated

automatic direction control is usually done in

Interaction with a training program that directly or via physiological measurements, the speed of the

Training vehicle controls. The following description initially refers only to this mode of operation in which the

Autopilot is used in combination with a training program. When driving straight ahead and making slight changes in direction, the directional control and speed control of the

Training device independent. The directional control does not affect the speed control and the speed control does not affect the

Directional control.

A clear interaction between directional control and speed control results when driving in a curve. In this case, too high a speed or too abrupt change of direction to an unstable position of

Lead the exerciser. In order to avoid these interactions, however, it is not necessary that the training programs be modified so that the ultimately derived speed of the vehicle does not lead to any unstable situations. The

Training programs do not necessarily have to be subordinated to the requirements of the autopilot function.

Rather, the stability of the vehicle and compliance with minimum curve radius or maximum

Curve speed can be achieved via appropriate settings in the control of the exercise machine, which then to short-term deviations from the programmed

Speeds or physiological parameter and from the (on the location of the waypoints) given directions could lead.

Even though the training programs are independent of the

Requirements of autopilot function (automatic

Directional Control) can be developed

be desired when creating a

Training profile on the conditions and characteristics of a route is taken into account. Otherwise, there is a risk that the training rhythm by the autopilot is unnecessarily impaired. So it makes sense, for example, both the length of the route and the individual route segments as well as the location of the waypoints in the

Development of interval training.

The steering mechanism for cornering or for

Direction changes to waypoints are below

described. The following is an example method for

Direction changes to waypoints described.

If the training device approaches a waypoint, the autopilot may need to make a direction correction, depending on the location of the following waypoint. The future direction of travel of the training device results from the location of the currently selected waypoint and the following waypoint. She will after the above

described method for the calculation of the course angle along an orthodrome from the coordinates of these two points.

Because big, abrupt changes of direction at a fixed

Speed lead to an unstable position of the training device and possibly also the training process

A curve radius r _min and a curve speed v _{max are} defined whose values must not be exceeded or exceeded when the direction changes.

The relationship between minimum and maximum values for curve radius, steering angle and cornering speed can be determined by the physical formulas for centrifugal force and

Static friction based on dimensions such as the mass of the vehicle, the condition of the road surface and

Static friction coefficients are determined analytically.

After road condition and static friction j edoch can vary greatly, alternatively, the maximum cornering speed v _max at a given radius of curvature r and steering angle Ψ, or the minimum radius of curvature r _m i _n and

maximum steering angle Vmin be determined empirically for a given cornering speed and stored in a table accessed by the controller.

FIG. 18 illustrates the relationship between steering angle and maximum speed according to one embodiment. FIG. 18 includes a graph 1800 of FIG

Relationship between speed and permissible steering angle.

The direction change control at a waypoint and cornering are influenced by the following quantities as shown in FIG. 19 and the 1900 illustration of a cornering

shown:

• the minimum roadway width b along the whole

Driving route; for example, the width of the road in the direction of travel is considered, the width of the entire road or the entire road is then 2b;

it is not absolutely necessary that b

actual physical conditions of the roadway

corresponds; one can also assume a virtual lane width marking a virtual corridor on both sides of the connecting line between two consecutive waypoints; this corridor can be significantly narrower than the actual lane width;

Current position of the exerciser p _c ;

Distance of the vehicle from the driven waypoint d (p _G ,

Position of the selected waypoint wp _k and the next waypoint wp _{k + 1} , -

• current direction of travel and future

Direction of travel ü _k and ü _{k +} i and the intermediate angle dü (modulo 360 °); current speed of the training device v _m and the maximum cornering speed v _k as a function of the associated curve radius r _k ;

maximum deceleration a ^' _G and maximum acceleration a ⁺ _{G of} the device;

Center point p _k and radius r _{k of} the turning circle at waypoint wp _k ;

Steering point ep _k , the point at which the control starts with the change of direction and deflection point ap _k , the

Point at which the exerciser completes the turn; and

Braking point bp _k , the point along the distance <p _G , wp _k > from which the vehicle can be decelerated at maximum deceleration to a speed that allows a safe change of direction within the guideway.

From the track width b and the current position of the

Device p _{G of} the location of the waypoints wp _k and wp _{k + 1} and the angle between <p _G , wp _k > and <wp _ki wp _{k + 1} > calculates the control computer first a circular arc with center p _k and radius r _k on the exercise machine certainly a curve change

can do without leaving the carriageway.

From the above-mentioned table, the control computer then determines the maximum curve speed v _k for this radius, which may not be exceeded on the circular arc in order not to bring the device into an unstable position. Furthermore, the control computer calculates the turning point ep _k , at which the direction change is started; ep _k is the point between p _G and wp _kl which is at a distance of d _E from wp _k , where

Similarly, the deflection point ap is calculated: the deflection point ap _kl at which the direction change is terminated is the point between wp _k and wp _{k + 1} , which lies at a distance d _E of wp _k . For the speed during cornering, the control computer distinguishes two cases:

Case 1; v _m <, v _k

In this case, the current speed is less than the maximum allowed cornering speed, The

Training equipment can steer without reducing the speed at the turning point in the curve, however, must not increase the speed in the curve, even if this would possibly dictated by the training program. The main computer must have a corresponding

Speed limit.

Case 2: v _m > v _k

In this case, the training device must reduce its speed to deflect at the turning point at a speed v _k in the curve. For this purpose, the control computer determines from the maximum deceleration the braking point bp _k from which the training device reaches the turning point ep _E to a point

Velocity v _k can be slowed down.

Once the turning point has been reached, the control computer begins to change direction, which moves the training device to the new direction <wp _{k /} wp _{k + 1} >. For the control of cornering, there are several variants. By way of example, two are mentioned below.

The control computer can divide the bends for cornering into several segments and along the arc

introduce so-called auxiliary waypoints. The distance between these auxiliary points is on the one hand small enough to choose, so that a maximum change in direction, which is an abrupt one

Speed change is not exceeded, and on the other hand large enough for the controller to respond to the change in direction. Alternatively, the control computer can determine from the curve length, which for example has to cope with a point along the center line of the device in the direction of travel, the curve length for the curve center point and facing away from the wheels. From the different lengths of these curves, the control computer can then apply a valid for the entire cornering individual speed of each wheel of the

Calculate training device. This solution variant has the disadvantage that the control computer unintentional

Directional changes, which are caused by unevenness of the road surface, can not compensate.

In any case, the control computer limits during one

Cornering the speed limits of a

Training program go out to the maximum allowable

Cornering speed.

The cornering is terminated when the exerciser has reached the deflection point (as defined above).

Since abrupt changes in direction and speed changes are physically impossible, the assumption that the exerciser can move or move on a precise circular path during cornering is unrealistic. in the

As a rule, roads do not have curves in the form of circle segments but are described by so-called clothoids. Clothoids take into account the fact that vehicles can not change their steering angle abruptly, but continuously. The above

Direction changes are therefore not immediate and abrupt by the control computer but are implemented only with delays. The exerciser will therefore only

move approximately on a circular path. The deviation from this ideal orbit depends on the choice of

Control parameters used by the control computer. Hereinafter, an interaction of autopilot function and manual control according to an embodiment will be described. The interaction of autopilot function and manual

Control does not differ much from that

Interaction with control through training program. One difference is that the user has the

Speed can change over time, either directly or by changing the setpoint for the physiological parameter. This allows the user to change the speed while cornering at his own discretion.

The autopilot, however, is similar to the

programmatic speed control the

Limit curve speed upwards. Should the

Users while cornering try the

To increase speed, then this would have no effect. Only from the deflection point ap _k , the user can increase the speed again at will.

Hereinafter, activation, interruption and termination of the autopilo function according to an embodiment will be described.

For a device with autopilot function appears after

If the user activates this button, he will first be asked whether he wishes to manually control the exercise machine or to execute a training program.

Depending on this decision, the user then has the option of selecting from several routes. When choosing a training program, the routes can be stored with a training profile. If the user chooses the manual control, then he must control the speed manually as described above.

The choice is in both cases, however, only such

Routes whose starting positions are not a given distance to the current position of the training device

exceeds. After selecting the route, the user returns to the main menu of the controller and can do the

Start the training device. Before the device is started, it should be roughly aligned towards the first waypoint, otherwise very abrupt and unwanted

Movements can occur.

The ride of the training vehicle from the S orort des

Turning on to the first waypoint of the training route is not considered part of the training drive. It is done with a set very moderate

Speed. The user can interrupt the training drive by autopilot anytime by activating the "Interrupt" button, reducing the speed to zero and stopping the training vehicle

additional activate the button "release brakes".

This appears on the input / output unit immediately after activating the "Interrupt" button When the engine brakes are released, the user can move the training vehicle as desired

Move or he can push it around an obstacle.

In order to continue the training, the user must activate the "Continue" button

Exerciser continues its drive in autopilot mode, it checks its position along the training route. is the device is more than half the width h / 2 of the

The straight line of two waypoints removed, then the ride can not continue in autopilot mode. The

Activating the "Continue" button has no effect If the device is half a width b / 2 or less from the connecting straight of two waypoints, the control computer selects the waypoint closest to the final destination and controls it as the next intermediate destination

Training program is at the interrupted place

continued.

If the "Autopilot" button is not activated, then the device is operated as described above.The following is a device version with automatic collision avoidance according to one exemplary embodiment

described.

In the automatic collision avoidance version, the exerciser has a sensor configuration in addition to the autopilot function, which allows the detection of

Obstacles on the road and an automatic

Dodge and avoid these obstacles. The exerciser may include a sensor configuration ("obstacle sensor") 806 including one or more

Distance sensors, which provide 2D or 3D range measurements, for detecting obstacles over the road and for measuring the distance between the obstacles and the training vehicle combined with sensors for detecting the rotation of the training vehicle or. the obstacle sensor around its main axes.

The following is an obstacle detection and creation of two-dimensional local raster maps according to a

Embodiment described. As obstacles such objects are considered whose height above the roadway exceeds the ground clearance of the training vehicle and which protrude partially or completely in the travel of the training device and therefore when driving in the

Target direction would lead to a collision with the vehicle.

Distance-measuring 2D or 3D sensors are used to detect such objects. Such sensors are used, which have a range within which the

Training vehicle can be brought to a standstill at maximum speed and maximum deceleration before obj ect. The distance-measuring sensors are so on

Training vehicle mounted so that their detection area covers the space on the track, which the vehicle can take at all permitted direction changes from the current position.

Depending on the sensor modality and resolution used, the sensors provide a 2D or 3D distance profile from that before

Vehicle lane and the obstacles on it. Supply the sensors and those generated from his data

Sensor images a 3D distance profile in sufficient

Resolution, then a height profile of the obstacle along with its lateral and longitudinal extent of the space in front of the training vehicle can be calculated.

When using 2D distance sensors, it can be difficult and expensive to make three-dimensional images from the sensor images

To gain information about the space in the front of the vehicle. In this case, the information important for the obstacle avoidance may be implicit about the positioning and

Alignment of the sensors on the training vehicle and thus be determined via the sensor area. For example, ultrasonic sensors can be aligned so that they

Only then perceive obstacles and a corresponding one Provide sound reflection when the obstacle exceeds a specified minimum height.

To changes in position of the sensors and the so

accompanying changes in the sensor images

to be able to consider one or more

Position sensors used. The measured values of these position sensors are linked to the sensor images of the distance values, so that one of the position changes corresponding

Coordinate transformation the sensor dragons can be correlated with each other.

Since a single, instantaneous sensor shot may contain noisy or even erroneous readings, a more reliable picture of the environment of the sensor can be obtained

Training vehicle can be determined by several

Sensor recordings are superimposed and merged accordingly. Noisy or erroneous measurements can be filtered in this way.

FIG. 20 shows in a) a projection 2000 of sensor data into a grid (local map) and in b) a one-dimensional obstacle map 2004 in polar coordinates as polar

Obstacle image of obstacles 2002 according to a

Exemplary embodiment, wherein gray-marked angle ranges 2008 correspond to obstacles and white angular ranges 2006 correspond to free areas.

According to one embodiment, a discretized representation is selected for the filtering and fusing of instantaneous sensor images. The measured data of the

Distance sensors, often given in polar coordinates, are projected into a two-dimensional grid map (as shown in FIG. 20a). The raster map can be written in English with "occupancy grids" (ie in German

Occupancy Grid). Each cell of the grid or grid corresponds to a space square of a certain Edge length in the real world and vice versa. Reference point for such a so-called "local map" is a reference point on the trainer, because the sensor data is the measured distance between

Trace vehicle corresponding to an object marks the projection of one or more distance values into the object

Raster representation of the position of the object relative to

Training vehicle. A cell marked in the raster display is accordingly designated as occupied.

While driving, the local map is updated at high frequency to always have an authentic representation of the environment of the training vehicle and any obstacles to calculating the course or, if applicable, the escape route.

In the raster map are as virtual obstacles the

Limitations of the road surface. This is the

Connecting straight line between the waypoints that the

Limit currently traveled path segment, projected into the local raster representation. Thereafter, each cell in the grid whose normal distance to this virtual line is greater than half the width b / 2 of the current path segment is marked as occupied by an obstacle. By fading in the lane boundary as virtual

Obstacle will prevent the vehicle during the

Evasive movement deviates from the road. Through a process called English as "obstacle growing,"

(i.e., obstacle-growing), the raster map may be modified so that the

physical expansion of the training craft is taken into account when collision-free courses are calculated in a further step described below. In the following, an automatic collision avoidance according to an embodiment will be described.

According to one embodiment, a method that can compute setpoints for direction of travel and speed for a collision-free travel in the direction of the destination from a two-dimensional raster map as described above can be used. According to one embodiment, a method of determining a one-dimensional so-called "polar histogram" from a raster map may be employed. This polar obstacle image provides information on which direction of travel (and distance) relative to the current one In Figure 20b), such areas are marked "free" and "locked." The polar obstacle image already takes into account the lateral extent of the training vehicle due to the obstacle growing mentioned above and declares only such

Driving directions as obstacle-free, in which the vehicle has enough lateral clearance to the nearest obstacle and this can happen safely.

Be one or more in the polar obstacle image

Obstacles detected, then determines the control computer all obstacle-free directions, which do not lead to a collision with an obstacle. From the determined

obstacle-free driving directions, the control computer then selects the one that requires the slightest change in direction relative to the original direction of travel to the next waypoint and controls in this direction.

Is the calculated least change in direction not

clearly, as the required direction change to the left (Drive past the obstacle on the left) is equal to the

required change of direction to the right (drive right past the obstacle), then the direction change to the right is given preference ("right driving").

Depending on the obstacle density and the distance between the training vehicle, the speed set by the user or exercise program may need to be reduced. The above methods involve calculation methods to address one of the obstacle situations

adapted, reduced speed to calculate.

Should the control computer in the obstacle image no

obstacle-free direction can determine, for example, because the komplle te road is blocked, then

the control computer decelerates / brakes the training vehicle so that it can be brought to a standstill in front of the obstacle without collision and enters the interruption mode. By releasing the brakes, the user can then move the vehicle before continuing.

The creation of the polar obstacle image from the 2D or 3D distance images and the determination of a non - collision course is embedded in a control loop, which is the

Control computer with a cycle time of, for example

several tens of hertz.

Hereinafter, a return to the original route after evasion according to an embodiment will be described.

After passing an obstacle (i.e.

Road boundary, if no obstacles are detected), the automatic direction control and collision avoidance would cause the exerciser to move again on a direct course towards the next waypoint. Due to the preceding evasive movement, the training device would be on a different course line move than on the originally planned course line between <wp _k . _lf wp _k >. However, it may be desirable for the exerciser to recover after dodging

as soon as possible on the originally planned course <wp _k . _lt wp _k > swings in.

This can be achieved by, for example, by

multiple track sharing additional auxiliary route points

Wk-i, i · ·. wpk-ι, η can be introduced between wp _k - ± and wp _k . The control computer then does not choose wp _k as the next one

to be driven to the waypoint, but in the direction of travel closest Hilfswegpunkt that is not blocked by a reelies or virtual obstacle and with a

Direction change can be achieved without reducing the travel speed, as in the in FIG. 21 shown

Illustration 2100 of an evasion trip according to a

Embodiment.

The following is an interaction of cornering and automatic collision avoidance according to a

Embodiment described,

As long as the drive towards the next waypoint is not disturbed by obstacles (and the automatic

Collision avoidance is active), the control computer controls the training vehicle according to the direct or indirect (via physiological parameters) speed specifications of the

User or training program, in a curve, the speed and direction as described above

influenced to ensure a safe cornering.

However, if the training device is in one

Avoiding movement to avoid a collision and passes thereby the next turning point ep _k and approaches the

Waypoint wp _k then no regular cornering on the

Based on the course calculation described above and carried out, The control of the training vehicle is completely taken over by the automatic collision avoidance in this situation. This receives the destination as the next waypoint wp _{k ^ t} and as the target speed by the user or the

Training program given speed for this new path segment.

The above-mentioned and described methods make it a collision-free direction of travel and safe

Speed is calculated, which the training vehicle in

_Control direction wp _ktl .

According to one embodiment, a modular

Device version are provided for mounting to prams or walking aids, for example in the form of a

Mounting kit as described above.

The modular device design differs from the device designs described above in that it is not built on a separate vehicle, but merely integrates components of these device designs into existing vehicles (host vehicle) that are not primarily of the character of exercise equipment but are modified to such can be. Examples are stroller or

Baby Joggers, Golf Trolley, or walking and walking aids.

In the basic version, this device version comprises only the drive unit 708, the control unit 710, the input / output unit 712, the sensor or the sensors for

physiological parameters 818, safety device 714 and their respective subcomponents.

Building on the basic version, each of the above

Device versions described also be executed in raodularer form. In addition to the above

Components for the basic version may vary according to different Embodiments, the corresponding additional components for the respective device design are provided.

The modular device versions may be additional

Components include suitable mounts for the above drive, control, input / output and safety device components and / or mechanical devices for transmitting power from the modular drive to one or more wheels of the respective host vehicle.

Hereinafter, a mechanical structure and devices for power transmission according to various embodiments will be described. The above-mentioned components for drive, control, input / output, safety device are fastened to the carrier bracket by means of suitable holders adapted to the construction and design of the target vehicle. The components themselves do not have to be modified for this. According to

Various embodiments may be suitable

Mounts are provided.

FIG. FIG. 22 shows a modular drive 2200 according to FIG

Embodiment.

In the illustrated device for the transmission of power from a modular drive unit to the wheels of a

Carrier vehicle can by means of a fastening 2214

(For example, by means of a clamping-screw device) a transmission {2220} concentric about the axis 2208 of the host vehicle to the spokes 2212 of

Carrier to be attached. This large wheel is usually designed as a gear. With the help of further clamping screw devices, one or more modular

Drive units 2206 with the or the axles and other chassis elements of the carrier vehicle stiff and

connected torsion-free. The connection is like that adjusts that a drive gear (pinion) 2204 has a positive contact with the transmission wheel and a rotational movement of the drive gear on the

Transmissionsrad and thus transmits to the wheels or the wheels 2202 of the host vehicle and a rotation of the same

brought about.

The interconnection and the interaction of the components for drive, control, input / output, safety device is analogous to the interconnection and the interaction of

Components for the non-modular device types,

In the following, a creation of training programs according to various embodiments will be described.

Exercise programs can be episodes of individual

Be training activities. There can be two

Training activities are: Running at a certain, constant speed with variable course physiological parameters, such as heartbeat or

Respiratory rate; Running at a certain constant load (constant course of physiological parameters) at variable speed. According to various embodiments, these may

Activities are exercised for a certain time interval or over a certain distance. This form of

Training programs is completely independent of the

geographical conditions in which the programs

be executed. They can be carried out at any place and any possible training track, as far as they are passable for the training device.

Alternatively, training programs can also be given locally

Conditions are related. For example, one training activity may be on two waypoints, starting point and

Endpoint, relate. Location-based training programs support the autopilot function, but have the disadvantage that they are at no other location or on any other

Training track can be performed. The following are location-independent training programs for devices without autopilot function according to various

Describe embodiments.

The following describes a data structure for training programs.

An example of an activity sequence is shown in FIG. 12 shown. FIG. 12 a) shows a training program for a

Interval training in which the user first runs 2000 meters at a heart rate {HR) of 130 beats per minute (bpm), then another 2000 meters at a heart rate of 150 spm. As shown in FIG. 12 b), the heart rate can also be preset over a time interval. The change between a load of 130 spm and 150 spm is repeated over the following 4000 meters. FIG. 12 c) shows a training program in which the running speed is varied at intervals of 2000 meters (speed run). As shown in FIG. 12 d), the

Speed can also be specified over time interval.

To be processed by the control computer of the training device, training programs have a specific

Data format or a specific structure suffice. An exemplary data structure is described below. This exemplary data structure consists of a sequence of pairs of values followed by a key pair containing the

Describes size units of value pairs. The first element determines the type of interval or duration for which the setpoint is to apply, for example distance (measured in meters) or time (measured in seconds). The second element of the key pair defines the type of target size for the key pair Regulation, for example speed (measured in km / h) or heart rate (measured in spm),

The key pair is followed by a sequence of pairs of values, which then determine the duration and the value of the desired size.

An example may look like this:

<< D (m), HF (spm)>: <2000, 130>, <2000, 150>, <2000, 130>, <2000, 150 >>

Hereinafter, creation of programs according to various embodiments will be described.

By way of example, two tools that can be used to create and edit location-independent training programs are described. These are for vehicles without autopilot function or for operation without autopilot

certainly . The tools can be operated both on the control computer and on another computer. In the first case, the training programs are downloaded as a file from

Control computer in a specific memory area for

Training programs are stored. In the second case, the training programs must be transferred to the control computer before they are stored in the memory area for training programs.

The first tool is a simple text editor in which training programs are entered as text according to the formats described above. The

Result is stored in a file that the

Load control computer in an internal memory area and can work off. The file may still be

encrypted and converted into binary code before being passed to the control computer for processing. The advantage of using text editors is that they are very universal and completely independent of the formats used. But they have the disadvantage that inputs are not necessarily associated with a visual interpretation of the data and therefore a visual plausibility check is omitted. Input errors may therefore only be noticeable at execution time.

FIG. 23 illustrates a creation of location independent

Training programs according to one embodiment.

These disadvantages can be avoided by using so-called graphical user interfaces or graphical input / output devices, optionally with animated ones

Control surfaces. Such a graphical input / output device based on a touch panel 2300 (German:

"Touch-sensitive panel") is shown by way of example in Fig. 23. This input / output device has 14

Buttons for input, eight of which consist of

Arrows whose activation causes the incrementation or

Decrement the input value. Alternatively, instead of the arrow-shaped buttons and the intermediate output surface, graphically animated adjusting wheels can be used. The "Enter" button confirms the set values for a training activity as

final entry and continue to enter the next exercise activity. The Exit button terminates the training program entry and saves it, and the Previous and Next buttons allow you to scroll backwards and forwards to previously entered ones

Training activities. The "Insert" and "Delete" buttons allow you to insert and delete

Training activities in or out of the already established training program. The graphic input / output device also has five graphic output surfaces, four of which are used to display the concrete values of a

Training activity, type of taxable amount, their value, type of duration and their value. As long as the "Input" button has not been pressed, these values can be accessed via the above or below arrow-shaped buttons be incremented or decremented. In a large output area, the exercise program is displayed as a curve. This graphical representation allows the quick detection of inconsistencies or errors in the

Training program. After completion of the training program this is from the graphic input / output device

possibly still encrypted and in binary code

converted to a file saved. The following are location-based training programs for devices with autopilot function according to various

Embodiments described.

A possible data structure for location-dependent, autopilot-suitable training programs does not differ

basically from the data structure for location independent

Training programs. Only the key element "duration", measured either as time or distance, is replaced by an element "path segment" WS.

A path segment consists of two waypoints wp _k and wp _{k + 1} , which mark the beginning and the end of the path segment, and the roadway width b of the path segment. Waypoints are usually characterized by their latitude and longitude. Accordingly, at

Use the signed decimal notation

Waypoint described as a pair of real-valued numbers. An example may look like this:

<< WS {wp, v / p, b), HF (spm)>:

<{(48, 043458; 10,912111}, (48,041764; 10,911,669), 3}, 130>,

(48, 041764, 10, 911669), (48, 041767, 10, 909133), 3), 150>, <((48, 041767, 10, 909133), (48, 041692, 10, 908969), 3), 130>,

<((48, 041692; 10,908,969), (48,041772; 10, 906078), 4), 150 >>

A location-based training program can only be performed when the training program is at the beginning of a workout Path segment is located, for example, at the beginning of the first path segment.

The above format has some redundancy, since all but two waypoints are listed twice, as the endpoint of the previous one and as the starting point of the subsequent way segment. This redundancy can be eliminated by starting from the plausible assumption that the last waypoint of a path segment is the beginning of the subsequent path segment.

In this simplification, however, the problem arises that the starting point in the training program is not well defined and can be arbitrary. This problem could be countered with the assumption that the location of the vehicle at

Turning on the device is also the first waypoint of the route. However, this would have the undesirable consequence that the length of the first path segment is variable and not clearly defined in advance and thus also the training activity can not be clearly defined in advance.

This problem can be avoided by introducing a waypoint at the top of the training program that explicitly marks the starting point of the training route. However, the setpoint for the speed control that is combined with this waypoint is ignored in the program execution since the setpoint for the first path segment is defined with the second waypoint. As described above, the exerciser moves from the location of the power-on to the first waypoint, the starting point of the training route, at a fixed, very moderate speed.

A further simplification of the format can be achieved if it is assumed that the course calculation during a cornering does not use the individual lane width of the respective route segment, but uniformly the smallest lane width along the entire route. This Although this leads to the training device occasionally slowing down more than necessary during cornering, it simplifies the course calculation considerably. The above example of a route can thus be simplified as follows:

«WS (wp), HF {spm)>:

<(48, 041764; 10,911,669), 130>, <(48, 041767; 10,909133), 150>,

<(48, 041692; 10,908969), 130>, <(48, 041772; 10, 906078), 150 >> Hereinafter, creation of travel routes according to an embodiment will be described.

The determination or determination of the coordinates of the

Waypoints of a training route can be done in several ways

respectively. The user of the program may determine the coordinates of the desired waypoints in a map of sufficient resolution (e.g., a hiking map) and latitude and longitude indications. He can detect them from digital maps. He can explore the route by foot or by vehicle and the coordinates of the

Detecting waypoints via a common portable GPS system. He can the waypoints and their geographical location via a recording mode on the control computer during a

Record training trip and then after the

Export training suitable.

When determining the training route additional information about the waypoints can be determined or recorded in addition to the geographical coordinates. This can be the width of the carriageway, the height of waypoints above the

Sea level, the distance between two

consecutive waypoints and the direction in which they lie. Although not all of this information is required to control the training vehicle, it can be helpful in creating

Be training programs. An example of geographical features along the routes are the elevation differences between two

Waypoints. Obviously, the training load is greater on a slope than on a flat track. Depending on the training effect that is to be achieved, it makes sense to consider this.

Regardless of the final approach chosen, it can be assumed that the route will be legible or interchangeable once the waypoints have been determined

digital format. An example of such a format is GPX (GPS Exchange Format). This also allows linking the geographic coordinates (in decimal notation) with additional information. Common in GPX is

For example, the combination of geographical coordinates with altitude information.

Similar to the creation of location-independent

Training programs are described below by way of example briefly two tools with the help of location-dependent training programs can be created and edited. These are intended for vehicles with autopilot function or for operation with autopilot. Both tools need to be able to read in and process routes in a digital format such as GPX. What the operation of these tools on the control computer or the other computer and the

The same applies to data transfer as to the tools for location-independent training programs.

Also for the creation of location-dependent

Training programs is a text editor the most common

Tool. The disadvantage of a missing visual

Plausibility check is used in the textual recording and Processing of location-dependent training programs even stronger, since larger amounts of data are also processed in the form of real numbers with six decimal places. FIG. 24 illustrates a creation of location-dependent

Training programs according to one embodiment.

A graphical input / output device for the creation of location-dependent training programs must link location information and training information in an illustrative form. In FIG. 24, there is shown by way of example a graphical input / output device 2400 with three input / output windows. The upper left window is for entering the training activity. Of the

Parameter duration {of a training activity in time or

Distance) is here replaced by the reference to a

Waypoint. The set control quantity applies from

preceding waypoint up to the set waypoint. The setpoint, which corresponds to the first waypoint, namely the

Starting point of the route is associated, as above

described ignored. The arrow-shaped buttons or graphically animated adjusting wheels allow the user to select the values for the respective output surfaces or

increment or decrement. This is especially true for the read waypoints. The window at the top right contains a two-dimensional full-scale view of the location of the read waypoints. Via buttons in this window, waypoints can be inserted or deleted. To do this, a crosshair is placed over animated Rände.1sehrauben for horizontal and vertical movement in the place where a waypoint is to be deleted or inserted, and then the corresponding button activated. The

Management of the names of the waypoints is done

automatically. With the buttons with the symbol "+" and the scale of the representation can be changed.The third window shows a linearized representation of the sequence of waypoints in the horizontal axis

Waypoints is proportional to their actual Euclidean distance, which is also shown on the axis in meters, above the horizontal axis are shown by way of example two curves: the curve representing the control quantity (HF) for the training program and the curve representing the height gradient (ELE) along the waypoints.

The following is a web portal for training programs according to various embodiments described, both the establishment of a basic fitness for recreational athletes, as well as the achievement of a rehabilitative effect for

Patients with cardiovascular or motor problems

Dysfunctions, as well as achieving a significant increase in performance among competitive athletes require a careful, over a long period of weeks and months extending training planning. It is essential

Furthermore, the training plan is tailored to the individual physical condition of the person and takes into account their current level of performance.

Without such a well-planned workout, it can easily have the opposite, health-damaging effect

enter. the temptation of amateur training and training

Implementation and thus possibly associated risk of health impairment by the user itself - for example, by overuse - to counteract, it makes sense that the programs for the training device sports medicine are well founded or even tested.

The effectiveness and usefulness of the above

Exercise equipment will depend heavily on the availability of a variety of such certified training programs, the individual needs of users and

Address patients and their performance goals. This can be done through a web portal where users of the exercise device will find (off-site) exercise programs that are specific to aspects such as

- Age,

Weight / body mass index (in English: body mass index),

- Gender,

- health risks, diseases and

impairments

- current state of fitness and performance,

- intended fitness and performance condition e.g.

Weight loss, basic fitness, competitive goals {Haibmarat on, marathon, triathlon, etc.),

and the like are tailored.

Furthermore, tailored individual training programs can be made available to users via such a web portal, or location-independent training programs can be adapted to local conditions and user-specific requirements.

The following functions can be available as an example in such a web portal;

- Download of pre-made training program (on computer / on control unit};

- Search for programs with special aspects;

- request for individualized program based on previously measured or collected physiological measurements; and - Upload your own training programs.

Claims

claims

Training device (100, 200), comprising:

A drive (102) adapted to move the exerciser (100, 200); and

A control circuit (104) comprising one for receiving a physiological parameter of a user of the exerciser {100, 200}

established interface;

Wherein the south circuit (104) is arranged to set a speed of the drive based on the received physiological

Parameter,

wherein the control circuit (104) is further configured to set the speed such that the physiological parameter is within a predetermined range,

wherein the predetermined range is variable with a continuous training time and / or is variable with a completed training track.

Training device (100, 200) according to claim 1,

wherein the control circuit (104) is further adapted to drive the drive {102) according to

given speed.

Training device (100 ₍ 200) according to one of claims 1 or 2,

wherein the drive (104) is in its entirety a means for changing a direction of travel of the exercise device (100, 200).

4. Training device (100, 200) according to claim 3,

wherein the control circuit (104) is further configured to control a predetermined direction of the

Training device (100, 200) by means of the means for

Change the direction of movement. Training apparatus (200) according to one of claims 1 to 4, further comprising:

a direction sensor (202) arranged to determine an orientation of the exercise device (200),

Training device (100, 200) according to one of claims 1 to 5,

wherein the control circuit (104) is further configured to specify a predetermined path of the

Training device (100, 200).

Training device (100, 200) according to one of claims 1 to 6,

wherein the control circuit (104) is further configured to increase the predetermined speed

based on a first predetermined condition for the received physiological parameter and for

Decreasing the predetermined speed based on a second predetermined condition for the

received physiological parameters.

Mounting kit (300) for a training device, comprising;

A drive (302) arranged to move the training device,

• Fastening means (304), set up for

Attaching the drive (302) to the exerciser; and

• a control circuit (306), in iron on, configured to receive a physiological parameter of a user of the exercise device

Interface;

Wherein the south circuit (306) is arranged to set a speed of the drive (302) based on the received physiological parameter, wherein the control circuit (306) is further configured to set the speed such that the physiological parameter is within a predetermined range,

Mounting kit (300) according to claim 8,

wherein the control circuit (306) is further configured to drive the drive (302) in accordance with

given speed.

Control circuit (400) for controlling a

Exercise Device, Control Circuit (400)

comprising:

• an interface (402) adapted to receive a physiological parameter of a user of the control circuit;

Wherein the control circuit (400) is arranged to set a travel speed of the exerciser based on the received physiological parameter.

wherein the control circuit (400) is further configured to set the speed so that the physiological parameter is in a predetermined range,

wherein the predetermined range is variable with a continuous training time and / or changeable mi is a completed training track.

A method of controlling a training device (100, 200), the method comprising:

• receiving (502) a physiological parameter

a user of the exerciser (100, 200);

• Specifying (504) a speed of a

Moving the exerciser (100, 200) established drive (102) based on the received physiological parameter,

wherein the speed is set so that the physiological parameter is within a predetermined range,

wherein the predetermined range is variable with a continuous training time and / or is variable with a completed training track. 12. The method of claim 11, further comprising:

Driving the drive (102} according to the predetermined speed.