KR20160084672A - A health apparatus and a controlling method thererof - Google Patents

Abstract

The present invention relates to an exercise apparatus and a control method thereof, which can actively control a driving motor according to the purpose of a user′s walk. According to an embodiment of the present invention, the exercise apparatus comprises: a treadmill comprising a belt and a driving motor to operate the belt; a sensing unit to sense information on the motion of at least one lower limb among both lower limbs of a user who walks on the belt, and the position of the user′s pelvis; and a control unit controlling the driving motor on the basis of the information on motion and the position of the user′s pelvis.

Description

[0001] A HEALTH APPARATUS AND A CONTROLLING METHOD THEREROF [0002]

The following description relates to a fitness device and its control method that can be used for gait training and the like, and specifically to a fitness device that actively operates according to a user's intention to walk and a control method thereof.

In general, human posture control is performed in the balance of sensory information and exercise. The exercise process is a harmonization of the posture cooperative reaction of the muscles of the torso and the lower limbs. The sensory process is somatosensory, tactile, , Visual, and vestibular organ.

However, these senses gradually weaken as they age, making it more difficult for elderly people to walk and also risking falls. Accordingly, the elderly or the under-rehabilitation patients perform fall prevention and gait training through the walking exercise. The gait rehabilitation training apparatus for the fall prevention and the gait training includes the treadmill disclosed in Korean Patent Laid-Open No. 10-2012-0129651 .

The conventional treadmill has a problem that the user who uses the treadmill is accustomed to the speed by keeping the set speed constant and does not have to concentrate on the walking itself and thus the training effect in the rehabilitation training is inferior. In other words, active walking training was not performed.

On the other hand, when the set speed is different from the speed of the user, the user feels a ground reaction force which is very different from the reality. For example, if the speed is set faster than the user's speed, the user will feel a reaction similar to standing on a carpet pulling backward.

In addition, since the active acceleration / deceleration control corresponding to the user's speed can be performed only on a straight walk, straight and curved walking can be freely displayed and the walking of the reality in which acceleration / deceleration occurs frequently can not be implemented properly.

It is an object of the present invention to provide a fitness device capable of providing an experience similar to walking on an actual ground by actively controlling a driving motor of a treadmill by grasping a user's intention to walk and based on the user's intention.

According to an embodiment, the exercise device comprises: a treadmill including a belt and a drive motor for driving the belt; A sensing unit for sensing operation information of at least one lower limb of a user who is walking on the belt and a position of a pelvis of the user; And a control unit for controlling the driving motor based on the operation information and the position of the user's pelvis.

The control unit may control the speed of the driving motor such that the position of the sensed pelvis approaches the reference position of the treadmill.

Wherein the control unit decelerates the speed of the driving motor when the detected position of the pelvis is located forward of the reference position of the treadmill and that the position of the detected pelvis is positioned rearward about the reference position of the treadmill The speed of the driving motor can be accelerated.

Wherein the control unit determines the target speed by summing the required speed calculated based on the operation information and the correction speed calculated based on the detected position of the pelvis, Can be controlled.

The control unit can determine the required speed based on the maximum speed of the motion information of the lower limbs which are apart from both the lower limbs.

The controller may calculate the correction rate so that the position of the detected pelvis is proportional to the distance deviated from the reference position of the treadmill.

Wherein the control unit determines the correction rate as a negative value when the detected position of the pelvis is positioned ahead of the reference position of the treadmill by more than a critical distance, The correction speed can be determined to be a positive value when it is positioned behind the critical distance and centered on the reference position.

The exercise device includes: a support frame provided on the treadmill; And a weight assisting device connected to the support frame for supporting a weight of the user.

The weight-assisting device includes: a harness surrounding the upper body of the user; A support force adjusting system installed on the support frame; And a connection member connecting the harness and the support force adjusting system.

The exercise device may further include a display device for displaying a virtual reality image on the front side of the user.

The control unit may change the virtual reality image displayed by the display device in accordance with the speed of the driving motor in the walking direction of the user.

The sensing unit senses the rotational motion of the user and the control unit may rotate the virtual reality image displayed by the display device on the basis of the axial direction perpendicular to the paper, corresponding to the rotational motion of the user have.

Wherein the control unit rotates the virtual reality image by a set angle if the maximum value of the rotational angle of the detected rotational motion is equal to or greater than a threshold angle and if the maximum value of the rotation angle is less than the threshold angle, .

Wherein the control unit rotates the virtual reality image at a set angle when the pattern of the graph of the rotational angle of the sensed rotational motion coincides with the predetermined pattern and determines whether the pattern of the graph of the rotational angle matches the predetermined pattern , The virtual reality image may not be rotated.

Wherein the control unit determines the target speed by summing the required speed calculated based on the operation information and the correction speed calculated based on the detected position of the pelvis, Can be controlled.

The control unit may detect the rotational motion of the user when the rate of change of the driving motor is decreased to a threshold rate or less and may not rotate the virtual reality image if the rate of rate change of the driving motor exceeds a threshold rate .

The control unit may detect the rotational motion of the user when the target speed of the driving motor is reduced to a critical speed or less and may not rotate the virtual reality image if the target speed of the driving motor exceeds the critical speed .

The virtual reality image may be a sports game image.

Wherein the sensing unit further senses operation information of at least one upper limb of the upper limb of the user and the control unit displays the operation of the user on the virtual reality image based on the upper operation information can do.

The display device may be installed on a support frame provided on the treadmill.

According to the embodiment, by detecting the movement of the user and grasping the intention of the user to walk based on the sensed information, the reaction motor close to the actual situation can be provided by controlling the driving motor of the treadmill according to the user's intention to walk . Thus, by providing the user with a walking experience very similar to the actual one, the effect of rehabilitation can be significantly increased.

In addition, by allowing the user to actively change the speed and walk through the virtual reality screen reflecting the user's intention to walk, it is possible to prevent the phenomenon that the training effect such as the concentration loss of the user, .

In addition, since it can be manufactured by using a commercial treadmill and a general 3D camera without using expensive equipment such as a motion capture camera or a complicated haptic device, it is possible to downsize and advantageous in terms of manufacturing cost.

Furthermore, by providing a virtual reality screen that operates according to the user's walking intention, the user can actively change the speed and walk.

In addition, according to the contents provided on the virtual reality screen, the interest of the user can be improved and the training effect can be improved. Meanwhile, by using a control algorithm that rotates a screen provided on a virtual reality screen according to a certain behavior pattern of a user, various contents can be provided.

1 is a view showing a fitness device according to an embodiment.
2 is a configuration diagram of a exercise device according to the embodiment.
3 is a control block diagram of a exercise device according to an embodiment.
4 is a flowchart showing a control method of the exercise device according to the embodiment.
5 is a flow chart illustrating a method for determining a required speed according to an embodiment.
6 is a graph for explaining steps 211 and 212 shown in FIG.
7 is a diagram illustrating a process of rotating a virtual reality image according to a user's rotational motion.
8 is a flowchart showing an embodiment of a method for determining whether a virtual reality image rotates according to a user's rotational motion.
FIG. 9 is a graph for explaining step 310 shown in FIG.
10 is a flowchart showing another embodiment of a method for determining whether a virtual reality image is rotated according to a user's rotational motion.
11 is a graph for explaining step 410 shown in FIG.
12 is a flowchart showing another embodiment of a method for determining whether a virtual reality image rotates according to a user's rotational motion.
13 is a flowchart showing another embodiment of a method for determining whether a virtual reality image rotates according to a user's rotational motion.
FIG. 14 is a flowchart showing another embodiment of a method for determining whether a virtual reality image rotates according to a user's rotational motion.

Hereinafter, embodiments will be described in detail with reference to exemplary drawings. It should be noted that, in adding reference numerals to the constituent elements of the drawings, the same constituent elements are denoted by the same reference numerals whenever possible, even if they are shown in different drawings. In the following description of the embodiments, detailed description of known functions and configurations incorporated herein will be omitted when it may make the best of an understanding clear.

In describing the components of the embodiment, terms such as first, second, A, B, (a), and (b) may be used. These terms are intended to distinguish the constituent elements from other constituent elements, and the terms do not limit the nature, order or order of the constituent elements. When a component is described as being "connected", "coupled", or "connected" to another component, the component may be directly connected or connected to the other component, Quot; may be "connected,""coupled," or "connected. &Quot;

Fig. 1 is a view showing a fitness device according to an embodiment, and Fig. 2 is a configuration diagram of a fitness device according to an embodiment.

1 and 2, the exercise device 10 according to the embodiment includes a treadmill 15, a sensing unit 14, a control unit 12, a support frame 13, a weight assist device 11), and a display device 16.

The treadmill 15 may use, for example, a general type of treadmill that is provided for a health club or home use. The treadmill 15 includes a belt for providing a walking surface on which the user 1 can walk, a drive motor 152 for driving the belt, and a motor encoder (not shown) for measuring the state of the drive motor 152 154).

The driving motor 152 can rotate according to the target speed input by the control unit 12, thereby adjusting the speed of the belt.

The motor encoder 154 can detect the rotational state of the drive motor 152, for example, the rotational speed or the rotational angle.

The sensing unit 14 can sense information on the operation state of the user 1 using the treadmill 15. [ The sensing unit 14 is configured to sense a part of the body of the user 1, for example, an upper body including the head of the user 1, a pelvis of the user 1, an upper limb of the user 1, the position, speed or acceleration of the lower limb, and the like, so that information on the operation state of the user 1 can be sensed. Here, the upper extremity should be understood as a broad concept that includes the upper arm (upper arm), the main (elbow), the power arm (front arm) and the hand. In addition, the legs should be understood as a broad concept including a pectoral region (hip region), a thigh region (thigh region), a knee region (sley), a calf region (lower leg), an ankle (ankle), and a foot (foot).

The sensing unit 14 can indirectly sense information about the operation state of the user 1, for example, by sensing the position of a target marker attached to a part of the body of the user 1, respectively. For example, by sensing the position of the first target marker attached to the head of the user 1, it is possible to detect rotational operation information of the head of the user 1. [ Further, by sensing the position of the second target marker attached to the pelvis of the user 1, the position information of the pelvis of the user 1 can be sensed. In addition, by sensing the position of the third target marker attached to at least one of the lower limbs of both the lower limbs of the user 1, it is possible to detect the motion information of the limb. The third target marker may be attached anywhere on the user's foot or leg. In addition, by sensing the position of the fourth target marker attached to at least one of the upper and lower extremities of the user 1, it is possible to detect motion information of the upper extremity. The fourth target marker may be attached to either the user's hand or arm.

As described above, in the case of using the target marker, it is possible to extract only necessary information more quickly than when analyzing the body of the user 1 sensed by the sensing unit. The sensing unit 14 may be, for example, a 3D camera. The sensing unit 14 may include, for example, a depth sensor, an RGB camera, and an infrared emitter (IR emitter). As the sensing unit 14, for example, a commercially available product such as Kinect v2 may be used. A detailed description of the sensing unit 14 will be omitted.

The control unit 12 can control the drive motor 152 and / or the display device 15 on the basis of various status information of the user 1 and drive information of the treadmill 15. For example, the control unit 12 can control the driving motor 152 based on the information about the operation state of the user 1 and the position of the user's pelvis. The control unit 12 can change the virtual reality image displayed by the display device 16 in accordance with the speed of the drive motor 152 in the walking direction of the user 1. [ The control unit 12 can rotate the virtual reality image displayed by the display device 16 on the basis of the axial direction perpendicular to the paper in accordance with the rotational motion of the user 1. [ The control unit 12 may include a microprocessor 122 and a memory unit 124.

The microprocessor 122 controls the drive motor 152, the display unit 132, and the display unit 132 based on the information sensed by the motor encoder 154, the sensing unit 14, or the support force sensing sensor 1132 and the information stored in the memory unit 124. [ The apparatus 16 or the support force adjusting motor 1134 can be controlled.

The memory unit 124 may store information serving as a basis for judgment for generating the control signal of the microprocessor 122. [ Information detected from the motor encoder 154, the sensing unit 14, or the storage force detection sensor 1132 may be stored and updated in real time in the memory unit 124. [

The support frame 13 may be provided on one side of the treadmill 15. The support frame 13 may extend upward from the side edge portion of the treadmill 15, for example.

The weight-assisting device 11 can support the weight of the user 1. According to the weight assisting device 11, it is possible to prevent the user 1 from falling down while walking.

For example, the weight-assisting device 11 includes a harness 111 surrounding a part of the body of the user 1, for example, a circumference of an upper body, a supporting force adjusting system 113 provided on the supporting frame 13, A harness 111, and a connection force control system 113, as shown in FIG.

The support force control system 113 is configured to control the connection member 112 based on the information detected from the support force detection sensor 1132 for sensing a load applied to the connection member 112 and the support force detection sensor 1132, (Not shown).

The connecting member 112 may include, for example, a wire material such as a torsion spring or a bungee jump cable which does not extend beyond a certain length.

It should be noted that the weight-assisting device 11 is not limited to the above-described embodiment, but may be constituted by a string member connecting the support frame 13 and the bar 1. [

The display device 16 can display a virtual reality image on the front side of the user 1. [ The display device 16 may include, for example, a projector 161 installed on the support frame 13 and a screen 162 on which images projected by the projector 162 are represented. As another example, the display device 16 may be a monitor connected to the control unit 12. [ As another example, the display device 16 may be a wearable device that the user 1 can wear. It is noted that the display device 16 is sufficient to display a virtual reality image on the front side of the user 1 and is not limited to the embodiments described above.

The virtual reality image may be a video representing a virtual space in the indoor or outdoor environment or a video image representing a geographical area of an actual specific region or a video image representing a geographical area of a specific region by using both the upper and lower parts of the user 1 such as baseball, golf or frisbee It can be a sports game video.

When the virtual reality image is a sports game image, the sensing unit 14 may transmit the position information of the fourth target marker to the control unit 12. [ The control unit 12 detects the movement of the upper limb of the user 1 based on the position information of the fourth target marker and controls the display device 16 based on the movement of the upper limb of the user 1, Can be displayed. For example, a swing motion in a baseball, golf, or frisbee can be displayed.

FIG. 3 is a control block diagram of the exercise device according to the embodiment, and FIG. 4 is a flowchart showing a control method of the exercise device according to the embodiment.

1, 3 and 4, the control unit 12 can control the speed of the drive motor 152 so that the position of the pelvis of the user 1 approaches the reference position P_0 of the treadmill 15 have. For example, when the position of the pelvis of the user 1 is located ahead of the reference position P_0 of the treadmill 15 with respect to the x-axis, the speed of the drive motor 152 can be reduced. Conversely, when the position of the pelvis of the user 1 is positioned behind the reference position P_0 of the treadmill 15 with respect to the x-axis, the speed of the drive motor 152 can be accelerated. For example, the controller 12 may calculate the required speed V_R and the corrected speed V_A as described below, and then control the driving motor 152 at a target speed V_T obtained by summing the calculated speeds V_R and V_A.

Operation information of the ground of the user 1 can be sensed through the sensing unit 14 (200). The control unit 12 may determine a required velocity V_R according to the detected motion information. Here, the required speed V_R may be a walking speed on the actual ground corresponding to the operation of the base of the user 1. A specific method for determining the required speed V_R will be described later.

Meanwhile, the position P_P of the pelvis of the user 1 may be sensed through the sensing unit 14 (220). The control unit 12 can compare the sensed position (P_P) of the pelvis with the threshold distance (P_C) to determine the magnitude relationship (230). Here, the pelvis position P_P and the critical distance P_C may be distances measured in the x-axis direction about the reference position P_0 in Fig. 1, respectively. On the other hand, the threshold distance P_C may be set by a user or may be a distance previously stored in the memory unit 124. [

If the position P_P of the pelvis is greater than the critical distance P_C in step 230, then the correction rate V_A may be set to a negative value 230. In other words, when the position P_P of the pelvis is located ahead of the critical position P_C about the reference position P_0, the correction velocity V_A can be set to a negative value. The correction speed V_A may be a value proportional to the current speed of the drive motor 152 or a value proportional to the distance deviated from the reference position P_0 or a predetermined value stored in the memory unit 124 .

The correction speed V_A can be set to 0 when the position P_P of the pelvis is equal to or less than the critical distance P_C and equal to or greater than the negative threshold value P_C multiplied by the critical distance P_C at step 240 (250). In other words, when the position P_P of the pelvis is not more than the critical distance P_C about the reference position P_0, the correction speed V_A can be set to zero.

In step 230, if the position P_P of the pelvis is less than the negative threshold -P_C, the correction rate V_A may be set to a negative value 260. In other words, when the position P_P of the pelvis is positioned behind the threshold distance P_C about the reference position P_0, the correction speed V_A can be set to a negative value. The correction speed V_A may be a value proportional to the current speed of the drive motor 152 or a value proportional to the distance deviated from the reference position P_0 or a predetermined value stored in the memory unit 124 .

Next, the control unit 120 can determine the target speed V_T by summing the required speed V_R and the corrected speed V_A calculated in step 210 and steps 240 to 260. Then, the control unit 120 can drive the driving motor 152 at the determined target speed V_T.

When the critical distance P_C is a value larger than 0, the position P_P of the pelvis of the user 1 will be controlled to be located within the critical distance P_C from the reference position P_0. On the other hand, when the critical distance P_C is 0, the position of the pelvis of the user 1 will always approach the reference position P_0.

5 is a flowchart showing a method for determining a required speed according to an embodiment, and Fig. 6 is a graph for explaining steps 211 and 212 shown in Fig. Specifically, FIG. 6 is a graph showing the foot speed from the moment when the foot is dropped from the ground to the moment when the foot is landed on the ground again.

Referring to Figures 5 and 6, step 210 includes sensing 211 the maximum velocity V_MAX of the ground off the ground, and determining the required velocity V_R based on the sensed maximum velocity V_MAX Step 212 may be included.

In the case of step 212, for example, the required speed V_R can be determined to be a value proportional to the maximum speed V_MAX. Specifically, it is as follows.

In general, the velocity of the foot from the ground, especially the direction of the foot, gradually increases from the moment it falls from the ground, reaches its maximum speed when it passes over the foot supported by the rest of the ground, and decreases gradually until it lands on the ground again. Also, the faster the walking speed, the greater the maximum speed of the foot. Since the pattern is shaped, the required speed V_R can be determined simply using the pattern. By dividing the value obtained by integrating the above graph into the total time, the average speed can be obtained. The value obtained by multiplying the average speed by the proportional constant can be determined as the required speed V_R. The proportional constant for determining the required speed V_R may be a value stored in the memory unit 124 in advance.

7 is a diagram illustrating a process of rotating a virtual reality image according to a user's head rotation motion. 7 (a) to 7 (c) show the head rotation direction of the user and the virtual reality image according to the time.

Specifically, FIG. 7 (a) shows a virtual reality image displayed on the screen of the user's head and the screen when the user looks at the front, that is, the screen. Referring to FIG. 7 (a), the user can walk on the treadmill 15 while looking at the virtual reality image. At this time, the control unit 12 can change the virtual reality image in accordance with the speed of the driving motor 152. Specifically, the control unit 12 may control the virtual reality image to proceed in the user's walking direction so that the user can feel the feeling of moving through the space displayed in the virtual reality image. The traveling speed in the virtual reality image may be proportional to the speed of the driving motor 152. [ The control unit 12 can change the virtual reality image by transmitting the map information stored in the memory unit 124 to the display device 16. [

7 (b) shows a virtual reality image displayed on the screen and the user's head when the user turns his head to the left in the state of Fig. 7 (a).

7 (b), the sensing unit 14 senses the head rotation motion of the user, and the control unit 12 controls the virtual rotation movement of the user displayed on the display device 16 It is possible to rotate the real image based on the z-axis direction perpendicular to the paper surface. For example, the sensing unit 14 may sense a rotational movement of a part of the user's body, in particular, the head. For example, the sensing unit 14 can sense the rotation angle of the user's head by sensing a change in the position of the target marker attached to the user's head. The sensing unit 14 can sense the rotation angle? Of the user's head rotated from the reference position (e.g., the front or x-axis). Then, the controller 12 can rotate the virtual reality image corresponding to the head rotation angle? Of the user. For example, the control unit 12 can rotate the virtual reality image in proportion to the head rotation angle [theta] of the user. As another example, the control unit 12 may be set by the user or may rotate the virtual reality image at a predetermined angle (e.g., 90 degrees) in the memory unit 124. [

FIG. 7 (c) shows a virtual reality image displayed on the screen and the user's head when the user returns the head back to the front in the state of FIG. 7 (b).

Referring to FIG. 7C, when the head of the user is once rotated and the head of the user returns to the reference position (for example, front or x-axis) The rotated state can be maintained as it is. Then, as shown in Fig. 8 (a), a walking operation can be performed.

Through the process as shown in FIGS. 7A to 7C, the user can move in the two-dimensional direction in the virtual reality image according to the walking operation and the rotating operation

Meanwhile, in order to prevent a case where the user does not want to rotate the virtual reality image, a control method for determining whether the virtual reality image rotates may be used as follows.

FIG. 8 is a flowchart illustrating an embodiment of a method for determining whether a virtual reality image rotates according to a user's rotational motion, and FIG. 9 is a graph for explaining step 310 shown in FIG.

Referring to FIGS. 8 and 9, a method for determining whether a virtual reality image rotates according to an exemplary embodiment includes sensing 300 a rotation angle? Of a user, A step 310 of comparing the value? _MAX with a threshold angle? _C, and a step 320 of rotating the virtual reality image to a set angle. Here, the rotation angle [theta] and the critical angle [theta] _C may be the rotated angles measured based on the front face of the user, respectively. On the other hand, the threshold angle? C may be set by a user or may be an angle previously stored in the memory unit 124. [ The setting angle may be set by a user or may be an angle previously stored in the memory unit 124. [ For example, when the setting angle is set to 90 degrees, the user can move in two directions orthogonal to each other in the virtual reality image.

The rotation angle [theta] of the user can be sensed through the sensing unit 14 (300). The controller 12 may compare the maximum value? _MAX of the detected rotation angle? With the threshold angle? _C to determine the magnitude relationship (310).

In step 310, when the maximum value? _MAX of the rotation angle? Is equal to or greater than the threshold angle? C, the control unit 12 controls the display unit 16 to rotate the virtual reality image to a set angle (320)

In step 310, when the maximum value? _MAX of the rotation angle? Is less than the threshold angle? C, the direction of the virtual reality image is maintained, and steps 300 and 310 may be repeatedly performed.

Through the above-described control method, when the user rotates within a range within a critical angle during a gait operation, such as when the user walks in a range within a critical angle or when the user's head shakes, the virtual reality image is not rotated unnecessarily . On the other hand, it is also possible to adjust the sensitivity by decreasing or increasing the critical angle.

Hereinafter, the components included in the above embodiments and the components including the common functions will be described using the same names. Unless otherwise stated, the description of the above embodiment can be applied to the following embodiments. A detailed description will be omitted below.

FIG. 10 is a flowchart showing another embodiment of a method for determining whether a virtual reality image rotates according to a user's rotational motion, and FIG. 11 is a graph for explaining a step 410 shown in FIG.

Referring to FIGS. 10 and 11, a method for determining whether or not a virtual reality image rotates according to another embodiment includes sensing (step 400) a rotation angle? Of a user, (410) a pattern of the virtual reality image with a predetermined pattern, and rotating (420) the virtual reality image to a set angle.

Here, the predetermined pattern may be a pattern set by the user, or a pattern previously stored in the memory unit 124. [ A predetermined pattern will be described in detail as follows.

For example, the predetermined pattern may use the pattern shown in FIG. The pattern shown in Fig. 11 is a pattern that indicates an operation in which the user rotates the head in one direction, reaches the maximum rotational angle, and then rotates in the opposite direction to return to the original position. As shown in Fig. 11, the rate of change of the angle may be reduced from other intervals around the maximum rotation angle. It can be seen that the pattern shown in FIG. 11 is a pattern that can naturally occur in the process of rotating and returning the head in one direction. In other words, by using the pattern as shown in Fig. 11, it is possible to prevent the user's body from being inflexible.

The rotation angle [theta] of the user can be sensed through the sensing unit 14 (400). The control unit 12 may calculate a pattern of the graph of the sensed rotation angle [theta] and compare it with a predetermined pattern to determine whether it matches the predetermined pattern (410).

For example, the control unit 12 determines whether or not the pattern of the graph of the rotation angle [theta] coincides with the predetermined pattern, depending on whether the pattern is located between the first threshold pattern? _P1 and the second threshold pattern? _P2 Can be determined. Here, the first threshold pattern? _P1 and the second threshold pattern? _P2 may be a pattern shifted upward by a predetermined length about a predetermined pattern, and a pattern shifted downward by a parallel movement. The first threshold pattern? _P1 and the second threshold pattern? _P2 may be set by a user or may be an angle previously stored in the memory unit 124. [

In step 410, when the pattern of the graph of the rotation angle [theta] coincides with the predetermined pattern, the control unit 12 can control to rotate the virtual reality image through the display unit 16 at a set angle (420).

In step 410, if the pattern of the graph of the rotation angle [theta] does not match the predetermined pattern, the direction of the virtual reality image remains unchanged, and steps 400 and 410 may be repeatedly performed.

Through the above-described control method, it is possible to prevent the virtual reality image from unnecessarily rotating in the case where the user is walking while looking in one direction, for example, walking or walking with an object or person located around the treadmill. On the other hand, it is also possible to adjust the sensitivity, for example, by adjusting the ranges of the first threshold pattern? 1 and the second threshold pattern? _2.

Meanwhile, the above-described steps 310 and 410 may be performed simultaneously. In other words, it is also possible to rotate the virtual reality image only if both the conditions of step 310 and the conditions of step 410 are satisfied.

12 is a flowchart showing another embodiment of a method for determining whether a virtual reality image rotates according to a user's rotational motion.

Referring to FIG. 12, a method for determining whether or not the virtual reality image rotates according to another embodiment includes determining (500) according to a speed change rate (target speed ÷ current speed) of the driving motor 152 . Step 500 may be performed prior to step 300 (see FIG. 8) or step 400 (see FIG. 10).

In general, a person who wishes to rotate in a different direction during a walk will lower his / her walking speed and then rotate, thereby increasing the walking speed again. Step 500 reflects the above process.

In step 500, if the rate of change of speed is below the threshold ratio, step 300 or step 400 may be performed. Here, the threshold ratio may be set by the user or may be a ratio pre-stored in the memory unit 124. [

Specifically, if it is determined that the target speed V_T of the drive motor 152 determined by the control unit 12 is lower than a predetermined level compared with the current speed of the drive motor 152 sensed by the motor encoder 154, It can be determined that the user desires to start the rotation operation. Thus, through step 300 or step 400, the step of sensing the rotation angle [theta] of the user can be started.

Conversely, in step 500, if the rate of rate of change exceeds the threshold rate, step 500 may be repeatedly performed. In other words, the rate of change of the rate exceeding the threshold ratio can be viewed as a user's intention not to perform a rotational operation, so that the step of sensing the user's rotational angle [theta] is not performed unnecessarily.

While the rate of change of the speed of the driving motor 152 exceeds the critical ratio, even if the user freely takes a rotating operation such as looking around the circumference, a specific pattern of the rotating operation, It is possible to prevent the virtual reality image from being rotated.

13 is a flowchart showing another embodiment of a method for determining whether a virtual reality image rotates according to a user's rotational motion.

Referring to FIG. 13, the method for determining whether or not the virtual reality image rotates according to another embodiment may further include determining (600) according to the target speed V_T of the driving motor 152 . Step 600 may be performed prior to step 300 (see FIG. 8) or step 400 (see FIG. 10).

In step 600, if the target speed V_T is less than or equal to the threshold speed, step 300 or step 400 may be performed. Here, the threshold speed may be set by a user or may be a speed previously stored in the memory unit 124. [

Specifically, when it is determined that the target speed V_T of the drive motor 152 determined by the control unit 12 is equal to or less than the critical speed, it can be determined that the user intends to start the rotation operation. Thus, through step 300 or step 400, the step of sensing the rotation angle [theta] of the user can be started.

Conversely, in step 600, if the target speed V_T exceeds the threshold speed, step 600 may be repeatedly performed. In other words, the target speed V_T exceeds the threshold speed because the user does not intend to perform the rotation operation, so that the step of sensing the rotation angle? Of the user is not unnecessarily performed.

While the target speed V_T of the driving motor 152 exceeds the critical speed through the above process, even if the user freely takes a rotating operation such as looking around the periphery, the specific pattern of the rotating operation, The virtual reality image can be prevented from rotating.

FIG. 14 is a flowchart showing another embodiment of a method for determining whether a virtual reality image rotates according to a user's rotational motion.

As shown in FIG. 14, the above-described steps 500 and 600 may be performed simultaneously. In other words, the step of sensing the rotation angle? Of the user may be performed only when both the condition of step 500 and the condition of step 600 are satisfied.

Although the preferred embodiments of the present invention have been disclosed for illustrative purposes, those skilled in the art will appreciate that various modifications, additions and substitutions are possible, without departing from the scope and spirit of the invention as disclosed in the accompanying claims. For example, it is contemplated that the techniques described may be performed in a different order than the described methods, and / or that components of the described structures, devices, and the like may be combined or combined in other ways than the described methods, Appropriate results can be achieved even if they are replaced or replaced.

Therefore, other implementations, other embodiments and equivalents to the claims are within the scope of the following claims.

Claims (20)

A treadmill comprising a belt and a drive motor for driving said belt;
A sensing unit for sensing operation information of at least one lower limb of a user who is walking on the belt and a position of a pelvis of the user; And
And a control unit for controlling the drive motor based on the operation information and the position of the user's pelvis.
The method according to claim 1,
Wherein,
And controls the speed of the driving motor so that the position of the detected pelvis approaches the reference position of the treadmill.
3. The method of claim 2,
Wherein,
When the position of the detected pelvis is located forward of the reference position of the treadmill, the speed of the driving motor is decreased,
And accelerates the speed of the driving motor when the detected position of the pelvis is positioned behind the reference position of the treadmill.
The method according to claim 1,
Wherein,
A target speed is determined by summing the requested speed calculated based on the operation information and the correction speed calculated based on the detected position of the pelvis,
And controls the drive motor such that the belt is driven at the target speed.
5. The method of claim 4,
Wherein,
And determines the required speed on the basis of the maximum speed of the operation information of the lower limbs that are apart from the ground surface of both the lower limbs.
5. The method of claim 4,
Wherein,
And calculates the correction speed so that the position of the detected pelvis is proportional to the distance deviated from the reference position of the treadmill.
The method according to claim 6,
Wherein,
Determining the correction rate as a negative value when the detected pelvis position is located ahead of the reference position of the treadmill by more than a critical distance,
Wherein the controller determines the correction rate as a positive value when the detected pelvis position is located behind the threshold distance with respect to the reference position of the treadmill.
The method according to claim 1,
A support frame provided on the treadmill; And
And a weight assisting device connected to the support frame for supporting a weight of the user.
9. The method of claim 8,
The weight-
A harness surrounding the user ' s body;
A support force adjusting system installed on the support frame; And
And a connecting member connecting the harness and the support force adjusting system.
The method according to claim 1,
And a display device for displaying a virtual reality image in front of the user.
11. The method of claim 10,
Wherein the control unit changes the virtual reality image displayed by the display device in accordance with the speed of the driving motor in the walking direction of the user.
12. The method of claim 11,
The sensing unit senses the rotational motion of the user,
Wherein the controller rotates the virtual reality image displayed by the display device based on an axial direction perpendicular to the paper, corresponding to the rotational motion of the user.
13. The method of claim 12,
Wherein,
And if the maximum value of the rotational angle of the detected rotational motion is equal to or greater than a threshold angle,
And does not rotate the virtual reality image if the maximum value of the rotation angle is less than a threshold angle.
13. The method of claim 12,
Wherein,
Rotating the virtual reality image at a set angle when the pattern of the graph of the rotational angle of the sensed rotational motion coincides with a predetermined pattern,
And does not rotate the virtual reality image if the pattern of the graph of the rotation angle does not match the predetermined pattern.
The method according to claim 13 or 14,
Wherein,
A target speed is determined by summing the requested speed calculated based on the operation information and the correction speed calculated based on the detected position of the pelvis,
And controls the drive motor such that the belt is driven at the target speed.
16. The method of claim 15,
Wherein,
Wherein when the rate of change of the speed of the driving motor is decreased below a threshold rate,
And does not rotate the virtual reality image when the rate of change of the driving motor exceeds a threshold ratio.
16. The method of claim 15,
Wherein,
Wherein when the target speed of the driving motor is reduced to a critical speed or less,
And does not rotate the virtual reality image when the target speed of the driving motor exceeds the threshold speed.
12. The method of claim 11,
Wherein the virtual reality image is a sports game image.
19. The method of claim 18,
The sensing unit further senses operation information of at least one upper limb of the upper limbs of the user,
Wherein the control unit displays the operation of the user on the virtual reality image based on the operation information of the upper extremity.
11. The method of claim 10,
Wherein the display device includes a projector mounted on a support frame provided on the treadmill.

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