KR101896354B1 - Smart training machine for using electromotive force and control Method - Google Patents

Abstract

The present invention relates to a control method of a smart fitness instrument including a technique capable of instantly varying a precise exercise load and preventing muscle damage and accidents that may occur during use of the fitness machine.
An electric motor (50) for generating a power to provide a motion load to the fitness mechanism; A user interface 100 including a device for receiving personal information and exercise settings from a user, a device capable of notifying a user of exercise information and exercise characteristics by display or sound, and a network communication device; A controller 200 for calculating a torque value using sensor information generated in a motion setting mechanism and a mechanism input from the user controller unit; And a drive circuit unit (300) for controlling the electric motor according to the torque value calculated by the control unit. The present invention is applicable to various kinds of fitness instruments and is characterized in that the weight can be precisely set as compared with the conventional fitness instruments, and in particular, a technique for preventing muscle damage is included.

Description

TECHNICAL FIELD [0001] The present invention relates to a smart training apparatus using electromotive force,

The present invention relates to a smart fitness apparatus including a technique capable of instantly varying a precise exercise load and preventing muscle damage and accidents that may occur during use of the fitness apparatus, And hybrid power control techniques used.

Conventionally, a fitness instrument is constructed in such a manner that a muscular movement is performed through a weight load to be appropriately adjusted through a roller constituting a pulley by a mechanical means. Therefore, when adjusting the size of a weight load, generally, And maintains and improves the performance.

Such a fitness instrument serves to maintain and improve the user's strength by using a hydraulic or elastic body and a mechanism having a weight to provide a repulsive force and a load.

A fitness instrument using a weighted instrument in the present invention is a system in which a wire is connected to a mechanism having a weight and a load is transmitted to a user through a roller or the like. Based on the up / down motion using gravity of the mechanism having a weight Repulsive force and load.

In order to apply a large amount of repulsive force and load, it is necessary to control the weight of the mechanism having the weight. In the conventional method, the pin is inserted into the weight having the weight that is basically configured in the fitness apparatus, It is the way to perform the exercise.

When the weight of the weight is adjusted by inserting the pin into the weight, it is basically adjusted in units of 2.5 (kg) or (5 kg), and it is very difficult to finely control the weight of the weight.

This means that the actual exercise phase is set according to the weight value of the fixed weight, and it is disadvantageous that each user can not perform the detailed exercise.

Since the muscular movement is performed by simply raising and lowering the weight load, there is a problem that various and effective muscle exercises can not be performed.

In addition, since the weight is used by the load, when the user erroneously misses it, the mechanism part moves abruptly due to the weight load, and the user or the user's muscles may be injured.

In addition, when the weight load is raised or lowered, an accident may occur due to the inclusion of the body.

Even in the case of a recently developed electric fitness machine, a method to cope with a sudden unexpected situation is a method of stopping the machine by the brake operation. It is possible to prevent the accident, but it is not enough to prevent muscle damage.

In addition, since the exercise information is not provided, there is a disadvantage that the user can not properly manage information on the number of exercises and the type of exercise equipment used by the user.

The lack of such information may cause the user to underestimate the exercise or the required exercise amount, thereby failing to maximize the exercise effect.

Korean Patent Registration No. 10-0656362 (2006.12.08)

The present invention is to provide a smart fitness device which is capable of compensating for and solving the problems of the prior art as described above and providing weight precision adjustment and exercise information, The purpose.

In order to achieve the above-mentioned object, there is provided a motor control device comprising: an electric motor for generating a power to provide a motion load to a fitness mechanism; a device for receiving personal information and exercise settings from a user; A controller for calculating a torque value by using a device capable of informing a user, a user interface including a network communication device, a motion setting input from the user controller, and sensor information generated in the mechanism, And a driving circuit for controlling the electric motor.

A method of calculating a torque value of a control unit, the method comprising: setting a maximum torque value based on motion setting information input to a user interface, an output of the motor, a roller and a gear ratio, And gradually decreasing the torque value when the user decreases the force after the torque value is increased to the maximum torque value.

And detecting an unexpected condition by sensing information of the sensor and the driving circuit to reduce the torque of the motor within the maximum torque value without increasing the maximum torque value and gradually increasing the torque of the motor with the maximum torque .

The exercise load (torque) can be precisely adjusted in units of 1kg or less, enabling the user to exercise more precisely.

The user can accumulate exercise information and manage his / her exercise pattern.

It is possible to obtain an effect of preventing muscle damage due to an abrupt torque increase of the electric motor according to the drive control when performing a motion using the smart fitness device.

It is possible to obtain an effect of preventing accident and muscle damage caused by an unexpected situation of the user through driving control while using the smart health device.

FIG. 1 is a view showing a structure of a fitness instrument using a vertical movement of a weight made by a conventional technique
FIGS. 2 and 3 are views showing a general configuration example of a smart fitness instrument according to an embodiment of the present invention
Fig. 4 shows an example of the torque control and speed pattern of the smart fitness instrument proposed by the present invention
5 shows an example of a speed limiting method for safety of the smart fitness apparatus proposed by the present invention
6 is a diagram showing an example of an actual driving control method
FIG. 7 is a diagram showing an example of a flow chart

FIG. 2 and FIG. 3 show concrete examples of the motorized smart fitness apparatus proposed in the present invention, and the operation principle and method of the system will be described using the example. In the following description, a detailed description of functions and configurations that may unnecessarily obscure the subject matter of the present invention will be omitted.

FIGS. 2 and 3 are merely examples for illustrating the principle and method of the present invention, and the claims of the patent should not be limited to the following examples.

It is also to be understood that the invention is not limited to the specifically disclosed embodiments, but, on the contrary, is intended to cover various modifications and equivalent arrangements included within the spirit and scope of the appended claims.

1, which is generally seen in a fitness center, a gymnasium or the like, a force generated in up-and-down motion of a mechanism having a weight is transmitted to the hand bar 10 through the wire 30 and the roller 20, The force transmitted to the hand bar acts against the force of the user and allows the user to perform the strength movement. The hand bar 10 moves in various directions such as front and back, up and down, and both sides to increase the strength of the user.

However, this method can not precisely control the weight, and even if an unexpected situation occurs, the weight falls down and there is a risk of the user's muscle damage and accidents.

Unlike the conventional fitness device using the above-mentioned weight, the smart fitness device proposed in the present invention is equipped with the electric motor 50 capable of speed and torque control without using the weighted device 40 The motor 50 can be controlled by the control method shown in the drawing to perform the muscle movement by applying a torque in the direction opposite to the pulling force of the user and even when an unexpected situation occurs, Thereby preventing accidents.

Here, the electric motor 50 may be a permanent magnet synchronous motor, a Switched Reluctance Motor (SRM), a DC motor, a universal motor, an induction motor, a BLDC (brushless DC) motor,

The structure of the hand bar 10 and the like and the roller 20 and the wire 30 can be used as they are in the conventional form of the fitness machine or may be newly constructed.

The fitness instrument refers to an exercise aids used in a fitness center, a gym or a gymnasium, and is not defined separately.

The wire may be a wire or a chain including an iron core, a method of transmitting power to the fitness device using an elastic force, or the like.

FIGS. 2 and 3 are views showing examples in which the control method of the electric type smart fitness apparatus is applied. It can be seen that the electric motor 50 is provided instead of the mechanism 40 having the conventional weight. In addition, a controller 200 and a driving circuit 300 for controlling the motor 50 are added, and a user interface 100 is added to input and output information of the user.

The driving circuit 300 performs a function of converting the output value of the control unit into electric power and ultimately transmits electric power of the electric motor 50. [ The control unit 200 is used as a device for generating a set value so that an appropriate force is generated according to a user's setting. The user interface 100 is a device for inputting settings and information of a user or outputting and displaying fitness information and exercise information to be.

In addition to the device used in this example, additional control devices may be applied, and the power conversion device may also be designed in various forms as electrical and electronic devices.

The smart health apparatus that receives the weight information from the user interface 100 transmits the corresponding input information to the controller 200. The controller 200 calculates the output based on the input information and the sensor values, . The drive control unit 300 converts the received value into a power value, and finally drives the electric motor 50.

When the electric motor 50 is driven, the force acts opposite to the force of the user like a mechanism having a weight in a conventional fitness instrument, and transfers the roller 20 and the wire 30 to the hand bar 10, Provide exercise load.

However, the principle of generating an opposite force with respect to the force of the user is not the gravity due to the conventional weight load, but the driving force of the motor 50, which is finely controlled, And a force generated by the torque in the opposite direction of the torque.

The driving circuit unit 300 of the electric motor is connected to the electric motor 50 generating the force and the electric power line 390 supplying the electric current. In order to secure the control of the electric motor and the safety of the user, And is connected to a sensor and a connection line 380.

The control unit 200 is connected to the sensors of the motor 50 through the driving circuit unit 300.

2 and 3, a separate sensor 60, 61 attached to the hand bar 10 or the foot plate is additionally provided for protecting the user and the apparatus in the event that the hand bar is suddenly moved for the sake of the user's safety, Can be used as a signal to stop or protect the powertrain.

The sensors 60 and 61 shown in FIG. 2 and FIG. 3 may be added only as an example, and the additional sensors may be indirectly connected to the control unit 200, such as direct or motor 50 sensors.

The drive circuit unit 300 may include a control unit 310 having the same or similar function as the speed calculator 310, the torque estimator 320, the torque controller 330, the inverter 340, the power line 390, . ≪ / RTI >

The sensors 60 and 61 may be an acceleration sensor, a gyroscope, an infrared sensor, or the like.

In addition, unlike the conventional weight control method, since the proposed apparatus can finely adjust the force and generate the force generation pattern, the user interface 100 for the user's exercise setting is separately installed, The user interface 100 basically comprises a display unit 150 for displaying personal information of a user, a movement state, a setting state, and the like, and an input unit 160 such as a button or a key for receiving a user's input. A display unit such as an LED may be provided. In addition, a storage device for storing exercise information of a user may be installed, and information may be stored after connection with a management server using a network communication device.

In the user controller, the input unit refers to a device that receives information using a technique developed as a current input device, such as a keyboard, a mouse, a touch panel,

The display unit refers to a device that provides information to a user by using a device developed as a visual display device such as an LCD, an OLED, or an LED, or a sound device such as a speaker.

The input device and the display device can be installed separately from each other. For example, in the form of an up-down, a front-back, a side-by-side, a back-and-forth shape, or may be a shape in which an input device such as a touch panel is combined with a display device.

The network communication device is a device for storing information such as user movement statistics in an external storage so that the user can access the corresponding information from anywhere. The network communication device is a device for communicating wireless network communication such as Bluetooth, wi-fi, cellular, Of wired network communication.

In order to effectively control the torque of the electric motor, when the user inputs motion information through the user's personal information through the user's personal information or inputs the motion weight through the input device 160, Is transmitted to the control unit 200, and generates a torque command appropriate to the drive circuit unit 300 of the electric motor 50. [

An additional safeguard device that operates upon occurrence of a malfunction in the control of the electric motor 50 is provided to the driving circuit unit 300 and the control unit 200 in preparation for occurrence of an uncontrollable state of the electric motor 50, As shown in FIG.

The additional safety device may be a device for cutting off the current flowing to the electric motor 50 such as a current breaker, an electromagnetic brake, etc., and the driving of the electric motor 50 can be completely stopped using the devices.

The personal information identifies or specifies an individual user, and includes user ID and password as information including body information of the user; And body information of the user.

The exercise information may be information including at least one kind of exercise apparatus, name, exercise apparatus use record, number of times, weight, and the like as information including apparatus information and a user's exercise pattern in performing exercise.

Setting a maximum torque value by the motion setting information input to the user interface 100, the output of the electric motor 50, the roller, and the gear ratio in the calculation of the torque value of the smarthealth mechanism controller 200 and the operation of the device; Gradually rising to a maximum torque value for a predetermined period of time; Up to a maximum torque value and holding the torque; And decreasing the torque for a predetermined time when the user reduces the force,

FIG. 4 is a graph showing the speed and torque control method of the electric motor according to the present invention in a more detailed control method.

4, reference numerals 210a, 210b, and 210c denote values obtained by switching the control unit 200 to the torque of the electric motor with respect to the amount of the user's motion demand input through the user interface, And the like.

It is a linearly determined value. Unlike the conventional mechanical type, the torque can be very finely controlled. Also, it is possible to control the torque pattern so that various exercise methods can be applied.

However, this torque is not constantly determined from (201) to (202) corresponding to the exercise period, and smoothly rising at both ends in consideration of the safety of the user to generate a control value to reach the exercise load required by the user And the change is generated as a program in the control unit 200 of the apparatus of the present invention.

At this time, the magnitude of the torque is determined by the demand of the user, the output of the motor, the roller and the gear ratio, and is determined based on the rotor angle of the motor.

Assuming that the motor is a forward rotation in the counterclockwise direction and a forward torque, when the user pushes the hand bar 10 or the like forward, the torque of the motor is generated as the forward torque, but the force of the user is larger than the torque of the motor So that the motor rotates in the reverse direction.

On the contrary, when the user gradually reduces the force or moves the hand bar 10 in the rearward direction, the motor is returned to the initial position 201 in the normal direction by the difference between the torque of the motor and the force of the user. At this time, in the vicinity of the stop position, the electric motor smoothly reduces the torque to almost zero, thereby protecting the user from being damaged or injured by large repulsive force at the stop position.

Detecting an unexpected condition by the sensing information when an unexpected condition occurs in operation of the smart heath apparatus; Reducing the torque of the electric motor (50) within the maximum torque value without maintaining the maximum torque value after detecting the unexpected condition; And gradually increasing the torque of the electric motor (50) with a maximum torque,

FIG. 5 is a graph showing the speed and torque control method of the unexpected condition generator motor according to the present invention.

5, when the user suddenly reduces the force applied to the hand bar 10 to a large extent, the torque of the motor becomes much larger than the force of the user, so that the motor suddenly rotates in the opposite direction, 4 and 5, in order to solve the problem that the hand bar 10 and the like move quickly in the opposite direction and cause damage to the user or injury to the user, 222).

This speed limit value also has a characteristic of smoothly varying and limiting in the user's motion range 201 to 202, and this limit value is also implemented as a program in the device of the invention.

5, when the speed exceeds the limit value as in the case of (216), the controller 200 does not maintain the existing torque value 210 , And the torque command is reduced (212) so that the speed of the hand bar and the electric motor is limited within the limit value.

Thus, the actual torque command value is reduced to a value of (212) in order to limit the speed at (203), and can be recovered to the original torque command value at (204) when the speed becomes steady again. This makes it possible to prevent accidents or muscle damage that may occur due to immaturity of the user.

FIG. 6 shows a specific control block diagram for effectively controlling the motor in the proposed invention. FIG. 6 shows a concrete implementation example of the motor driving apparatus 300 interlocked with the control unit 200. As shown in FIG.

The control unit 200 includes a speed command value generator 235, a torque command value generator 240, a speed controller 245 and a small value comparator 250. The driving circuit unit includes a speed calculator 310, a torque estimator A torque controller 330, an inverter 340, an electric motor control line 380 and a power line 390 for supplying electric power to the electric motor 50.

The components of the control block diagram are for understanding of the present invention through examples, and the components and circuit configurations thereof may be changed through other control devices, power devices, and the like.

The smart fitness mechanism control method includes: generating a torque output of a torque command value generator by determining an input value of a user input through the user interface (100) and a range of a rotational position of the electric motor; Setting a limit speed of the electric motor; Converting the actual motor speed into a numerical value; Comparing the speed limit with a speed of the actual motor to generate a torque output of the speed controller; Comparing the torque output of the torque command value generator and the torque output of the speed controller to select a smaller value; Converting current and voltage values currently flowing in the motor into numerical values; Comparing the numerical value with a smaller value and outputting a final torque value; Transferring the output value to an inverter through a torque controller; And converting the received output value into a power value to finally drive the motor. The concrete control block diagram thereof is shown in FIG.

7 shows a flowchart related to the driving of the electric motor in the present invention in a more detailed control method.

In the detailed description of FIG. 7, the torque command applied to the driving device 300 of the actual motor uses the value calculated by the control unit 200. FIG.

The torque command calculation method of the control unit 200 receives the user's required momentum as a user interface signal (S001).

From the input information and the rotational position of the electric motor, a motion end 202 is determined from the motion start 201, which is a motion range of the motion range, to generate a torque value 210 in the corresponding torque command value generator 240 (S003).

In addition, the speed controller generates the limit speed 222 according to the rotor position in the speed command value generator 235 (S004) and compares it with the actual speed S005 of the motor to output the torque output of the speed controller through the speed controller 245 (Step S006).

The torque command value generator 240 determines the end of the motion 202 from the motion start 201, which is a motion range, from the input information and the rotation position of the electric motor, and outputs the torque output of the torque command value generator And the speed command value generator 235 generates a speed limit value 222 according to the rotor position and compares the speed limit value 222 with the actual speed of the motor to generate the torque output 211 of the speed controller through the speed controller 245. [ And the small value comparator 250 selects a small value among the values of the two output torque command values so that the electric motor can be controlled not to exceed the limit speed.

The final torque command value is obtained by multiplying the corresponding output value through the small value selection step by the electric motor drive block 300 through the inverter 340 which is a power conversion device so as to realize the desired torque and speed limit (S007). The torque controller 330 compares the power value with the value output from the small value comparator 250 to output the final torque value (S008)

The desired torque and speed limitation can be implemented in the present invention by controlling the voltage and current of the electric motor 50 through the inverter 340 as a power conversion device.

A torque estimator 320, a speed calculator 310, and the like may be implemented by a program to smoothly control the electric motor, and a current sensor 271 is installed in the electric motor drive unit 300, .

100 - User Interface
200 -
230 - User Interface
235 - Speed setpoint generator
240 - Torque command value generator
245 - Speed controller
250 - Small value comparator
271 - Current sensor
300 - Driving circuit
310 - Speed Calculator
320 - torque estimator
330 - Torque controller
340 - Inverter
380 - Motor control line
390 power line

Claims (3)

An electric motor (50) which generates a power to provide a motion load to the fitness device, and which is capable of speed and torque control, but which torque is applied in a direction opposite to a force pulled by the user;
A device for receiving personal information and a motion setting from a user, a device for informing a user of a motion or a movement characteristic by a display or a sound, and a network communication device. The device includes a user's personal information, And an input unit 160 such as a button or a key for receiving a user's input;
A torque command value generator 240, a speed controller 245, a small-value comparator 250, and a torque comparator 250. The torque command value generator 235 generates a torque command value And the like; And
And controls the electric motor based on the torque value calculated by the control unit and controls the speed calculator 310, the torque estimator 320, the torque controller 330, the inverter 340, the motor control line 380 and the power line 390 A driving circuit unit 300 including a control device;
The method of controlling a smart fitness instrument according to claim 1,

Generating a torque output of the torque command value generator by determining an input value of the user input from the user interface 100 and a range of the rotational position of the electric motor;
Setting a limit speed of the electric motor;
Converting the actual motor speed into a numerical value;
Comparing the speed limit with a speed of the actual motor to generate a torque output of the speed controller;
The torque command value generator 240 determines the end of the motion 202 from the motion start 201, which is a motion range, from the input information and the rotation position of the electric motor, and outputs the torque output of the torque command value generator And the speed command value generator 235 generates a speed limit value 222 according to the rotor position and compares the speed limit value 222 with the actual speed of the motor to generate the torque output 211 of the speed controller through the speed controller 245. [ Comparing the output and selecting a small value by a small value comparator (250) among the values of the two torque command values output;
Converting the corresponding output value through a small value selection step into a numerical value so as to realize a desired torque and speed limitation through the inverter 340 which is a power conversion device, the current and voltage value flowing in the current motor;
Comparing the numerical value, which is a power value flowing from the motor drive block 300 to the actual electric motor 50, with a small value output from the small value comparator 250, and outputting a final torque value in the torque controller 330 ;
Transferring the output value to an inverter through a torque controller; And
Converting the received output value into a power value and finally driving the motor;
And a control unit for controlling the motor. delete delete

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