WO2020057267A1 - 一种习练装置及其使用、控制方法 - Google Patents
一种习练装置及其使用、控制方法 Download PDFInfo
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Definitions
- the invention relates to the technical fields of physical exercise, training equipment, health care, leisure and entertainment, teaching appliances, smart homes, etc., and in particular to a training device and its use and control method.
- the existing electric scooters are mainly designed for mobility, transportation, and stability and comfort are their main design goals.
- the start-stop, driving, and commutation processes need to be gentle, and the direction change and speed need manual intervention. It does not have the functions of automatic direction change and speed change, and the technicians in this field have no intention and motivation to add or improve functions that are against the goal of stability and comfort.
- the technical problem to be solved by the present invention is to change the shape, structure, function, control method, and / or use method of the electric scooter through reverse thinking, and transfer it to the field of physical exercise or / and learning and education to create a practice
- the device and its use and control method, the exercise device carries the user to and fro automatically, and the user adjusts the physical and mental state accordingly to prevent falling, so as to achieve the effect of learning exercise.
- An exercise device and its use and control method comprising a bearing assembly (1), a motor and bridge assembly (2), a driven wheel and bridge assembly (3), a power supply assembly (4), and a main control board assembly (5 ),
- the main control board assembly includes a circuit board, a microprocessor, and a motor drive module, which is characterized by including an automatic commutation function module that automatically switches the motor running direction to the opposite direction at a certain distance or / and a certain time, thereby Drive the device back and forth automatically.
- the motor and the bridge assembly, the driven wheel and the bridge assembly, the power supply assembly, and the main control board assembly are installed below the bearing assembly.
- the power supply assembly is connected to the circuit board and the motor drive module.
- the motor drive module is connected to the motor.
- the microprocessor and the motor The drive module is connected to the circuit board, and the microprocessor is connected to the motor drive module through the circuit board; the microprocessor automatically sends a commutation signal to the motor drive module at a certain distance or / and a certain time, and the motor drive module according to the received commutation The signal switches the running direction of the motor to the opposite direction, thereby driving the device to move back and forth automatically.
- the method of use is for the user to stand or sit on the device, facing the side perpendicular to the direction of movement of the device, and adjust the body and mind in time to keep the device from being thrown away when the device moves back and forth. Fall to achieve the effect of exercise.
- the device is further characterized by a hard commutation, that is, the commutation does not wait for the device to stop immediately and immediately moves in the opposite direction.
- the device is further characterized by: continuous automatic round trip, that is, continuous automatic round trip can be repeated repeatedly after startup, and it will not stop until a "stop" instruction is received and / or an abnormal situation occurs.
- the upper surface of the massage component includes numerous raised points.
- the massage component is installed above the bearing component. It can also be made on the surface of the bearing component by carving, casting and similar methods. The user can stand or sit on the massage component to assist stimulation and massage contact. Parts.
- the massage component is a finger pressing plate.
- the upper surface of the load-bearing component tends to be slightly concave, the surface is relatively flat, or non-slip sandpaper is affixed, and there are no raised points for massage.
- a static object such as a cobblestone board or a finger pressure plate
- the static object such as the foot is relatively boring, and they often try to avoid the tender part that requires more exercise.
- Sitting on the massage component of the device because of the need to cope with the disturbance of the device, the stimulation and massage effect obtained is more obvious than on a static object.
- the device according to item 1 or 2 and its use and control method further comprising: a push-button remote control (8), and the "acceleration" and “deceleration” buttons are set separately to precisely adjust the device in stages. Moving speed.
- the device also includes a wireless communication module.
- the wireless communication module is directly or through a circuit board connected to the microprocessor.
- the user operates the remote control to issue start, stop, acceleration, and deceleration instructions.
- the wireless communication module receives the remote control instruction signal and forwards it to The microprocessor sends a corresponding signal to the motor drive module to drive the motor.
- the remote control has a small volume, and can be placed on the remote control shelf to prevent loss when not in use.
- the remote control shelf can also assist in fixing the massage component and have Decorative effect.
- the device uses a push-button remote control, and the "acceleration" and “deceleration” buttons are set separately, which can accurately adjust the moving speed in stages, which is convenient for the user to freely choose a suitable speed and is also conducive to measurement feedback; there is no need to continuously control the throttle, more Conducive to exercise and relaxation.
- the device according to any one of items 1 to 3, and a method for using and controlling the device, further comprising: constant speed round trip, or / and automatic variable speed round trip, or / random variable speed round trip, or / and random variable pitch Round-trip, or / and random variable-speed and random-pitch round-trip, or / and the aforementioned round-trip cross-combination function module.
- it is further characterized by including a function module for setting, adjusting the maximum speed or / and the longest round trip distance. Users can adjust the maximum speed or / and the longest round trip distance at any time according to their own preferences.
- the microprocessor receives the immediate reversal instruction, it sends a signal to control the device to immediately move in the opposite direction to the original moving direction.
- the device has automatic speed change, random speed change, automatic variable distance, random variable distance, and a combination mode thereof, which increases the uncertainty of disturbance, increases the difficulty of predicting correspondingly, and improves the training effect.
- the device may gradually deviate during the automatic round-trip movement, and the immediate reversing function module can be used Correct the deviation or / and move the use area during the operation, without stopping during the commutation adjustment process, which can ensure the continuity of training and enhance the user experience.
- the display component is installed in a middle region of the upper surface of the bearing component.
- a real-time speed display function module which displays the current running speed in real time through a display component.
- the user faces the forward direction, needs to observe the surrounding environment, and has no time to look closely at the pedal surface; even if a display component is added, those skilled in the art tend to install its design under the pedal; even if the design Installed above the pedal, it also tends to be designed to be installed at the front end, so as to take the time to look down; technicians have no motivation and willingness to install it in the middle area above the pedal-the middle area requires the user to turn his head to observe, which is inconvenient and easy Accidents such as loss of control.
- the device can automatically move back and forth in a small space.
- the user usually faces the side perpendicular to the direction of movement.
- the display component displays the current running speed in real time. It is an important feedback for the user. It can facilitate the adjustment of the preferred speed and also the convenience. Perceive the effect of training, installed in the middle area of the upper surface of the load bearing component, the user can observe it only by lowering his head slightly. In the stopped state, the display component can also display information such as power.
- the device according to any one of items 1 to 4, and its use and control method, further comprising a speaker (6) and an audio playback module.
- the speaker is connected to the audio playback module.
- the audio playback module is connected to the microprocessor directly or through a circuit board.
- the microprocessor selects, plays audio files, and / or adjusts the volume according to user operation instructions.
- it is also characterized by including background music, or / and classic article recitation, or / and exercise guidance files.
- Existing electric scooters usually do not have speakers and audio playback modules, and a few use buzzers for limited operation prompts. Speakers usually need sound holes, which is not conducive to waterproofing. Existing electric scooters are usually used outdoors, and the environment is complicated and noisy. If audio is played, the volume is low, the sound is inaudible, and the volume is high, which disturbs the people. The need for waterproofing and shock resistance takes precedence over playback. There is no motivation and willingness for technical personnel in this field to increase Speaker and audio playback module.
- the device is usually used indoors and is suitable for playing audio content.
- alpha wave music, light music and other relaxing puzzle background music or / and practice guide passwords to play, which will help exercise, relax, and puzzle; along with classic articles, let users practice, In the process of physical and mental relaxation, it is better to learn more by repeatedly cultivating and involuntarily.
- a voice prompt module which automatically plays a corresponding voice prompt when the user operates, or abnormality occurs, or / and other needs.
- User operations include, but are not limited to: starting, accelerating, decelerating, stopping, pausing, continuing, reversing immediately, increasing round trip distance, shortening round trip distance, increasing volume, decreasing volume, switching audio files Waiting for one or more; the occurrence of abnormalities includes, but is not limited to, one or more of: stalled, overspeed, low battery, operation error, etc.
- a recording file of a user or / and a loved one or a teacher is stored in the device, and the corresponding recording is played along with the device when the user is practicing.
- the user first records the training tips and classic articles to help deepen the understanding of the training principles, methods and essentials; during the training process, the user listens to the voices of himself or / and relatives and teachers to help relax the mind and body A stable and peaceful, will help to subconsciously understand the essentials of the practice method and the truth of life.
- the device according to any one of items 1 to 5, and a method for using and controlling the device, further comprising: an anti-collision component (11) installed at both ends in a moving direction thereof.
- the anti-collision component contains an anti-collision switch
- the anti-collision switch is connected to a microprocessor or a power source component, and the device automatically stops immediately when it collides with a foreign object during movement.
- the thickness / area of both ends of the load-bearing component in its moving direction is significantly larger than the same portion of the existing electric scooter.
- Electric scooters lacking anti-collision protection are extremely vulnerable to injury to others and other objects when used in a small indoor space, especially children and pets who are easily injured due to curiosity or accidental intrusion.
- the device is usually used indoors, and it is necessary to enhance anti-collision protection.
- the impact of the automatic reciprocating movement is greater than the impact of the emergency stop.
- the user is always alert to prevent falling, and the automatic emergency stop poses less threat to the user. , So it can include collision avoidance and automatic emergency stop functions.
- the load-bearing component has the shape of a cover, covering the motor and the bridge component, the driven wheel and the bridge component.
- a large cavity which is significantly larger than the same part of the existing electric scooter is located below the load-bearing component, and houses a power source component, a main control board component and a speaker, and a sealing plate (12) is provided below the cavity for protection.
- the pedals are relatively thin and thin.
- the motor and driven wheels are usually exposed. Due to the need to adapt to outdoor potholes and bumpy roads, in order to avoid the road or obstacles from rubbing against the chassis, the chassis needs to retain a sufficient amount of ground clearance. This field Of technicians have no motivation and willingness to thicken the pedals, or cover the motor, driven wheels, or increase the volume of the control box.
- the device is usually used on a flat floor indoor, with less friction under the load-bearing components, and the height above the ground can be significantly smaller than that of existing electric scooters, covering the motor and driven wheels, and protecting users, others, and other objects from Rubbing or bumping of the motor and driven wheel, the larger cavity structure is beneficial to accommodate more functional modules and improve the volume and sound quality of the playback.
- the device according to any one of items 3 to 6, and its use and control method, further comprising: a two-way wireless communication function module, which is similar to a smartphone, or / and a tablet computer through the two-way wireless communication function module.
- the smart device receives and sends instructions or data.
- the receivable and executable instructions or data include but are not limited to one of the aforementioned remote control instructions, parameter setting instructions, parameter query instructions, status query instructions, and operation data reading instructions Or / and multiple.
- the data that can be sent includes, but is not limited to, one of current power data, current volume data, current training mode data, current speed data, current training mode duration data, and running statistics data. Item or / and multiple items.
- Existing electric scooters usually can only receive a very small number of instructions such as speed control of a remote control, and cannot send data to the remote control and other devices.
- the device can be operated by infrared, Bluetooth, 2.4G, Wifi and other similar wireless communication remote controls, and can also be operated remotely by using general smart devices, or can only be operated remotely by using general smart devices.
- a timing function module for exercise which automatically calculates the duration of each exercise.
- a training time report function module which automatically calculates the duration of the current exercise, and automatically issues a sound prompt or / and plays a voice prompt when the duration of the current exercise reaches a set value.
- a pause / resume function module that accepts the user's "pause” instruction during the current exercise, and the device pauses movement and pauses timing; in the paused state, accepts the user to "continue” "Instruction, the device resumes movement according to the parameters and modes before the pause, and resumes timing based on the length of time before the pause.
- training record output function module which automatically outputs training record data
- data items include but are not limited to: device identification, training mode, start time, end time, duration, running speed, etc. Item or / and multiple items.
- it is also characterized in that it includes training record output to the wireless communication module, which is forwarded by the wireless communication module to a smart phone or / and a tablet-like similar general smart device, and then forwarded by the general smart device to the server / cloud system Stored for subsequent statistical analysis, and / or social sharing, and / or forensic settlement.
- the device according to any one of items 1 to 8, and its use and control method, further comprising: a motor rotation monitoring function module that monitors and counts motor rotation signals in real time.
- an automatic parking function module which automatically brakes when not started, automatically releases the brake when started, and automatically brakes when stopped.
- the automatic parking function module includes an intelligent judging sub-module, which automatically brakes when the motor rotation signal is not detected in the starting state, and automatically releases the brake when the brake duration reaches a set value to save power Reduce losses.
- it is also characterized in that it includes an automatic stop function module, which automatically stops moving when the motor rotation speed is measured to exceed a set limit, or / and when the motor rotation speed is measured to be lower than the set bottom limit in the starting state.
- an automatic stop function module which automatically stops moving when the motor rotation speed is measured to exceed a set limit, or / and when the motor rotation speed is measured to be lower than the set bottom limit in the starting state.
- a start-up protection function module which continuously monitors the motor rotation signal in the non-starting state, and upon receiving the start command, if the motor rotates beyond a set limit within a set time window, it automatically refuses to start.
- the device monitors and counts the motor rotation signals in real time, and can be used to analyze and judge the motor rotation state, measure the movement speed, measure the movement distance, and determine the commutation timing by measuring the movement distance.
- the connection of the motor, driven wheel and bridge of the device needs to be more flexible.
- the user must have a certain balance ability and skills to stand or sit on it, otherwise it is easy to shake or slide.
- Automatic stop helps users (especially beginners) to step on the device smoothly and safely; automatic stop can reduce the abnormalities of the device such as overspeed, flying, flying, stalling, misoperation, etc. Risk; refuse to start, ensure that the user can start after standing or sitting, improve the safety of use.
- the device according to any one of items 1 to 9, and a method for using and controlling the device, further comprising: using a right management module to verify a password before starting, or / and setting parameters, or / and outputting data, Reject execution if the password is incorrect.
- it is also characterized in that it includes a use time-limit function module, which presets or sets the use time limit for the device when needed through an intelligent device, and automatically stops or / and refuses to start when the use time limit is exceeded.
- a use time-limit function module which presets or sets the use time limit for the device when needed through an intelligent device, and automatically stops or / and refuses to start when the use time limit is exceeded.
- it is also characterized in that it includes a text-based code, or a bar code, or a two-dimensional code or similar identification code.
- the user reads or enters the identification code through a smart device, and establishes a communication connection with the device, thereby controlling and / or renting. ⁇ ⁇ The device.
- the device according to any one of items 1 to 10, and a method of using and controlling the device, further comprising: an electroencephalogram sensor component, the electroencephalogram sensor component automatically collects user brainwave data, and passes the wireless communication module It is transmitted to the microprocessor, and the microprocessor automatically adjusts the moving speed of the device according to the received brain wave data of the user.
- index data such as the degree of relaxation, concentration, and alpha wave content in the user's brain waves in real time, and comparing it with the training target value.
- the collected index data is automatically accelerated when it is greater than the training target value. When it is less than the training target value, it will automatically decelerate, so as to gradually approach and maintain the best state, so as to achieve better fitness exercises.
- brainwave feedback control such as manipulating toy carts, balls, and other unidirectional movements according to the degree of concentration.
- Such devices are generally used by users under static conditions, which are of little help to physical exercise. .
- the existing electric scooter technology was improved and innovated and transferred to the field of physical exercise and learning and education.
- the technical effects form new uses to help users improve their ability to balance, coordinate, relax, supple, focus, and respond, and more easily, easily and efficiently achieve the effect of physical exercise.
- the disturbance environment created by the present invention helps users to meet these basics unknowingly.
- regular practice can improve physical function, physical fitness, and comprehensive literacy.
- the device is small in size, light in weight, and low in use environment requirements, and can be used in small indoor spaces, which significantly improves convenience, economy and practicability.
- FIG. 1 is a schematic diagram of an embodiment of the present invention.
- FIG. 2 is a schematic structural diagram of an embodiment of the present invention.
- FIG. 1 is a schematic diagram of an embodiment of the present invention
- FIG. 2 is a schematic diagram of an embodiment of the present invention.
- the embodiment includes a bearing assembly (1), a motor and a bridge assembly (2), a driven wheel and a bridge assembly (3), a power supply assembly (4), a main control board assembly (5), a speaker (6), and a massage assembly (7) , Remote control (8), remote control bracket (9), display assembly (10), anti-collision assembly (11), cover plate (12), identification code, etc.
- this example uses bamboo and wood materials to make a shell shape with a length of 59cm, a width of 31cm, and a height of 7cm. It can cover the motor and the bridge assembly during installation.
- a spacer with a length of 20cm, a width of 29cm, and a height of 4cm is separated by a partition below the load-bearing assembly to accommodate the installation of power components, main control board components, speakers, etc., and a sealing plate is installed below the cavity.
- Two motors with a working voltage of 24V, a power of 120W, and a diameter of 72mm are selected, and standard bridges and spare parts matched with the hub motors are used to form the motor and the bridge assembly described in the embodiment.
- Two PU wheels with a diameter of 72mm are selected, and standard bridges and spare parts matched with motors and bridge assemblies are used to form the driven wheels and bridge assemblies described in the embodiment.
- a power lithium battery pack with a rated voltage of 24V and a capacity of 4AH, as well as a power switch and a charging head are used to form a power component.
- Two 25 * 30cm universal finger pressure plates are selected as massage components and installed above the bearing component; they can also be made on the upper surface of the bearing component as a whole by carving, casting and similar methods.
- any wireless remote control similar to wireless communication such as infrared, Bluetooth, 2.4G, Wifi can be selected.
- a general-purpose 38K small infrared remote control is used as the push-button remote control.
- Digital display tubes, LED light strips, display screens and other components can be used to make display components.
- 16-bit WS28125050 RGB full-color RGB circular light ring module and protective cover are used to make display components.
- a general-purpose cushion can be used to make an anti-collision component.
- the anti-collision component contains an anti-collision switch (such as a bead switch) and is pasted on both ends of the bearing component. The effect can also be omitted without using the anti-collision assembly.
- the identification code can be made using text encoding, barcode, two-dimensional code, etc.
- two-dimensional codes such as WeChat or Alipay mini programs, public numbers, etc. are selected and posted or printed on the surface of the device.
- the motor and the bridge assembly, the driven wheel and the bridge assembly, the power supply assembly, and the main control board assembly are installed below the bearing assembly.
- the height of the massage component above the ground should be controlled within a relatively safe range.
- the basic external dimensions of this embodiment are approximately 59 cm in length, 31 cm in width, and 13 cm in height, and are suitable for indoor use.
- the main control board components include circuit boards, microprocessors, motor drive modules, audio playback modules, wireless communication modules, and step-down modules, diodes, capacitors, resistors, sockets, pins, and plugs. Components.
- Microprocessors, card computers, and similar general-purpose devices can be selected as microprocessors, such as iOS, STM32, C51, Raspberry Pi, etc., which contain a large number of standard input and output ports, which can load program files; this embodiment uses chicken cards
- the computer as a microprocessor is loaded with the processing control program file of this embodiment.
- motor drive module with a working voltage of 12 to 36V, dual drives, DC, brushless, Hall, hard commutation, and high-power wheel motor control is selected.
- Optional wireless communication modules corresponding to infrared, Bluetooth, 2.4G, Wifi and other similar wireless communication remotes can be selected.
- the infrared receiving head matched with the universal 38K small infrared remote control is used for one-way wireless communication, and universal Bluetooth is selected.
- the module performs two-way wireless communication.
- the power supply component is connected to the circuit board and the motor drive module.
- the phase output terminal of the motor drive module is connected to the phase input terminal of the motor in sequence, and the Hall line is connected to the Hall line of the motor in sequence.
- Hall line this embodiment should be connected to the Hall line to monitor the motor rotation signal
- microprocessor, motor drive module, audio playback module, wireless communication module, speaker, anti-collision switch are connected to the circuit board, and the microprocessor is connected through the circuit
- the board is respectively connected with the motor drive module, the audio playback module, the wireless communication module, and the anti-collision switch.
- the audio playback module is directly connected to the speaker through a circuit board or directly.
- This embodiment sets 6 practice modes, such as: fixed speed round trip (novice mode), automatic speed change round (relax mode), random speed change round (exercise mode), both random speed change and random distance change round (master mode), EEG feedback controls round-trip (mind mode) and continuous advance (pass mode).
- Each training mode is set to correspond to a button on the remote control, and when one of the buttons is pressed, a start command of the corresponding training mode is issued.
- the remote control also has buttons for accelerating, decelerating, stopping, pausing, continuing, reversing immediately, increasing the round trip distance, shortening the round trip distance, increasing the volume, lowering the volume, and switching audio files.
- voice prompt files Use a general-purpose recording tool to record or synthesize a voice prompt file corresponding to each of the button commands.
- Other voice prompt files also include instructions for use, safety warnings, abnormal reminders, and time notifications (such as "five minutes”, “ Ten minutes “and so on), the voice prompt file is stored in the MicroSD memory card in the audio playback module in advance.
- the user himself or / and relatives and teachers use general-purpose recording tools to record practice tips, classic articles, etc., and store the recorded recording file in a MicroSD memory card in the audio playback module, and practice in the user At the same time, the corresponding audio recording is played by the audio playback module of the device.
- the method of using the device is as follows: the user stands or sits on the device, facing the side perpendicular to the moving direction of the device, and adjusts the body and mind in time to keep the device from being dropped when the device moves back and forth, so that Achieve exercise effects.
- the device is powered on, enters the ready state after initialization, self-test, and executes synchronously or in turn:
- Enable voice prompt module play product advertisements, safety tips, operation tips in turn, play background music in turn, or / and read classic articles, or / and exercise guidance files;
- (1)Motor rotation monitoring function module Real-time monitoring and statistics of motor rotation signals.
- the Hall signal changes when the motor rotates.
- the motor drive module generates rotation pulses and outputs them to the pulse port (M) through the processing of the motor Hall signal changes.
- the microprocessor monitors and The signal of the input port connected to the pulse port (M) of the motor drive module, and counts the number of changes in the signal;
- (2)Auto-stop function module the brake is not automatically started at the start state, the brake is automatically released at the start time, the brake is automatically stopped at the stop time, the microprocessor sets the output port connected to the motor drive module brake port (EL) to a different value Use the brake or release the brake;
- the automatic parking function module includes an intelligent judgment sub-module: the brake is automatically activated when the motor rotation signal is not detected when the motor is in the starting state, and the brake is automatically released when the brake duration reaches the set value;
- Startup protection function module Continuously monitor the motor rotation signal in the non-startup state. When the startup command is received, if the motor rotation speed exceeds the set limit within the set time window, it will automatically refuse to start;
- (4)Anti-collision protection module monitor the anti-collision switch signal, and immediately send the emergency stop control signal to the motor drive module when receiving the switch action signal; if the microprocessor is not used to implement the emergency stop function, the anti-collision switch signal line can also be It is connected to the power supply module and cuts off the power supply directly when a collision is detected.
- the wireless communication module When listening to the instructions received by the wireless communication module, it analyzes the corresponding instructions and invokes the use right management module: before starting, or setting parameters, or / and outputting data, verify the password. If the password is incorrect, refuse to execute it. Be sure to play the corresponding voice prompt file;
- the user scans the QR code through an APP or applet installed on a general smart device such as a smart phone or tablet computer to verify the use right or / and the period of use.
- a general smart device such as a smart phone or tablet computer to verify the use right or / and the period of use.
- the user is allowed to recharge online.
- the device establishes a communication connection.
- Parameter setting instructions including increasing the volume, lowering the volume, setting the volume, switching audio files, setting the access password, setting the time limit, setting the speed limit, etc., setting the corresponding parameters according to the content of the instruction, and playing the corresponding sound according to the preset settings Or voice prompt file, execute according to the corresponding parameters.
- Data query instructions including querying device parameters, querying running status, querying practice records, querying statistical reports, etc. According to the content of the instructions, the corresponding data is retrieved, and the data packets are grouped into a predetermined format and output through the wireless communication module.
- Start-up instruction in the training mode call the use of the time-limit function module-judge whether the time limit is exceeded according to the preset value, if it exceeds the time limit, refuse to start or / and automatically stop, and play the corresponding voice prompt file according to the preset setting, If the time limit is not exceeded, the activation protection function module is called. If it is not rejected by the activation protection function module, the corresponding voice prompt file is played according to the preset settings and the corresponding training mode is started. For details, see the subsequent description.
- Action adjustment instructions including acceleration, deceleration, increase of round-trip distance, shortened round-trip distance, pause, resume, immediate change of direction, stop, etc., which are executed separately according to the current mode and status, see the following description for details.
- the microprocessor starts the motor or adjusts the speed by setting the output port connected to the motor drive module speed adjustment port (VR) to a corresponding value.
- the training record output function module output the current training mode startup data to the wireless communication module.
- the data items include but are not limited to: device identification, training mode, start time, end time, duration, running speed, etc.
- the items or / and multiple items are forwarded by the wireless communication module to smart phones, or / and similar general smart devices such as tablets, and then forwarded by the common smart devices to the server / cloud system storage for subsequent statistical analysis, and / Or social sharing, and / or forensic settlement.
- the training time report function module When the duration of the training reaches a preset parameter (for example, 5 minutes, 10 minutes, and so on), the corresponding sound or voice prompt file is automatically played.
- a preset parameter for example, 5 minutes, 10 minutes, and so on
- the automatic reversing function module automatically switch the motor running direction to the opposite direction at a certain distance or / and a certain time according to the preset parameters, thereby driving the device to move back and forth automatically.
- the microprocessor compares the one-way running distance or / and the comparison timing interval according to the preset parameters, and automatically sends a commutation signal to the motor drive module every certain distance or / and a certain time. Examples of detailed control methods for automatic commutation are as follows:
- S1 wait for the start instruction, enter S2 after receiving the start instruction, otherwise continue to S1;
- step S3.2 Invert the setting value of the digital output port where the microprocessor is connected to the positive and negative control end (Z / F) of the motor drive module to move in the direction opposite to the current movement direction, and clear the value of a to 0. Then return to step S3.1;
- S4 Monitor the stop signal. If a stop signal is received, go to S5, otherwise continue to S4;
- S5 Set the speed control voltage value of the speed control port to 0 to stop the movement, clear the value of a, and then return to S1.
- the round-trip distance can be selected based on the speed-up performance of the motor, the user experience effect, and the use of space. For example, the round-trip distance is limited to 2 meters for indoor use. The round-trip distance can also be designed as a custom parameter by the user according to needs. Settings adjustment.
- the automatic commutation function can be implemented using program modules or other methods-including using digital circuits or digital integrated circuit modules: for example, using D flip-flops (ping-pong switches), preset number counters with power-off memory functions,
- the counter is soldered or plugged into a printed circuit board, and the counter is preset to the maximum allowable number of speed-measuring pulses A for one-way movement.
- the input terminal of the counter is connected to the speed-measuring pulse signal terminal of the motor drive module, and the output terminal is input to the D trigger
- the output terminal of the D trigger is connected to the positive and negative control terminals of the motor drive module.
- This embodiment uses hard commutation:
- the motor drive module of the existing electric scooter does not meet the requirements of hard commutation.
- the drive chip on the motor drive module selected in this embodiment uses a hard commutation IC chip. When a commutation signal is received, Without waiting for the device to stop (the motor stops rotating), immediately move in the opposite direction.
- Random variable speed round trip start at the initial speed and initial round trip distance; every interval a certain distance (number of pulses) or / and a certain time, automatically take random values within the upper and lower speed limits to change the speed;
- the speed upper limit value of level 1 will be increased / decreased respectively;
- the "Increase distance” / "Short distance” instruction is received, it will increase / decrease the 1-speed movement round-trip distance.
- (4)Random variable speed and random variable distance round-trip Start at the initial speed and initial round-trip distance; every interval a certain distance (number of pulses) or / and a certain time, automatically take random values within the upper and lower speed limits Change the speed; increase / decrease the upper limit of the speed by 1 level when receiving the "acceleration” / "deceleration” instructions; each time you change directions, automatically take a random value within the upper and lower limits of the round trip distance to change the round trip Distance; when receiving "Increase distance” / "Short distance” instructions, increase / decrease the upper limit of the round trip distance by 1 gear respectively.
- EEG feedback control round trip preset brain wave data training target value g; start at initial speed and initial round trip distance; monitor and receive user brain wave data i collected by the brain wave sensor component, and compare with the target value Compared with g, if i> g, it will automatically increase the speed of level 1; if i ⁇ g, it will automatically decrease the speed of level 1.
- the electroencephalogram data may be one of the indicators of user relaxation, concentration, and alpha wave content. Or multiple combinations; preferably, in view of the fluctuation of the brain wave data, in order to avoid frequent variable-speed jitter, multiple times may be used to compare the conditions and then change the speed.
- the brain wave sensor component can be selected with a TGAM brain electricity module kit with Bluetooth communication.
- the TGAM module can collect and provide the original wave value, EEG power -delta (0.5-2.75Hz), theta (3.5-6.75Hz), low- alpha (7.5-9.25Hz), high-alpha (10-11.75Hz), low-beta (13-16.75Hz), high-beta (18-29.75Hz), low-gamma (31-39.75Hz), mid- gamma (41-49.75Hz), concentration, relaxation index; the user wears the brain wave sensor component on his head, and the brain wave sensor component automatically collects the user's brain wave data and transmits it to the micro-processing through the wireless communication module Device.
- Call training record output function module output the current training mode stop data to the wireless communication module.
- the data items include but are not limited to: device identification, training mode, start time, end time, duration, running speed, etc. or / And multiple items, forwarded by the wireless communication module to smart phones, or / and similar general smart devices such as tablets, and then forwarded by general smart devices to the server / cloud system storage for subsequent statistical analysis and / or social Sharing, and / or forensic settlement;
- This embodiment preferably adopts standing posture practice.
- the user refers to the martial arts and health standing piles, and his feet stand on the massage module in parallel.
- the feet are as wide as the shoulders, the head is upright, the body is relaxed, and the balance is maintained. Adjust your physical and mental state and try not to get dropped. After the user gradually adapts or is proficient, he can practice martial arts or exercises while keeping it from being thrown off.
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Abstract
一种习练装置，包括承载组件(1)、电机及桥架组件(2)、从动轮及桥架组件（3）、电源组件（4）、主控板组件（5），主控板组件（5）包括线路板、微处理器、电机驱动模块，以及自动换向功能模块，每隔一定距离或/和一定时间自动将电机运转方向切换到相反的方向，从而带动所述装置自动往返移动；该习练装置承载使用者自动往返移动，达到高效的学习锻炼效果。
Description
本发明涉及体育锻炼、训练器械、养生保健、休闲娱乐、教学用具、智能家居等技术领域，特别是涉及一种习练装置及其使用、控制方法。
现有电动滑板车，设计用途主要为代步、运输，平稳、舒适是其主要设计目标，为防将使用者甩落，启停、行驶、换向过程需要平缓，转换方向、变换速度需要人工干预，不具备自动换向、变速功能，该领域技术人员也没有意愿和动机增加或改进出有违平稳、舒适目标的功能。
发明内容
本发明所要解决的技术问题是：通过逆向思维，改变电动滑板车的形状、构造、功能、控制方法或/和使用方法，转用到体育锻炼或/和学习教育领域，以创造一种习练装置及其使用、控制方法，习练装置承载使用者自动往返移动，使用者相应调整身心状态以防掉落，从而达到学习锻炼效果。
为解决上述技术问题，本发明采用的一个技术方案如下：
1、一种习练装置及其使用、控制方法，包括承载组件(1)、电机及桥架组件(2)、从动轮及桥架组件(3)、电源组件(4)、主控板组件(5)，主控板组件包括线路板、微处理器、电机驱动模块，其特征在于：包括自动换向功能模块，每隔一定距离或/和一定时间自动将电机运转方向切换到相反的方向，从而带动所述装置自动往返移动。
所述电机及桥架组件、从动轮及桥架组件、电源组件、主控板组件，安装在承载组件下方，电源组件与线路板、电机驱动模块相连，电机驱动模块与电机相连，微处理器、电机驱动模块与线路板相连，微处理器通过线路板与电机驱动模块相连；微处理器每隔一定距离或/和一定时间自动向电机驱动模块发出换向信号，电机驱动模块根据接收到的换向信号将电机运转方向切换到相反的方向，从而带动所述装置自动往返移动。
优选地，其特征还在于：使用方法为使用者站或坐在所述装置上、面朝与所述装置移动方向垂直的一侧、在所述装置往返移动时及时调整身心以保持不被甩落，从而达到锻炼效果。
现有电动滑板车，通常为单方向运行，使用者面朝前进方向，即使少数具有倒车功能，倒车时也需要人工干预，使用者有心理准备，所以对体育锻炼帮助不大。所述装置自动往返移动，换向无需使用者干预，使用者站或坐在所述装置上，要想保持不被甩落，需要随时调节身心状态，特别在换向时更需要应对突然冲击，所以有益于体育锻炼；连续有节奏的左右摇晃，具有“摇篮”效应，有助于放松解压。
优选地，所述装置的特征还在于：硬换向，即换向时不等待所述装置停稳立即朝相反的方向移动。
现有电动滑板车，极少具有倒车功能，即使有，也必须采用软换向，即先停下或先减速、再朝相反方向运行，以减少冲击，以保障平稳、舒适；所述装置往返硬换向，可以加强对使用者的冲击，从而提高其习练效果。
优选地，所述装置的特征还在于：持续自动往返，即启动后可持续重复自动往返，直到收到“停止”指令和/或出现异常情况时才停止。
现有电动滑板车，不能持续自动往返，主要在室外或较大空间环境下使用；所述装置可持续自动往返，更加适合在室内锻炼使用，在长2米、宽1米的空间内即可使用。
2、根据第1项所述装置及其使用、控制方法，其特征还在于：包括按摩组件(7)。
按摩组件上表面包括众多凸起点，按摩组件安装于承载组件上方，也可以通过雕刻、铸造及类似方式整体制作在承载组件上表面，使用者站或坐在按摩组件上，可以辅助刺激、按摩接触部位。
优选地，其特征还在于：按摩组件为指压板。
现有滑板车，为了保障舒适、轻薄、易操控，承载组件的上表面倾向于做成轻微的凹型，表面相对平整或贴有止滑砂纸，没有可起到按摩作用的凸起点。
现有技术条件下，有人选择脚踩鹅卵石板、指压板等静态物件锻炼养生，脚踩这类静态物件相对枯燥乏味，而且踩的过程中往往努力回避更需要锻炼的压痛部位；使用者站或坐在所述装置的按摩组件上，由于需要应对所述装置的扰动，所获刺激、按摩效果比在静态物件上更加明显。
3、根据第1或2项所述装置及其使用、控制方法，其特征还在于：包括按钮式遥控器(8)，“加速”、“减速”按钮分开设置，以分级精准调节所述装置移动速度。
所述装置还包括无线通讯模块，无线通讯模块直接或通过线路板与微处理器相连，使用者操作遥控器发出启动、停止、加速、减速指令，无线通讯模块收到遥控器指令信号，转发给微处理器，微处理器发出相应信号给电机驱动模块以驱动电机动作。
优选地，其特征还在于：包括遥控器搁架(9)，遥控器体积较小，在不用时可放置在遥控器搁架上以防丢失，遥控器搁架还可以辅助固定按摩组件并有装饰作用。
现有电动滑板车，采用油门/摇杆式遥控器，通过推拉油门/摇杆加减速，优点是可较快加减速、松开时可自动复位，所以该领域技术人员没有意愿和动机改用按钮式遥控器，其不足有：为保持运行需要持续把控油门/摇杆，会造成使用者身体局部持续紧张；难以分级精准调节移动速度。所述装置采用按钮式遥控器，“加速”、“减速”按钮分开设置，可分级精准调节移动速度，既方便使用者自由选择适合的速度，也有利于计量反馈；无需持续把控油门，更有利于锻炼放松。
4、根据第1至3任一项所述装置及其使用、控制方法，其特征还在于：包括定速往返、或/和自动变速往返、或/和随机变速往返、或/和随机变距往返、或/和既随机变速又随机变距往返、或/和前述往返交叉组合的功能模块。
优选地，其特征还在于：包括设定、调整最高速度或/和最长往返距离功能模块。使用者可根据自身喜好随时调整最高速度或/和最长往返距离。
优选地，其特征还在于：包括立即换向功能模块。所述装置在自动往返移动过程中，使用者可控制立即换向，微处理器接收到立即换向指令时，发出信号控制所述装置立即朝原移动方向相反的方向移动。
现有电动滑板车，变速、调速等需要人工干预，变换前使用者可预判，以保障平稳、舒适，在使用者没有思想准备时也不宜自动变速，以免摔伤使用者，因此该领域的技术人员也没有动机和意愿增加自动变速、自动变距、立即换向功能。
所述装置自动变速、随机变速、自动变距、随机变距及其组合模式，增加了扰动的不确定性，预判难度相应增加，可提高习练效果。
由于实际使用环境偏差，例如场地倾斜或不平、正反向摩擦系数偏差、装置重心及使用者重心分布偏差等，所述装置在自动往返移动过程中可能逐渐跑偏，立即换向功能模块可用于在运行过程中纠正偏差或/和挪移使用区域，换向调整过程无需停机，可保障习练连续性、增强使用体验。
优选地，其特征还在于：包括显示组件(10)，安装在承载组件上表面。
优选地，其特征还在于：所述显示组件，安装在承载组件上表面的中间区域。
优选地，其特征还在于：包括速度实时显示功能模块，通过显示组件实时显示当前运行速度。
现有电动滑板车，通常没有显示组件，即使有少量指示灯，也只用于显示开关、电量、通讯类信息，不显示实时速度信息，也不会安装在承载组件上表面，更不会安装在承载组件上表面的中间区域。因为现有电动滑板车在使用时，使用者面朝前进方向，需观察周边环境，无暇细看踏板表面；即使增加显示组件，该领域技术人员也倾向于将其设计安装在踏板下方；即使设计安装在踏板上方，也倾向于设计安装在前端位置，以便抽空低头观察；技术人员没有动机和意愿将其设计安装在踏板上方中间区域——中间区域需要使用者扭头观察，很不方便，还易产生失控等意外情况。
所述装置可在较小空间内自动往返移动，使用者通常面朝与移动方向垂直的一侧，显示组件实时显示当前运行速度，对于使用者是重要反馈，可便于调整喜好的速度，也便于感知习练效果，安装在承载组件上表面中间区域，使用者只需略为低头即可观察到。在停止状态，显示组件还可显示电量等信息。
5、根据第1至4任一项所述装置及其使用、控制方法，其特征还在于：包括扬声器(6)和音频播放模块。扬声器与音频播放模块相连，音频播放模块直接或通过线路板与微处理器相连，微处理器根据使用者操作指令选择、播放音频文件、或/和调整音量。
优选地，其特征还在于：包括背景音乐、或/和经典文章诵读、或/和练功导引文件。
现有电动滑板车，通常没有扬声器和音频播放模块，少数使用蜂鸣器进行有限的操作提示，扬声器通常需有通音孔，不利于防水。现有电动滑板车通常在户外使用，环境复杂、嘈杂，如果播放音频，音量低则听不清，音量高则扰民，防水、防震的需求优先于放音，该领域技术人员没有动机和意愿增加扬声器和音频播放模块。
所述装置通常在室内使用，适宜播放音频内容。在使用者习练时，选用alpha波音乐、轻音乐等放松益智背景音乐或/和练功导引口令播放，有助于锻炼、放松、益智；伴随播放经典文章，让使用者在习练、身心放松过程中反复熏陶、潜移默化，有更好的学习效果。
优选地，其特征还在于：包括语音提示模块，在使用者操作、或/和出现异常、或/和其它需要时，自动播放相对应的语音提示。
使用者操作包括且不限于：以某种习练(往返)模式启动、加速、减速、停止、暂停、继续、立即换向、增加往返距离、缩短往返距离、提高音量、降低音量、切换音频文件等一项或多项；出现异常包括且不限于：堵转、超速、电量低、操作错误等一项或多项。
优选地，其特征还在于：将使用者自己或/和亲人、师长的录音文件存储进所述装置中，在使用者习练时由所述装置伴随播放相应录音。
使用者自己先行录制习练要诀、经典文章，有助于加深理解习练原理、方法和要领；使用者在习练过程中，伴随聆听自己或/和亲人、师长的声音，有助于身心放松、安定平和，有助于潜移默化地领悟习练方法要领和人生道理。
6、根据第1至5任一项所述装置及其使用、控制方法，其特征还在于：包括防撞组件(11)，安装在其移动方向的两端。
优选地，其特征还在于：所述防撞组件内含防撞开关，防撞开关与微处理器或电源组件相连，所述装置在移动中碰撞到外物时自动急停。
优选地，其特征还在于：所述承载组件在其移动方向的两端厚度/面积明显大于现有电动滑板车的相同部位。
现有电动滑板车，由于省电、爬坡、做花样动作等使用需要，踏板较为轻薄，不利于防撞，没有防撞开关，在移动中即使碰撞到外物，也不宜自动急停，以防摔伤使用者，因此该领域技术人员没有动机和意愿增加防撞组件、防撞开关或者扩大易撞击部位的面积。
缺少防撞保护的电动滑板车，在室内小空间范围内使用极易撞伤他人、他物，特别是孩童、宠物由于好奇或意外闯入时极易受到伤害。所述装置通常在室内使用，有必要增强防撞保护；另外其自动往返移动换向时的冲击大于急停的冲击，使用者时刻警惕以防摔落，自动急停对使用者的威胁较小，因此可以包括防撞和自动急停功能。
优选地，其特征还在于：所述承载组件具有罩壳形状，遮住电机及桥架组件、从动轮及桥架组件。
优选地，其特征还在于：承载组件下方具有明显大于现有电动滑板车相同部位的较大空腔，容纳电源组件、主控板组件、扬声器，空腔下方装有封板(12)保护。
现有电动滑板车，踏板较为轻薄，电机、从动轮通常暴露在外，由于需适应户外坑洼、颠簸路面，为避免路面或障碍物擦碰底盘，底盘需要保留足量的离地高度，该领域的技术人员没有动机和意愿加厚踏板、或遮住电机、从动轮、或增大控制盒容积。
所述装置，通常在室内平整地面使用，承载组件下方较少受擦碰，离地高度可明显小于现有电动滑板车，遮住电机、从动轮，可保护使用者、他人、他物免受电机、从动轮的擦碰或撞刮，较大空腔结构有利于容纳更多功能模块和提高放音的音量与音质。
7、根据第3至6任一项所述装置及其使用、控制方法，其特征还在于：包括双向无线通讯功能模块，通过双向无线通讯功能模块与智能手机、或/和平板电脑等类似通用智能设备接收、发送指令或/和数据。
优选地，其特征还在于：所述可接收、执行的指令或/和数据包括且不限于前述遥控器指令、参数设置指令、参数查询指令、状态查询指令、运行数据读取指令中的一项或/和多项。
优选地，其特征还在于：所述可发送的数据包括且不限于当前电量数据、当前音量数据、当前习练模式数据、当前速度数据、当前习练模式持续时间数据、运行统计数据中的一项或/和多项。
现有电动滑板车，通常只能接收遥控器调速等极少量指令，不能向遥控器及其它设备发送数据。所述装置，既可以使用红外、蓝牙、2.4G、Wifi等类似无线通讯遥控器操作，也可以使用通用智能设备遥控操作，还可以仅限使用通用智能设备遥控操作。
8、根据第1至7任一项所述装置及其使用、控制方法，其特征还在于：包括习练计时功能模块，自动计算每次习练持续时间。
优选地，其特征还在于：包括习练报时功能模块，自动计算当次习练持续时间，在当次习练持续时间达到设定数值时自动发出声音提示或/和播放语音提示。
优选地，其特征还在于：包括暂停/继续功能模块，在当次习练进行中，接受使用者“暂停”指令，所述装置暂停移动、暂停计时；在暂停状态时，接受使用者“继续”指令，所述装置按暂停前的参数、模式恢复移动，并在暂停前的时长基础上恢复计时。
优选地，其特征还在于：包括习练记录输出功能模块，自动输出习练记录数据，数据项包括且不限于：装置标识、习练模式、开始时刻、结束时刻、持续时长、运行速度等一项或/和多项。
优选地，其特征还在于：包括习练记录输出至无线通讯模块，由无线通讯模块转发给智能手机、或/和平板电脑等类似通用智能设备，再由通用智能设备转发到服务端/云端系统存储，以用于后续统计分析、和/或社交分享、和/或取证结算等。
现有电动滑板车，没有习练计时、报时、记录输出功能，实际使用时较难清晰统计，统计结果的参考意义较小，该领域的技术人员没有动机和意愿增加这些功能。所述装置用于习练时，使用者通常有习练计划，希望及时知悉已持续时间，也希望保存、分享习练记录。
9、根据第1至8任一项所述装置及其使用、控制方法，其特征还在于：电机转动监测功能模块，实时监测、统计电机转动信号。
优选地，其特征还在于：包括自动驻停功能模块，未在启动状态时自动刹车，启动时自动松开刹车，停止时自动刹车。
优选地，其特征还在于：自动驻停功能模块中包括智能判断子模块，未在启动状态但监测到电机转动信号则自动刹车，刹车持续时间达到设定的值自动松开刹车，以节约电能、降低损耗。
优选地，其特征还在于：包括自动停止功能模块，测算出电机转动速度超过设定限值时、或/和在启动状态测算出电机转动速度低于设定底限值时，自动停止移动。
优选地，其特征还在于：包括启动保护功能模块，在未启动状态持续监测电机转动信号，接收到启动指令时，如果在设定的时间窗口内电机转动超过设定限值，自动拒绝启动。
现有电动滑板车，没有电机转动监测、自动驻停、自动停止、启动保护功能，不连接电机转动监测信号线，使用中对这些功能的需求较弱，该领域技术人员没有动机和意愿增加这些功能。
所述装置，实时监测、统计电机转动信号，可用于分析判断电机转动状态，测算移动速度、测算移动距离，可通过测算移动距离决定换向时机。为提高习练效果，所述装置的电机、从动轮、桥架连接需要较为灵活，使用者要具有一定的平衡能力和技巧才能在其上站或坐稳，否则容易摇晃或侧滑。自动驻停，有助于使用者(特别是初练者)平稳、安全地踏上所述装置；自动停止，可降低所述装置超速、腾空、飞转、堵转、误操作等异常所产生的风险；拒绝启动，保障使用者站或坐稳后才可以启动，提高使用安全性。
10、根据第1至9任一项所述装置及其使用、控制方法，其特征还在于：包括使用权限管理模块，在启动、或/和设置参数、或/和输出数据前，验证密码，密码不正确时拒绝执行。
优选地，其特征还在于：包括使用限时功能模块，预先设定或通过智能设备在需要时为所述装置设定使用时限，超出使用时限，自动停止或/和拒绝启动。
优选地，其特征还在于：包括文字编码、或条形码、或二维码等类似识别码，使用者通过智能设备读取或输入识别码，与所述装置建立通讯连接，从而操控和/或租用所述装置。
11、根据第1至10任一项所述装置及其使用、控制方法，其特征还在于：包括脑电波传感组件，脑电波传感组件自动采集使用者脑电波数据，并通过无线通讯模块传送给微处理器，微处理器根据接收到的使用者脑电波数据自动调整所述装置移动速度。
包括且不限于实时采集使用者脑电波中的放松度、专注度、alpha波含量等一项或多项指标数据，与训练目标值进行比较，采集到的指标数据大于训练目标值时自动加速，小于训练目标值时自动减速，从而逐渐逼近、维持最佳状态，从而达到更好的健身练功效果。
现有技术条件下，有采用脑电波反馈控制的学习娱乐装置，例如根据专注度操纵玩具小车、小球等单向移动，这类装置一般由使用者在静态下使用，对身体锻炼帮助不大。
科学研究已表明，人要保持良好的身心状态，需要经常运动，但是也不可以运动过激，盲目运动和过激运动都是有害的。然而，个体在主观上很难把握到合适的运动强度，在使用所述装置进行习练时，所述装置移动速度过慢，使用者会分心和乏味，移动速度过快，使用者会过于紧张，都会影响效果。所述装置通过脑电波反馈自动调整移动速度，更加客观、直观、方便、高效。
本发明的有益效果是：
创造了一种习练装置及其使用、控制方法，将现有电动滑板车技术改进创新后转用到体育锻炼、学习教育领域，利用现有领域技术人员力图避免的技术特征产生了预料不到的技术效果，形成新的用途，帮助使用者提高平衡、协调、放松、柔顺、专注、应变等能力，更便捷、轻松、高效的达到体育锻炼效果。
现代医学认为，脚是人体“第二心脏”。双脚离心脏最远，血液从心脏流向双脚很容易，但是从双脚流回心脏却不容易。人体需要借助脚部肌肉收缩的力量，使人体血液循环得以顺利进行。拳谚云：其根在脚，发于腿，主宰于腰，形于手指。产科医生拍打初生婴儿脚底开启生命旅程，连接人体脏腑的十二大经脉有一半起止于脚，人体70％以上肌肉在下半身。脚部锻炼，对于体能与健康至关重要，本发明非常有助于脚部刺激、按摩、锻炼。
中正安舒、深根固柢、松沉自然、动中求静是练功养生的基本原则，也是较难达到的，本发明创造的扰动环境，有助于使用者在不知不觉中符合这些基本原则，经常习练即能改善身体机能、增强身体素质、提升综合素养。本装置体积小、重量轻，使用环境要求低，在室内小空间都可使用，显著提高了方便性、经济性和实用性。
下面结合附图和实施例对本发明进一步说明：
图1为本发明实施例的外形示意图。
图2为本发明实施例的构成示意图。
图1为本发明实施例的外形示意图，图2为本发明实施例的构成示意图。
实施例包括承载组件(1)、电机及桥架组件(2)、从动轮及桥架组件(3)、电源组件(4)、主控板组件(5)、扬声器(6)、按摩组件(7)、遥控器(8)、遥控器支架(9)、显示组件(10)、防撞组件(11)、封板(12)、标识码等。
承载组件的尺寸、形状、材料可以有多种选择，为描述简便，本实施例选用竹木材料，制作成长59cm、宽31cm、高7cm的罩壳形状，可在安装时遮住电机及桥架组件、从动轮及桥架组件，承载组件下方使用隔板隔出长20cm、宽29cm、高4cm的空腔，容纳安装电源组件、主控板组件、扬声器等，空腔下方安装封板。
选用工作电压24V、功率120W、直径72mm的轮毂电机2只、与轮毂电机配套的标准桥架及零配件组成实施例所述电机及桥架组件。
选用直径72mm的PU轮2只、与电机及桥架组件匹配的标准桥架及零配件组成实施例所述从动轮及桥架组件。
选用额定电压24V、容量4AH的动力型锂电池组、及电源开关、充电头组成电源组件。
选用通用的喇叭作为扬声器。
选用25*30cm的通用指压板2片作为按摩组件，安装于承载组件上方；也可以通过雕刻、铸造及类似方式整体制作在承载组件上表面。
可以选用红外、蓝牙、2.4G、Wifi等任一种类似无线通讯遥控器，本实施例选用通用的38K小型红外遥控器作为按钮式遥控器。
使用竹木或亚克力等材料制作出遥控器支架。
可以选用数码管、LED灯带、显示屏等元器件制作成显示组件，本实施例选用16位WS28125050 RGB LED全彩RGB圆形灯环模块及保护罩等制作成显示组件。
可以选用通用的缓冲垫制作成防撞组件，防撞组件内含防撞开关(例如压条开关)，粘贴在承载组件两端；本实施例承载组件两端面积比较大，已具备一定的防撞效果，也可以省略不用所述防撞组件。
可以使用文字编码、条形码、二维码等制作标识码，本实施例选用微信或支付宝类小程序、公众号等二维码，张贴或印制在所述装置表面。
所述电机及桥架组件、从动轮及桥架组件、电源组件、主控板组件，安装在承载组件下方。按摩组件的离地高度要控制在相对安全的范围内。本实施例的基本外形尺寸约为长59cm、宽31cm、高13cm，适宜在室内使用。
主控板组件包括线路板、微处理器、电机驱动模块、音频播放模块、无线通讯模块、以及降压模块、二极管、电容、电阻、插座、插针、插线等本领域技术人员熟知的常规元器件。
可以选用单片机、卡片电脑等类似通用器件作为微处理器，例如Arduino、STM32、C51、树莓派等，含有数量较多的、标准的输入输出端口，能加载程序文件；本实施例选用Arduino卡片电脑作为微处理器，加载有本实施例的处理控制程序文件。
市场上有多种通用的电机驱动模块可选，本实施例选用工作电压12至36V、双驱、直流、无刷、有霍尔、硬换向、大功率轮毂电机控制板作为电机驱动模块。
市场上有多种通用的音频播放模块可选，本实施例选用通用的微型MP3播放器及可插入其中的MicroSD存储卡组成音频播放模块。
可选用与红外、蓝牙、2.4G、Wifi等类似无线通讯遥控器对应的无线通讯模块，本实施例选用与通用的38K小型红外遥控器匹配的红外接收头进行单向无线通讯、选用通用的蓝牙模块进行双向无线通讯。
电源组件与线路板、电机驱动模块相连，电机驱动模块的相线输出端与电机的相线输入端依次相连、霍尔线与电机的霍尔线依次相连(现有电动滑板车通常不需要连接霍尔线，本实施例应连接霍尔线以监测电机转动信号)，微处理器、电机驱动模块、音频播放模块、无线通讯模块、扬声器、防撞开关与线路板相连，微处理器通过线路板分别与电机驱动模块、音频播放模块、无线通讯模块、防撞开关相连，音频播放模块通过线路板或直接与扬声器相连。
本实施例设定6种习练模式，例如：定速往返(新手模式)、自动变速往返(放松模式)、随机变速往返(练功模式)、既随机变速又随机变距往返(高手模式)、脑电波反馈控制往返(意念模式)、连续前进(代步模式)。将每种习练模式设定对应遥控器上的一个按钮，按压其中一个按钮时发出相应习练模式的启动指令。
遥控器还分别设定加速、减速、停止、暂停、继续、立即换向、增加往返距离、缩短往返距离、提高音量、降低音量、切换音频文件等按扭。
使用通用的录音工具录制或语音合成工具合成与所述各按扭指令对应的语音提示文件，其它的语音提示文件还包括使用说明、安全警示、异常提醒、报时提示(例如“五分钟”、“十分钟”等)，将语音提示文件预先存储进音频播放模块内的MicroSD存储卡中。
优选地，建议使用者自己或/和亲人、师长使用通用的录音工具录制习练要诀、经典文章等，将录制好的录音文件存储进音频播放模块内的MicroSD存储卡中，在使用者习练时由所述装置的音频播放模块伴随播放相应录音。
所述装置的使用方法为：使用者站或坐在所述装置上、面朝与所述装置移动方向垂直的一侧、在所述装置往返移动时及时调整身心以保持不被甩落，从而达到锻炼效果。
所述装置接通电源，初始化、自检后进入就绪状态，同步或轮流执行：
1、显示电量信息、或/和欢迎动画效果等；
2、启用语音提示模块：轮流播放产品广告、安全提示、操作提示，轮流播放背景音乐、或/和经典文章诵读、或/和练功导引文件等；
3、启用电机转动监测功能模块、自动驻停功能模块、启动保护功能、防撞保护模块：
⑴电机转动监测功能模块：实时监测、统计电机转动信号，电机转动时形成霍尔信号变化，电机驱动模块通过电机霍尔信号变化处理生成转动脉冲输出到脉冲端口(M)，微处理器监测与电机驱动模块脉冲端口(M)相连的输入端口信号，统计该信号变化次数；
⑵自动驻停功能模块：未在启动状态时自动刹车，启动时自动松开刹车，停止时自动刹车，微处理器通过将与电机驱动模块刹车端口(EL)相连的输出端口设定成不同数值以刹车或松开刹车；自动驻停功能模块中包括智能判断子模块：未在启动状态但监测到电机转动信号则自动刹车，刹车持续时间达到设定的值自动松开刹车；
⑶启动保护功能模块：在未启动状态持续监测电机转动信号，接收到启动指令时，如果在设定的时间窗口内电机转动速度超过设定限值，自动拒绝启动；
⑷防撞保护模块：监测防撞开关信号，收到开关动作信号时，立即向电机驱动模块发出急停控制信号；如果不使用微处理器实现碰撞急停功能，也可以将防撞开关信号线与电源组件相连，检测到碰撞时直接切断电源供应。
4、监听无线通讯模块收到的指令；定时或/和需要时通过无线通讯模块输出状态数据。
在监听到无线通讯模块收到的指令时，解析相应指令，调用使用权限管理模块：在启动、或/和设置参数、或/和输出数据前，验证密码，密码不正确时拒绝执行，根据设定播放相应语音提示文件；
可选地，使用者通过智能手机或平板电脑等通用智能设备里安装的APP或小程序扫描二维码，验证使用权限或/和使用期限，余额不足时接受使用者在线充值，验证成功时与所述装置建立通讯连接。
权限验证通过时，分别执行对应的指令，主要包括以下几类指令：
1、设置参数类指令：包括提高音量、降低音量、设置音量、切换音频文件、设置访问密码、设置使用限时、设置限速等，根据指令内容设置相应参数，根据预先设定播放相对应的声音或语音提示文件，按相应参数执行。
2、数据查询类指令：包括查询装置参数、查询运行状态、查询习练记录、查询统计报告等，根据指令内容检索、统计相应数据，组包成预定格式的数据包，通过无线通讯模块输出。
3、习练模式启动类指令：调用使用限时功能模块——根据预先设定的值判断是否超出使用时限，如果超出时限则拒绝启动或/和自动停止，根据预先设定播放相应语音提示文件，如果未超出时限则调用启动保护功能模块，如果未被启动保护功能模块拒绝，则根据预先设定播放相应语音提示文件并启动相应习练模式，详见后续说明。
4、动作调整类指令：包括加速、减速、增加往返距离、缩短往返距离、暂停、继续、立即换向、停止等，根据当前模式、状态不同，分别执行，详见后续说明。
启动相应习练模式：
1、初始化当次习练模式统计数据；继续调用电机转动监测功能模块，实时监测、统计电机转动数据。
2、微处理器通过将与电机驱动模块调速端口(VR)相连的输出端口设定成相应数值以启动电机或调节速度。
3、调用习练记录输出功能模块：向无线通讯模块输出当次习练模式启动数据，数据项包括且不限于：装置标识、习练模式、开始时刻、结束时刻、持续时长、运行速度等一项或/和多项，由无线通讯模块转发给智能手机、或/和平板电脑等类似通用智能设备，再由通用智能设备转发到服务端/云端系统存储，以用于后续统计分析、和/或社交分享、和/或取证结算等。
4、启用习练计时功能模块：将当次习练持续时间清零，随后自动定时累加，直至当次习练模式停止，其中在暂停状态时，暂停累加。
5、启用习练报时功能模块：在当次习练持续时间达到预设参数(例如5分钟、10分钟、以此类推)时，自动播放相对应的声音或语音提示文件。
6、启用自动停止功能模块：测算出电机转动速度超过设定上限值时、或/和在启动状态测算出电机转动速度低于设定下限值时，自动停止移动。
7、持续监听并相应执行无线通讯模块收到的指令；启用暂停/继续功能模块：接收到“暂停”指令时，保存当前运行参数、将速度设为0以使所述装置暂停移动、暂停计时；在暂停状态接收到“继续”指令时，恢复暂停时保存的运行参数、按暂停前的参数、模式恢复移动，并在暂停前的习练时长基础上恢复计时。
8、启用自动换向功能模块：根据预设的参数每隔一定距离或/和一定时间自动将电机运转方向切换到相反的方向，从而带动所述装置自动往返移动。例如：微处理器根据预设的参数比较单程运行距离、或/和比较定时间隔，每隔一定距离或/和一定时间自动向电机驱动模块发出换向信号。自动换向详细控制方法举例如下：
S0：预设单程移动最大允许测速脉冲数量A；
S1：等待启动指令，收到启动指令后进入S2，否则继续S1；
S2：初始化测速脉冲计数器a＝0，打开测速脉冲中断处理，设置转速控制端口的转速控制电压值以启动电机，同时进入S3.1和S4；
S3.1：接收到测速脉冲中断信号时，令a＝a+1，并与A比较大小，如果a≥A，进入S3.2，否则继续S3.1；
S3.2：将微处理器与电机驱动模块正反控制端(Z/F)相连的数字输出口的设值取反，以朝与当前移动方向相反的方向移动，并将a值清0，然后返回步骤S3.1；
S4：监听停止信号，如果收到停止信号，进入S5，否则继续S4；
S5：将转速控制端口的转速控制电压值设置为0以停止移动，并将a值清0，然后返回S1。
其中，可结合电机提速性能、用户体验效果和使用空间大小择优选择往返距离大小，例如家庭室内使用的限定在2米以内往返为宜，往返距离大小也可以设计成自定义参数由使用者根据需要设置调整。
可根据测速脉冲累计数折算运行距离，例如直径72mm、10对极、3相的轮毂电机每个脉冲代表的行进距离为72*3.14/(10*3)mm；单程脉冲数＝期望的单程距离/每个脉冲代表的行进距离。
自动换向功能可以使用程序模块实现，也可以使用其它方法实现——包括使用数字电路或数字集成电路模块实现：例如选用D触发器(乒乓开关)、带断电记忆功能的预置数计数器，焊接或插接在印刷线路板上，将所述计数器预置为单程移动最大允许测速脉冲数量A，所述计数器输入端与电机驱动模块的测速脉冲信号端相连、输出端与D触发器的输入端相连，D触发器的输出端与电机驱动模块的正反控制端相连。
本实施例采用硬换向：现有电动滑板车的电机驱动模块不符合硬换向要求，本实施例选用的电机驱动模块上的驱动芯片采用硬换向IC芯片，在收到换向信号时，无需等待所述装置停稳(电机停止转动)，立即朝相反的方向移动。
持续自动往返：只要未收到“停止”或“暂停”指令、未达到自动停止条件，自动持续重复往返过程。
9、启用立即换向功能模块：收到“立即换向”指令时，发出信号控制所述装置立即换向,以朝相反的方向移动。
10、各种习练模式的速度和往返距离控制：
⑴定速往返(新手模式)：以初始速度、初始往返距离启动；收到“加速”/“减速”指令时分别提高/降低1级速度；收到“增加距离”/“缩短距离”指令时分别增加/缩减1档移动往返距离。
⑵自动变速往返(放松模式)：以初始速度、初始往返距离启动；收到“加速”/“减速”指令时分别提高/降低1级速度；收到“增加距离”/“缩短距离”指令时分别增加/缩减1档移动往返距离；启用自动变速功能模块，根据测速脉冲计数器信号或定时器信号，每间隔一定距离(脉冲数)或一定时间，自动提高1级速度，优选地，收到“锁定速度”的指令时，维持速度不变，从而使所述装置维持以最适合使用者的速度移动。
⑶随机变速往返(练功模式)：以初始速度、初始往返距离启动；每间隔一定距离(脉冲数)或/和一定时间，自动在速度上、下限值范围内随机取值以变换速度；收到“加速”/“减速”指令时分别提高/降低1级速度上限值；收到“增加距离”/“缩短距离”指令时分别增加/缩减1档移动往返距离。
⑷既随机变速又随机变距往返(高手模式)：以初始速度、初始往返距离启动；每间隔一定距离(脉冲数)或/和一定时间，自动在速度上、下限值范围内随机取值以变换速度；收到“加速”/“减速”指令时分别提高/降低1级速度上限值；每次往返换向时，自动在往返距离上、下限值范围内随机取值以变换往返距离；收到“增加距离”/“缩短距离”指令时分别增加/缩减1档移动往返距离上限值。
⑸脑电波反馈控制往返(意念模式)：预设脑电波数据训练目标值g；以初始速度、初始往返距离启动；监听接收脑电波传感组件采集的使用者脑电波数据i，并与目标值g比较，如果i>g则自动提高1级速度，如果i<g则自动降低1级速度；所述脑电波数据，可以是使用者放松度、专注度、alpha波含量等指标中的一种或多种组合；优选地，鉴于脑电波数据的波动性，为避免产生频繁变速抖动，可采用多次比较符合条件时再变速。
本实施例脑电波传感组件可选用带蓝牙通讯的TGAM脑电模块套件，TGAM模块可采集提供原始波值、EEG功率-delta(0.5-2.75Hz)，theta(3.5-6.75Hz)，low-alpha(7.5-9.25Hz)，high-alpha(10-11.75Hz)，low-beta(13-16.75Hz)，high-beta(18-29.75Hz)，low-gamma(31-39.75Hz)，mid-gamma(41-49.75Hz)、专注度、放松度指数；使用者将脑电波传感组件戴在头上，脑电波传感组件自动采集使用者脑电波数据，并通过无线通讯模块传送给微处理器。
⑹连续前进(代步模式)：以初始速度启动；无需自动换向；收到“加速”/“减速”指令时分别提高/降低1级速度上限值。
11、停止及后续处理：
收到“停止”指令、或/和遇到堵转、超速、电量低、操作错误等异常时，立即控制电机停止转动；
保存、累计当次习练统计数据；
调用习练记录输出功能模块：向无线通讯模块输出当次习练模式停止数据，数据项包括且不限于：装置标识、习练模式、开始时刻、结束时刻、持续时长、运行速度等一项或/和多项，由无线通讯模块转发给智能手机、或/和平板电脑等类似通用智能设备，再由通用智能设备转发到服务端/云端系统存储，以用于后续统计分析、和/或社交分享、和/或取证结算等；
返回到就绪状态。
本实施例优选采用站姿练习，使用者参照武术、养生站桩要领，双脚平行站在按摩组件上，双脚距离与肩同宽，头容正直、身体放松、保持平衡，顺应所述装置调整身心状态、尽量保持不被甩落。使用者逐渐适应或熟练后，在保持不被甩落的同时，可操练武术或功法动作，操练 的动作姿势以至少有一只脚支撑不动的为佳，例如伴随所述装置往返移动的节奏，进行左右太极云手，能更好更快地体会和掌握太极拳的虚灵顶劲、含胸拔背、松腰、分虚实、沉肩坠肘、用意不用力、上下相随、内外相合、相连不断、动中求静十个要领，而且节奏、韵律感很强，较有趣味性和观赏性。
在使用本实施例习练后，使用者接着练太极拳等武术、养生功夫，练功效果更好。
以上实施例仅是对本发明的优选实施方式进行描述，并非对本发明的范围进行限定，依此类推，还可以作出更多变形和改进。
Claims (10)
- 一种习练装置及其使用、控制方法，包括承载组件(1)、电机及桥架组件(2)、从动轮及桥架组件(3)、电源组件(4)、主控板组件(5)，主控板组件包括线路板、微处理器、电机驱动模块，其特征在于：包括自动换向功能模块，每隔一定距离或/和一定时间自动将电机运转方向切换到相反的方向，从而带动所述装置自动往返移动。
- 根据权利要求1所述装置及其使用、控制方法，其特征还在于：包括按摩组件(7)。
- 根据权利要求1或2所述装置及其使用、控制方法，其特征还在于：包括按钮式遥控器(8)，“加速”、“减速”按钮分开设置，以分级精准调节所述装置移动速度。
- 根据权利要求1至3任一项所述装置及其使用、控制方法，其特征还在于：包括定速往返、或/和自动变速往返、或/和随机变速往返、或/和随机变距往返、或/和既随机变速又随机变距往返、或/和前述往返交叉组合的功能模块。
- 根据权利要求1至4任一项所述装置及其使用、控制方法，其特征还在于：包括扬声器(6)和音频播放模块。
- 根据权利要求1至5任一项所述装置及其使用、控制方法，其特征还在于：将使用者自己或/和亲人、师长的录音文件存储进所述装置中，在使用者习练时由所述装置伴随播放相应录音。
- 根据权利要求3至6任一项所述装置及其使用、控制方法，其特征还在于：包括双向无线通讯功能模块，通过双向无线通讯功能模块与智能手机、或/和平板电脑等类似通用智能设备接收、发送指令或/和数据。
- 根据权利要求1至7任一项所述装置及其使用、控制方法，其特征还在于：包括习练计时功能模块，自动计算每次习练持续时间。
- 根据权利要求1至8任一项所述装置及其使用、控制方法，其特征还在于：电机转动监测功能模块，实时监测、统计电机转动信号。
- 根据权利要求1至9任一项所述装置及其使用、控制方法，其特征还在于：包括使用权限管理模块，在启动、或/和设置参数、或/和输出数据前，验证密码，密码不正确时拒绝执行。
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