WO2023185525A1 - Force feedback regulation and control method, system and apparatus for fitness equipment, and storage medium - Google Patents

Abstract

Provided in the present application are a force feedback regulation and control method, system and apparatus for fitness equipment, and a storage medium. The method comprises: constructing a force feedback joint; measuring a part to be measured of the force feedback joint, so as to obtain a measurement result; determining an execution instruction according to the measurement result; and controlling, according to the execution instruction, the force feedback joint to execute a corresponding operation. A force feedback joint is constructed, and the execution thereof is controlled by combining measurement with control, such that accurate control and regulation of force are achieved.

Description

Force feed control method, system, device and storage medium for fitness equipment

Cross-references to related applications

This application is filed based on a Chinese patent application with application number 202210343587.0 and a filing date of April 2, 2022, and claims the priority of the Chinese patent application. The entire content of the Chinese patent application is hereby incorporated into this application as a reference.

Technical field

The present application relates to the field of intelligent control technology, and in particular to a force feed control method, system, device and storage medium for fitness equipment.

Background technique

In related technologies, the results of traditional and strength training are pure mechanical structures, and strength training is implemented in the form of hard links and forceless feedback designs. However, in this process, because the strength training process is artificially controlled training Strength, and the use of mechanical structures is artificially controlled, resulting in the inability to achieve precise strength control, making the strength control uneven in each process of repeated cycle training, resulting in unprominent training effects.

Contents of the invention

In order to solve related technical problems, embodiments of the present application provide a force-feedback control method, system, device and storage medium for fitness equipment to control its execution by constructing a force-feedback joint and combining measurement and control. Achieve precise control and regulation of strength.

The technical solution of the embodiment of this application is implemented as follows:

The embodiment of the present application provides a force feedback control method for fitness equipment, including:

Construct force-fed joints;

Measure the part to be measured of the force-fed joint and obtain the measurement results;

Determine execution instructions according to the measurement results;

According to the execution instructions, the force-feedback joint is controlled to perform corresponding operations.

Preferably, the measurement results include at least one of the following:

Information on the relative rotation angle of the third connecting rod and the first connecting rod of the force feed joint at the third force feed node;

Information about the tension or pressure on the longitudinal rod included in the first connecting rod;

Real-time measured motor rotation angle, angular velocity and angular acceleration information.

Preferably, wherein the determining the execution instruction according to the measurement result includes:

Obtain information on the relative rotation angle of the third connecting rod of the force-fed joint and the first connecting rod at the third force-fed node to determine the rotation angle of the third connecting member;

Obtain information on the tensile force or pressure on the longitudinal rod included in the first connecting rod to determine the tensile force on the second connecting piece, and determine the force generation of the force feed joint according to the mechanism motion relationship;

Obtain the angle, angular velocity and angular acceleration information of the motor rotation measured in real time, and control the force feed node through the control logic to control the torque of the motor according to the required output;

Based on the rotation angle, the force and the torque, comprehensive control of the force-feedback joint is obtained.

Preferably, the device detection methods of different devices are determined, including:

Determine the measurement attributes of different devices, and determine the measurement correlation of different devices based on the force-fed joint and the measurement consistency of two devices according to the measurement attributes;

According to the measurement correlation and measurement consistency, corresponding measurement labels are assigned to different devices, and the measurement labels are related to the control and adjustment effect on the force-feed joint;

Based on the measurement tag, the device detection method of the corresponding device is retrieved from the tag-settings database.

Preferably, the force feed control method used for fitness equipment includes:

Pre-detect the corresponding device according to the device detection method and determine the signal set used by the corresponding device;

Construct a signal map using the signal set, compare the signal map with the corresponding preset map, and obtain several analysis blocks in the signal map;

Based on the comparison processing results, the consistent information of the analysis block and the preset block is determined. When they are completely consistent, the corresponding analysis block is determined to be feasible. Otherwise, the effective execution of the corresponding analysis block is determined. When the effective execution is greater than the preset execution When the error occurs, the corresponding analysis block will be retained and the first qualified reminder of the corresponding analysis block will be issued;

When the effective execution is not greater than the preset execution, calibrate the corresponding analysis block;

Extract the consistent information and inconsistent information of the calibrated analysis block, and classify the consistent information in the first category and the inconsistent information in the second category according to the type of information;

Perform class signal analysis on the first classification result and the second classification result;

According to the class signal analysis results, determine the confidence level of the corresponding consistent information and inconsistent information. If the corresponding confidence levels meet the valid analysis conditions, determine that the corresponding analysis block is qualified, and issue a second qualification reminder for the corresponding analysis block;

If one of the confidence levels of the consistent information and the confidence level of the inconsistent information meets the corresponding valid analysis conditions, the information corresponding to the valid analysis conditions will be retained, and the confidence levels of the two will be compared, and the information corresponding to the greater confidence level will be retained. Retain, if the retained information is consistent with the information that meets the valid analysis conditions, a third qualified reminder of the corresponding analysis block will be issued;

Otherwise, a failure reminder will be issued for the corresponding analysis block;

If all the analysis blocks after comparison processing are qualified reminders, a qualified reminder will be issued to the corresponding device. Otherwise, according to the comparison of the number of qualified reminders and the number of unqualified reminders, and the block weights of qualified analysis blocks and unqualified analysis blocks, Determine whether it is necessary to issue a non-conformity reminder for the corresponding device.

Preferably, obtaining measurement results further includes:

Based on the mechanical module, the measurement points are initially determined;

Scan and obtain the surrounding structure of the measurement point, perform structural analysis on the surrounding structure, determine the setting area, and obtain a set of areas for similar measurements;

According to the measurement properties of the corresponding device, the main areas are selected from the collection of similar areas for corresponding Device settings;

Based on the structural analysis results, determine the regional measurement error probability corresponding to the main area;

If the measurement error probability of the area is greater than the preset probability, screen the spare areas and the number of spare areas from the corresponding set of similar areas, determine the measurement validity of each spare area, and make a priority determination;

When the measurement of the corresponding main area fails, the device set in the main area is controlled to stop working;

At the same time, the devices set in the backup area are started to work in order of priority. During the work process, based on the stability and priority of the measurement, the first device corresponding to the backup area is automatically controlled to stop working, and the remaining devices continue to work.

Preferably, the step of determining execution instructions based on the measurement results includes:

Construct device measurement vectors of the devices involved in the measurement respectively, construct a measurement matrix, analyze the measurement matrix, and determine whether the measurement parameters of each device at different time points match consistently;

If they are consistent, the measurement parameters at that time point are retained and the corresponding execution instructions are determined;

Otherwise, based on the measurement rules, obtain the measurement parameters of all devices at regular time points, and construct a device measurement curve for each device at the probability time points;

Compare all device measurement curves to determine whether there are completely inconsistent measurement parameters. If so, determine the corresponding device, and filter the standard parameters to replace the completely inconsistent measurement parameters;

If there are inconsistent measurement parameters located at different free time points, and the first number of corresponding free time points located at the regular time points is less than the preset analysis number, then the measurement parameters at the free time points are eliminated, and Replace with standard parameters;

If the first quantity is not less than the preset analysis quantity, determine the dissociation rule corresponding to the dissociation time point. If the dissociation rule meets the measurement rule of the corresponding device, establish an annotation index under the corresponding dissociation time point and set the corresponding index. parameter;

If the dissociation rule does not meet the measurement rule of the corresponding device, the corresponding dissociation time point will be The measurement parameters are replaced with preset parameters to be replaced;

Reconstruct the measurement matrix according to the replaced parameters, and determine the corresponding execution instructions according to the measurement parameters at that time point.

Preferably, the force feedback control method for fitness equipment also includes:

In the process of controlling the force-fed joint to perform corresponding operations according to the execution instructions, each part and each device involved in the force-fed joint is monitored, including:

Monitor the movement trajectory of each part involved and the operation process of each device involved;

The motion trajectory is matched with the running process, feedback instructions are obtained according to the matching results, and feedback control operations are performed on the motor based on the feedback instructions.

The embodiment of the present application provides a force feed control system for fitness equipment, including:

Mechanical module, configured to build force-fed joints;

A measurement sensing module configured to measure the part to be measured of the force-fed joint and obtain a measurement result;

A control module configured to receive the measurement results of the measurement sensing module and determine execution instructions according to the measurement results;

An execution module is configured to receive execution instructions from the control module, and control the force-feedback joint to perform corresponding operations according to the execution instructions.

Preferably, the force-fed joint includes:

A screw slider mechanism includes a screw and a slider mounted on the screw. The screw is driven by a driving component and drives the slider to slide along the axis;

The first connecting rod includes a horizontal rod and a longitudinal rod, and the slider is slidably disposed on the horizontal rod;

a second connecting rod, one end of which is hinged to the slider at the first force feed node;

The third connecting rod includes a first segment rod and a second segment rod hinged to each other. One end of the first segment rod and the other end of the second connecting rod are hinged to the second force feed node; the third connection The longitudinal rod of the rod and the first connecting rod is hingedly connected to the third force feed node.

Preferably, the measurement sensing module includes:

An encoder, located at the third force feed node on the mechanical module, is configured to measure information on the relative rotation angle of the third connecting rod and the first connecting rod at the third force feed node;

a force sensor located on the longitudinal rod and configured to measure information on the tension or pressure exerted on the longitudinal rod;

The motor feedback measurer is located on the motor and is configured to measure and feedback the angle, angular velocity and angular acceleration information of the motor rotation in real time;

Among them, the measurement results include: the measurement results of the encoder, the measurement results of the force sensor, and the measurement results of the motor feedback measurer.

Preferably, the control module is configured as:

Obtain the measurement results of the encoder to determine the rotation angle of the third connecting member;

Obtain the measurement results of the force sensor to determine the tensile force on the second connecting member, and at the same time, determine the force generation of the force feed joint according to the mechanism motion relationship;

Obtain the measurement results of the motor feedback measurer, and control the force feed node through the control logic to control the torque of the motor according to the required output;

Based on the rotation angle, force and torque, comprehensive control of the force-feedback joint is obtained.

Preferably, the force feed control system used for fitness equipment includes:

The measurement results are used as input signals to the control module;

The execution instructions serve as output signals of the control module.

Preferably, the control module includes:

The first determination unit is used to determine the measurement attributes of the encoder, force sensor and motor feedback measurer, and determine the measurement correlation of different devices based on the force feed joint and the measurement consistency of two devices according to the measurement attributes. ;

A label setting unit, used to assign corresponding measurement labels to different devices based on measurement correlation and measurement consistency, and the measurement labels are related to the control and adjustment effect on the force feed joint;

The retrieval unit is used to retrieve the corresponding device from the label-setting database based on the measurement tag. device detection method.

Preferably, the control module includes:

The second determination unit is used to pre-detect the corresponding device according to the device detection method and determine the usage signal set of the corresponding device;

An acquisition unit, configured to construct a signal map for the used signal set, compare the signal map with the corresponding preset map, and obtain several analysis blocks in the signal map;

The third determination unit is used to determine the consistency information of the analysis block and the preset block based on the comparison processing result. When the analysis block is completely consistent, it is determined that the corresponding analysis block is feasible. Otherwise, the effective execution of the corresponding analysis block is determined. When the analysis block is completely consistent, When the effective executability is greater than the preset executability, the corresponding analysis block will be retained and the first qualified reminder of the corresponding analysis block will be issued;

When the effective execution is not greater than the preset execution, calibrate the corresponding analysis block;

The classification unit is used to extract the consistent information and inconsistent information of the calibrated analysis block, and perform a first classification on the consistent information and a second classification on the inconsistent information according to the type of information;

Perform class signal analysis on the first classification result and the second classification result;

The fourth determination unit is used to determine the confidence level of the corresponding consistent information and inconsistent information based on the class signal analysis results. If the corresponding confidence levels meet the valid analysis conditions, determine that the corresponding analysis block is qualified, and perform the corresponding analysis block. Second pass reminder;

If there is a corresponding confidence between the confidence of consistent information and the confidence of inconsistent information that satisfies the corresponding valid analysis conditions, the information corresponding to the valid analysis conditions will be retained, and the confidence levels of the two will be compared, and the confidence will be The information corresponding to the large degree will be retained. If the retained information is consistent with the information that meets the valid analysis conditions, the third qualified reminder of the corresponding analysis block will be issued;

Otherwise, a failure reminder will be issued for the corresponding analysis block;

If all the analysis blocks after comparison processing are qualified reminders, a qualified reminder will be issued to the corresponding device. Otherwise, according to the comparison of the number of qualified reminders and the number of unqualified reminders, and the block weights of qualified analysis blocks and unqualified analysis blocks, Determine whether it is necessary to issue a non-conformity reminder for the corresponding device.

Preferably, the measurement sensing module further includes:

The preliminary determination unit is used to initially determine the measurement points based on the mechanical module;

A scanning unit, used to scan and obtain the surrounding structure of the measurement point, perform structural analysis on the surrounding structure, determine the setting area, and obtain a set of areas for similar measurements;

The setting unit is used to select the main areas from the set of similar areas according to the measurement attributes of the corresponding devices to set the corresponding devices; according to the structural analysis results, determine the regional measurement error probability of the corresponding main areas;

The device work control unit is used to screen the spare areas and the number of spare areas from the corresponding set of similar areas if the measurement error probability of the area is greater than the preset probability, determine the measurement validity of each spare area, and make a priority determination;

When the measurement of the corresponding main area fails, the device set in the main area is controlled to stop working;

At the same time, the devices set in the backup area are started to work in order of priority. During the work process, based on the stability and priority of the measurement, the first device corresponding to the backup area is automatically controlled to stop working, and the remaining devices continue to work.

Preferably, the control module also includes:

The analysis unit is used to construct the device measurement vectors of the devices involved in the measurement sensing module respectively, and construct a measurement matrix, analyze the measurement matrix, and determine whether the measurement parameters of each device at different time points are consistent. ;

If they are consistent, the measurement parameters at that time point are retained and the corresponding execution instructions are determined;

Otherwise, based on the measurement rules, obtain the measurement parameters of all devices at regular time points, and construct a device measurement curve for each device at the probability time points;

The comparison processing unit is used to compare all device measurement curves to determine whether there are completely inconsistent measurement parameters. If so, determine the corresponding device, and filter the standard parameters to replace the completely inconsistent measurement parameters;

If there are inconsistent measurement parameters located at different dissociation time points, and the first number of corresponding dissociation time points located at the regular time points is less than the preset analysis number, the dissociation time points will be eliminated. Measured parameters at different time points and replaced with standard parameters;

If the first quantity is not less than the preset analysis quantity, determine the dissociation rule corresponding to the dissociation time point. If the dissociation rule meets the measurement rule of the corresponding device, establish an annotation index under the corresponding dissociation time point and set the corresponding index. parameter;

If the dissociation law does not meet the measurement law of the corresponding device, the measurement parameters at the corresponding dissociation time point are replaced with preset parameters to be replaced;

The execution determination unit is used to reconstruct the measurement matrix according to the replaced parameters, and determine the corresponding execution instructions according to the measurement parameters at that time point.

Preferably, the force feed control system for fitness equipment also includes:

A monitoring module, configured to monitor each part and each device involved in the force-fed joint when the execution module controls the force-fed joint to perform corresponding operations according to the execution instruction, including :

Monitoring unit, used to monitor the movement trajectory of each part involved and the operation process of each device involved;

A matching unit is used to match the motion trajectory with the running process, obtain feedback instructions according to the matching results, and perform feedback control operations on the motor based on the feedback instructions.

An embodiment of the present application provides a force feed control device for fitness equipment, which includes a processor, a memory, and a computer program stored on the memory and executable on the processor. The computer program is processed by the The steps in the above force feed control method are realized when the controller is executed.

An embodiment of the present application provides a storage medium on which a computer program is stored. When the computer program is executed by a processor, the steps of the above force feed control method are implemented.

Additional features and advantages of the application will be set forth in the description which follows, and in part will be apparent from the description, or may be learned by practice of the application. The objectives and other advantages of the application may be realized and attained by the structure particularly pointed out in the written description and accompanying drawings.

The technical solution of the present application will be further described in detail below through the accompanying drawings and examples.

Description of drawings

The drawings are used to provide a further understanding of the present application and constitute a part of the specification. They are used to explain the present application together with the embodiments of the present application and do not constitute a limitation of the present application. In the attached picture:

Figure 1 is a structural diagram of a force feed control system for fitness equipment in an embodiment of the present application;

Figure 2 is a structural diagram of the force feed joint in the embodiment of the present application;

Figure 3 is a flow chart of a control and adjustment method for a force-fed joint in an embodiment of the present application;

Figure 4 is a structural diagram of the control logic in the embodiment of the present application.

Detailed ways

The preferred embodiments of the present application will be described below with reference to the accompanying drawings. It should be understood that the preferred embodiments described here are only used to illustrate and explain the present application and are not intended to limit the present application.

This application provides a force feed control system for fitness equipment, as shown in Figure 1, including:

Mechanical module, used to build force-fed joints;

A measurement sensing module, used to measure the part to be measured of the force-fed joint to obtain measurement results;

A control module, configured to receive the measurement results of the measurement sensing module and determine execution instructions according to the measurement results;

An execution module is configured to receive execution instructions from the control module, and control the force-feedback joint to perform corresponding operations according to the execution instructions.

Among them, the force-feedback joint is composed of mechanical parts and electrical parts. The part to be measured is related to the measurement parameters that need to be obtained by the measurement sensing module. For example, if the operating parameters of the motor need to be obtained, then it is necessary to set the measuring electrical device on the motor and obtain the corresponding operating parameters by measuring the corresponding electrical device.

The purpose of executing instructions through the control module is to control the motor on the force-fed joint, and then through the motor, control the mechanical parts on the force-fed joint.

The beneficial effect of the above technical solution is to control the specific execution of the force-feedback joint by constructing a force-feedback joint and combining measurement and control to achieve precise control and regulation of force.

Referring to Figure 2, the force-fed joint includes the following structures:

The screw slider mechanism includes a screw and a slider mounted on the screw. The screw is driven by a driving component and drives the slider to slide along the axis. The driving component can usually be a motor or other driving force components. , can provide driving force.

The first connecting rod EFB includes a horizontal rod EF and a longitudinal rod. The horizontal rod EF and the longitudinal rod are integrally formed. The slider is slidably set on the horizontal rod EF and can slide back and forth along the horizontal rod EF.

The second connecting rod AC has one end hinged with the slider at the first force feed node, which is the position of point A in the attached figure;

The third connecting rod CBD includes a first rod CB and a second rod BD that are hinged to each other. One end of the first rod CB and the other end of the second connecting rod AC are hinged to the second force feed node, as shown in the attached figure. The position of point C; the longitudinal rods of the third connecting rod CBD and the first connecting rod EFB are hingedly connected to the third force feed node, which is the position of point B in the drawing.

By setting up a force-feedback joint structure composed of mechanical and electrical devices, the angle parameters and position parameters on each connecting rod and slider during the strength training process can be intelligently adjusted to ensure the effectiveness of strength training and indirectly realize the control of strength. precise control.

According to the above technical solution, the measurement sensing module includes the following components:

The encoder is located at the third force feed node on the mechanical module, which is the position of point B in the attached figure. It is used to measure the relative rotation angle of the third connector CBD and the first connector EFB at the third force feed node B. Information;

Force sensor, located on the longitudinal rod, is used to measure the tension or pressure information on the longitudinal rod;

The motor feedback measurer is located on the motor and is used to measure and feedback the angle, angular velocity and angular acceleration information of the motor's rotation in real time;

Among them, the measurement results include: the measurement results of the encoder, the measurement results of the force sensor, and the measurement results of the motor feedback measurer.

Encoders, force sensors and motor feedback measurers are all electrical devices. By setting different electrical devices and detecting different parameters, we can then make targeted adjustments through the control module according to the parameters to achieve force feedback. The joints are comprehensively adjusted to ensure the rationality of the adjustment.

In the above technical solution, the control module can obtain the values of different measurement results respectively, specifically, for respectively:

Obtain the measurement results of the encoder to determine the rotation angle of the third connecting member;

Obtain the measurement results of the force sensor to determine the tensile force on the second connecting member, and at the same time, determine the force generation of the force feed joint according to the mechanism motion relationship;

Obtain the measurement results of the motor feedback measurer, and control the force feed node through the control logic to control the torque of the motor according to the required output;

Based on the rotation angle, force and torque, comprehensive control of the force-feedback joint is obtained.

In a possible implementation manner, the measurement result is used as an input signal of the control module;

The execution instructions serve as output signals of the control module.

In this embodiment, the mechanism motion relationship and control logic are predetermined, and see Figure 4 for specific control.

System control logic: The sensor measures the joint input force as F l. In the control system, F l and Fd form a typical positive feed and negative feedback control.

Direct effect: Force feedback control allows joints to achieve precise force control, making it safer during interaction with the environment. For example, a robotic arm with force feedback control joints can accurately sense the force exerted by the human body and stop it to avoid injury.

The beneficial effect of the above technical solution is: by analyzing the measurement results, the output signal can be effectively obtained, comprehensive control can be achieved, and the accuracy of the control can be ensured.

Based on the above technical solution, the control module described in this application may further include:

The first determination unit is used to determine the measurement attributes of the encoder, force sensor and motor feedback measurer, and determine the measurement correlation of different devices based on the force feed joint and the measurement consistency of two devices according to the measurement attributes. ;

A label setting unit, used to assign corresponding measurement labels to different devices based on measurement correlation and measurement consistency, and the measurement labels are related to the control and adjustment effect on the force feed joint;

The retrieval unit is used to retrieve the device detection method of the corresponding device from the tag-setting database based on the measurement tag;

The second determination unit is used to pre-detect the corresponding device according to the device detection method and determine the usage signal set of the corresponding device;

An acquisition unit, configured to construct a signal map for the used signal set, compare the signal map with the corresponding preset map, and obtain several analysis blocks in the signal map;

The third determination unit is used to determine the consistency information of the analysis block and the preset block based on the comparison processing result. When the analysis block is completely consistent, it is determined that the corresponding analysis block is feasible. Otherwise, the effective execution of the corresponding analysis block is determined. When the analysis block is completely consistent, When the effective executability is greater than the preset executability, the corresponding analysis block will be retained and the first qualified reminder of the corresponding analysis block will be issued;

When the effective execution is not greater than the preset execution, calibrate the corresponding analysis block;

The classification unit is used to extract the consistent information and inconsistent information of the calibrated analysis block, and perform a first classification on the consistent information and a second classification on the inconsistent information according to the type of information;

Perform class signal analysis on the first classification result and the second classification result;

The fourth determination unit is used to determine the confidence level of the corresponding consistent information and inconsistent information based on the class signal analysis results. If the corresponding confidence levels meet the valid analysis conditions, determine that the corresponding analysis block is qualified, and perform the corresponding analysis block. Second pass reminder;

If there is a corresponding confidence between the confidence of consistent information and the confidence of inconsistent information that satisfies the corresponding valid analysis conditions, at this time, the information corresponding to the valid analysis conditions will be retained, and the confidence levels of the two will be compared. Keep information corresponding to high confidence. If you keep The information retained is consistent with the information that meets the valid analysis conditions, and the third qualified reminder of the corresponding analysis block is issued;

Otherwise, a failure reminder will be issued for the corresponding analysis block;

If all the analysis blocks after comparison processing are qualified reminders, a qualified reminder will be issued to the corresponding device. Otherwise, according to the comparison of the number of qualified reminders and the number of unqualified reminders, and the block weights of qualified analysis blocks and unqualified analysis blocks, Determine whether it is necessary to issue a non-conformity reminder for the corresponding device.

In this embodiment, the devices involved include, for example: encoders, force sensors, and motor feedback measurers, and the measurement attributes are determined according to the measurement results. For example, the force sensor measures pressure, etc. At this time, the measurement The attribute is a force attribute, and the measurement role played by the force sensor in the force-fed joint is the corresponding measurement correlation. The measurement consistency between two devices refers to the same control adjustment result between the devices. The role played by the device, or the degree of participation of multiple devices in the same result.

In this embodiment, the purpose of setting measurement labels is to better clarify the effects of different devices on the force-feedback joint.

In this embodiment, the tag-setting database is preset and includes tags and device detection methods, and the corresponding detection methods are retrieved according to the measurement tags. For example, different signals are used to detect different parts. Detection, using this detection method for pre-detection, is to detect whether there are abnormalities in the device itself, and then obtain the use signal set, that is, including several detection result signals, and then build a signal map based on these signals. , since the signal spectrum of each device under completely normal use conditions is standard, therefore, this is used as a preset spectrum to compare with the constructed spectrum, one is to find the consistency and inconsistency, and the other is to compare The map is divided into blocks, and the information map includes: detection signals and detection blocks corresponding to the detection signals.

In this embodiment, for example, the effective performability of the rotor in the motor, that is, whether the rotor can operate normally, is considered to be greater than the preset performability, and the corresponding analysis block is retained.

In this embodiment, the corresponding analysis block may be calibrated using color.

In this embodiment, the consistent information may be some consistent parameters in the detection results, and the inconsistent information may be some inconsistent parameters in the detection results, and then the information types are classified to determine similar signals.

In this embodiment, for example, the detection results are: 01, 07, 02, 03, 09, where 01, 07, 02 are consistent information, 03, 09 are inconsistent information, and 01, 07 are similar information among the consistent information. , 02 is the same kind of information in the consistent information, 03 and 09 are the same kind of information in the inconsistent information. At this time, the corresponding confidence level is determined based on the confidence database. For example, the confidence level of 03 and 09 is 1, and the confidence level of 01 and 07 is 1. The confidence level is 0.2, and the confidence level of 02 is 0.5. At this time, the confidence level of 1 meets the valid analysis conditions (compare the size of the confidence level). At this time, it is determined that the corresponding analysis block is qualified. If the confidence level of 03 and 09 is 0.3, the confidence of 01 and 07 is 0.7, the confidence of 02 is 0.5, and the confidence of 0.3 meets the valid analysis conditions, the confidence of 0.7 and 0.5 does not meet the valid analysis conditions, and 0.7 and 0.5 are greater than 0.3. At this time , determine that the corresponding analysis block is unqualified.

In this embodiment, for example, there are two qualified analysis blocks and one unqualified analysis block. At this time, the block weights of the corresponding qualified analysis blocks are 0.5 and 0.3, and the block weight of the corresponding unqualified analysis blocks is 0.2. , at this time, determine whether a disqualification reminder is needed.

The beneficial effect of the above technical solution is: by determining the measurement label and retrieving the corresponding detection method, the relevant devices are detected, and a map is constructed, and through comparison processing, the consistency analysis of the analysis block is performed, and then the subsequent analysis is carried out. Classification and analysis of consistent information is used to determine whether the analysis block is qualified. Through multiple judgments and comparisons, it is determined whether the device is qualified, which facilitates the maximum use of the device, and can also avoid measurement errors caused by device damage, effectively ensuring the accuracy of measurement. sex, thereby ensuring the accuracy of regulation.

Based on the above technical solution, the measurement sensing module described in this application may further include:

The preliminary determination unit is used to initially determine the measurement points based on the mechanical module;

A scanning unit, used to scan and obtain the surrounding structure of the measurement point, and the surrounding structure Conduct structural analysis on the structure, determine the setting area, and obtain a set of areas for similar measurements;

The setting unit is used to select the main areas from a collection of similar areas according to the measurement attributes of the corresponding devices to set the corresponding devices;

At the same time, based on the structural analysis results, the regional measurement error probability corresponding to the main area is determined;

The device work control unit is used to screen the spare areas and the number of spare areas from the corresponding set of similar areas if the measurement error probability of the area is greater than the preset probability, and at the same time, determine the measurement validity of each spare area and prioritize it. determination;

When the measurement of the corresponding main area fails, the device set in the main area is controlled to stop working;

At the same time, the devices set in the backup area are started to work in order of priority. During the work process, based on the stability and priority of the measurement, the first device corresponding to the backup area is automatically controlled to stop working, and the remaining devices continue to work.

In this embodiment, the measurement point refers to the measurement position of the measurement parameter that needs to be obtained, and the surrounding structure refers to the position structure of the measurement position, and the set of similar measurement areas refers to, for example, if pressure needs to be measured, multiple Measurement points are used for pressure measurement. According to the device properties, the primary measurement points and secondary measurement points are set for similar measurement points. When there is a measurement error at the primary measurement point, the secondary measurement point is measured, which is a backup area to ensure the validity of the measurement, and during the measurement process, for example, one main measurement point is equivalent to the measurement of five secondary measurement points. If the main measurement point fails, at this time, the five secondary measurement points will be measured. It is necessary to measure the measurement points, and it is also necessary to prioritize the measurement validity of the five secondary measurement points. Based on this, the priority of the measurement values in the use process is determined.

In this embodiment, working or not is controlled based on stability and priority of the device, which can effectively save working resources.

The beneficial effects of the above technical solution are: by analyzing the structure of the measurement points, the set of similar areas can be effectively determined, and the main areas and backup areas are screened according to the measurement attributes to avoid device measurement errors and reduce the accuracy of control, and By setting up multiple backup regions to And determine the priority work of the spare area, and then combine the stability, select some devices to continue working, and some devices to stop working, which can effectively ensure the efficiency of control detection and provide a basis for precise regulation.

Based on the above technical solution, the control module described in this application may further include:

The analysis unit is used to construct the device measurement vectors of the devices involved in the measurement sensing module respectively, and construct a measurement matrix, analyze the measurement matrix, and determine whether the measurement parameters of each device at different time points are consistent. ;

If they are consistent, the measurement parameters at that time point are retained and the corresponding execution instructions are determined;

Otherwise, based on the measurement rules, obtain the measurement parameters of all devices at regular time points, and construct a device measurement curve for each device at the probability time points;

The comparison processing unit is used to compare all device measurement curves to determine whether there are completely inconsistent measurement parameters. If so, determine the corresponding device, and filter the standard parameters to replace the completely inconsistent measurement parameters;

If there are inconsistent measurement parameters located at different dissociation time points, and the first number of corresponding dissociation time points located at the regular time points is less than the preset analysis number, at this time, the measurement parameters at the dissociation time points are eliminated. , and replaced with standard parameters;

If the first quantity is not less than the preset analysis quantity, determine the dissociation rule corresponding to the dissociation time point. If the dissociation rule meets the measurement rule of the corresponding device, at this time, establish an annotation index under the corresponding dissociation time point and set the corresponding index parameter;

If the dissociation law does not meet the measurement law of the corresponding device, at this time, the measurement parameters at the corresponding dissociation time point are replaced with preset parameters to be replaced;

The execution determination unit is used to reconstruct the measurement matrix according to the replaced parameters, and determine the corresponding execution instructions according to the measurement parameters at that time point.

In this embodiment, the measurement matrix is Among them, a ₁₁ represents the measurement parameters of the first device at the first time point; a _j1 represents the measurement parameters of the first device at the j-th time point; a _1i represents the i-th device at the first time The measurement parameters at the point, a _ji represents the measurement parameters of the i-th device at the j-th time point;

And calculate the matching consistency of each device at different time points through the following formula:

Among them, P _k1 represents the matching consistency of each device at the k1th time point, a _p1.k1 represents the measurement parameters of the p1 device at the k1th time point; a _p1+1.k1 represents the k1th time point. The measurement parameters of the p1+1th device; a _i-1.k1 represents the measurement parameters of the i-1th device at the k1th time point;

Determining consistency based on matching consistency can save time in determining subsequent execution instructions and provide an effective basis for the execution of the next step.

For the above reconstruction of the measurement matrix Among them, b ₁₁ represents the measurement parameters of the 1st device at the 1st time point; b _j1 represents the measurement parameters of the 1st device at the jth time point; b _1i represents the ith device at the 1st time The measurement parameters under the point, b _ji represent the measurement parameters of the i-th device at the j-th time point, and the corresponding parameters in B can have the same parameters as in A.

In this embodiment, for example, the free time point can be effectively screened out based on the measurement curve, that is, at this time point, the corresponding value is too large or too small compared with other values, and the regular time point, such as 5 Each time point is regarded as a regular time point, and the execution process of the free time point is determined by determining the number of free time points and the number of points included in the regular time point.

In this embodiment, the annotation index is used to set index parameters and serve as an indirect basis to ensure prove the validity of the analysis.

In this embodiment, the parameters to be replaced are cosine-set, the measurement rules are determined according to the measurement conditions of the device itself, and the execution instructions are determined according to the parameters at qualified time points. In order to better predict the next Instructions that need to be executed at a certain point in time.

The beneficial effects of the above technical solution are: by establishing a measurement matrix, the consistency of the measurement parameters at different time points is determined. When they are inconsistent, the inconsistent measurement parameters are determined by determining the measurement curve, and according to the parameters at the free time point Analysis is used to determine several parameters at the same time point that meet the measurement rules, and then obtain execution instructions to provide guarantee for effective execution at the next time point and indirectly improve the precise control of force.

Based on the above technical solutions, the technical solutions of this application may also include:

A monitoring module, configured to monitor each part and each device involved in the force-fed joint when the execution module controls the force-fed joint to perform corresponding operations according to the execution instruction, including :

Monitoring unit, used to monitor the movement trajectory of each part involved and the operation process of each device involved;

A matching unit is used to match the motion trajectory with the running process, obtain feedback instructions according to the matching results, and perform feedback control operations on the motor based on the feedback instructions.

In this embodiment, the feedback control operation may refer to regulating the rotation speed of the motor, etc.

The beneficial effect of the above technical solution is that by monitoring the motion trajectory and motion process, feedback instructions can be effectively obtained to operate the motor and ensure the accuracy of force control.

As shown in Figure 3, this application provides a force feed control method for fitness equipment. The force feed control method includes the following steps:

Step 1, build the force-feedback joint;

Step 2: Measure the part to be measured of the force-fed joint to obtain the measurement results;

Step 3 is used to determine the execution instructions according to the measurement results;

Step 4: Control the force feed joint to perform corresponding operations according to the execution instruction.

The beneficial effect of the above technical solution is to control its execution by constructing a force-feedback joint and combining measurement and control to achieve precise control and regulation of force.

Preferably, the measurement results include at least one of the following:

Information on the relative rotation angle of the third connecting rod and the first connecting rod of the force feed joint at the third force feed node;

Information about the tension or pressure on the longitudinal rod included in the first connecting rod;

Real-time measured motor rotation angle, angular velocity and angular acceleration information.

Preferably, wherein the determining the execution instruction according to the measurement result includes:

Obtain information on the relative rotation angle of the third connecting rod of the force-fed joint and the first connecting rod at the third force-fed node to determine the rotation angle of the third connecting member;

Obtain information on the tensile force or pressure on the longitudinal rod included in the first connecting rod to determine the tensile force on the second connecting piece, and determine the force generation of the force feed joint according to the mechanism motion relationship;

Obtain the angle, angular velocity and angular acceleration information of the motor rotation measured in real time, and control the force feed node through the control logic to control the torque of the motor according to the required output;

Based on the rotation angle, the force and the torque, comprehensive control of the force-feedback joint is obtained.

Preferably, the device detection methods of different devices are determined, including:

Determine the measurement attributes of different devices, and determine the measurement correlation of different devices based on the force-fed joint and the measurement consistency of two devices according to the measurement attributes;

According to the measurement correlation and measurement consistency, corresponding measurement labels are assigned to different devices, and the measurement labels are related to the control and adjustment effect on the force-feed joint;

Based on the measurement tag, the device detection method of the corresponding device is retrieved from the tag-settings database.

Preferably, the force feedback control method used for fitness equipment includes:

Pre-detect the corresponding device according to the device detection method and determine the signal set used by the corresponding device;

Construct a signal map for the used signal set, and compare the signal map with the corresponding preset The spectrum is compared and processed to obtain several analysis blocks in the signal spectrum;

Based on the comparison processing results, the consistent information of the analysis block and the preset block is determined. When they are completely consistent, the corresponding analysis block is determined to be feasible. Otherwise, the effective execution of the corresponding analysis block is determined. When the effective execution is greater than the preset execution When the error occurs, the corresponding analysis block will be retained and the first qualified reminder of the corresponding analysis block will be issued;

When the effective execution is not greater than the preset execution, calibrate the corresponding analysis block;

Extract the consistent information and inconsistent information of the calibrated analysis block, and classify the consistent information in the first category and the inconsistent information in the second category according to the type of information;

Perform class signal analysis on the first classification result and the second classification result;

According to the class signal analysis results, determine the confidence level of the corresponding consistent information and inconsistent information. If the corresponding confidence levels meet the valid analysis conditions, determine that the corresponding analysis block is qualified, and issue a second qualification reminder for the corresponding analysis block;

If one of the confidence levels of the consistent information and the confidence level of the inconsistent information meets the corresponding valid analysis conditions, the information corresponding to the valid analysis conditions will be retained, and the confidence levels of the two will be compared, and the information corresponding to the greater confidence level will be retained. Retain, if the retained information is consistent with the information that meets the valid analysis conditions, a third qualified reminder of the corresponding analysis block will be issued;

Otherwise, a failure reminder will be issued for the corresponding analysis block;

If all the analysis blocks after comparison processing are qualified reminders, a qualified reminder will be issued to the corresponding device. Otherwise, according to the comparison of the number of qualified reminders and the number of unqualified reminders, and the block weights of qualified analysis blocks and unqualified analysis blocks, Determine whether it is necessary to issue a non-conformity reminder for the corresponding device.

Preferably, obtaining measurement results further includes:

Based on the mechanical module, the measurement points are initially determined;

Scan and obtain the surrounding structure of the measurement point, perform structural analysis on the surrounding structure, determine the setting area, and obtain a set of areas for similar measurements;

According to the measurement attributes of the corresponding device, select the main areas from the collection of similar areas to set the corresponding device;

Based on the structural analysis results, determine the regional measurement error probability corresponding to the main area;

If the measurement error probability of the area is greater than the preset probability, screen the spare areas and the number of spare areas from the corresponding set of similar areas, determine the measurement validity of each spare area, and make a priority determination;

When the measurement of the corresponding main area fails, the device set in the main area is controlled to stop working;

At the same time, the devices set in the backup area are started to work in order of priority. During the work process, based on the stability and priority of the measurement, the first device corresponding to the backup area is automatically controlled to stop working, and the remaining devices continue to work.

Preferably, the step of determining execution instructions based on the measurement results includes:

Construct device measurement vectors of the devices involved in the measurement respectively, construct a measurement matrix, analyze the measurement matrix, and determine whether the measurement parameters of each device at different time points match consistently;

If they are consistent, the measurement parameters at that time point are retained and the corresponding execution instructions are determined;

Otherwise, based on the measurement rules, obtain the measurement parameters of all devices at regular time points, and construct a device measurement curve for each device at the probability time points;

Compare all device measurement curves to determine whether there are completely inconsistent measurement parameters. If so, determine the corresponding device, and filter the standard parameters to replace the completely inconsistent measurement parameters;

If there are inconsistent measurement parameters located at different free time points, and the first number of corresponding free time points located at the regular time points is less than the preset analysis number, then the measurement parameters at the free time points are eliminated, and Replace with standard parameters;

If the first quantity is not less than the preset analysis quantity, determine the dissociation rule corresponding to the dissociation time point. If the dissociation rule meets the measurement rule of the corresponding device, establish an annotation index under the corresponding dissociation time point and set the corresponding index. parameter;

If the dissociation law does not meet the measurement law of the corresponding device, the measurement parameters at the corresponding dissociation time point are replaced with preset parameters to be replaced;

Reconstruct the measurement matrix according to the replaced parameters, and determine the corresponding execution instructions according to the measurement parameters at that time point.

Preferably, the force feedback control method for fitness equipment also includes:

In the process of controlling the force-fed joint to perform corresponding operations according to the execution instructions, each part and each device involved in the force-fed joint is monitored, including:

Monitor the movement trajectory of each part involved and the operation process of each device involved;

The motion trajectory is matched with the running process, feedback instructions are obtained according to the matching results, and feedback control operations are performed on the motor based on the feedback instructions.

Optionally, the embodiment of the present application also provides a force feedback control device for fitness equipment, including a processor, a memory, and a computer program stored on the memory and executable on the processor. The computer When the program is executed by the processor, the steps of the force feed control method shown in Figure 3 are implemented.

Optionally, embodiments of the present application also provide a storage medium on which a computer program is stored. When the computer program is executed by a processor, the steps of the force feed control method shown in Figure 3 are implemented.

Obviously, those skilled in the art can make various changes and modifications to the present application without departing from the spirit and scope of the present application. In this way, if these modifications and variations of the present application fall within the scope of the claims of the present application and equivalent technologies, the present application is also intended to include these modifications and variations.

Claims (16)

1. A force feed control method for fitness equipment, including:

   Construct force-fed joints;

   Measure the part to be measured of the force-fed joint and obtain the measurement results;

   Determine the execution instructions according to the measurement results;

   According to the execution instructions, the force-feedback joint is controlled to perform corresponding operations.
2. The force feed control method for fitness equipment as claimed in claim 1, wherein the measurement results include at least one of the following:

   Information on the relative rotation angle of the third connecting rod and the first connecting rod of the force feed joint at the third force feed node;

   Information about the tension or pressure on the longitudinal rod included in the first connecting rod;

   Real-time measured motor rotation angle, angular velocity and angular acceleration information.
3. The force feed control method for fitness equipment as claimed in claim 2, wherein determining the execution instructions according to the measurement results includes:

   Obtain information on the relative rotation angle of the third connecting rod of the force-fed joint and the first connecting rod at the third force-fed node to determine the rotation angle of the third connecting member;

   Obtain information on the tensile force or pressure on the longitudinal rod included in the first connecting rod to determine the tensile force on the second connecting piece, and determine the force generation of the force feed joint according to the mechanism motion relationship;

   Obtain the angle, angular velocity and angular acceleration information of the motor rotation measured in real time, and control the force feed node through the control logic to control the torque of the motor according to the required output;

   Based on the rotation angle, the force and the torque, comprehensive control of the force-feedback joint is obtained.
4. The force feed control method for fitness equipment as claimed in claim 2 or 3, including: determining device detection methods of different devices, specifically:

   Determine the measurement properties of different devices, and according to the measurement properties, determine the measurement properties of different devices based on the The measurement correlation of the force-feed joint and the measurement consistency of the two devices;

   According to the measurement correlation and measurement consistency, corresponding measurement labels are assigned to different devices, and the measurement labels are related to the control and adjustment effect on the force-feed joint;

   Based on the measurement tag, the device detection method of the corresponding device is retrieved from the tag-settings database.
5. The force feed control method for fitness equipment as claimed in claim 4, comprising:

   Pre-detect the corresponding device according to the device detection method and determine the signal set used by the corresponding device;

   Construct a signal map using the signal set, compare the signal map with the corresponding preset map, and obtain several analysis blocks in the signal map;

   Based on the comparison processing results, the consistent information of the analysis block and the preset block is determined. When they are completely consistent, the corresponding analysis block is determined to be feasible. Otherwise, the effective execution of the corresponding analysis block is determined. When the effective execution is greater than the preset execution When the error occurs, the corresponding analysis block will be retained and the first qualified reminder of the corresponding analysis block will be issued;

   When the effective execution is not greater than the preset execution, calibrate the corresponding analysis block;

   Extract the consistent information and inconsistent information of the calibrated analysis block, and classify the consistent information in the first category and the inconsistent information in the second category according to the type of information;

   Perform class signal analysis on the first classification result and the second classification result;

   According to the class signal analysis results, determine the confidence level of the corresponding consistent information and inconsistent information. If the corresponding confidence levels meet the valid analysis conditions, determine that the corresponding analysis block is qualified, and issue a second qualification reminder for the corresponding analysis block;

   If one of the confidence levels of the consistent information and the confidence level of the inconsistent information meets the corresponding valid analysis conditions, the information corresponding to the valid analysis conditions will be retained, and the confidence levels of the two will be compared, and the information corresponding to the greater confidence level will be retained. Retain, if the retained information is consistent with the information that meets the valid analysis conditions, a third qualified reminder of the corresponding analysis block will be issued;

   Otherwise, a failure reminder will be issued for the corresponding analysis block;

   If all the analysis blocks after comparison processing are qualified reminders, the corresponding devices will be qualified. Otherwise, based on the comparison of the number of qualified reminders and the number of unqualified reminders, and the block weights of the qualified analysis block and the unqualified analysis block, determine whether a failure reminder is needed for the corresponding device.
6. The force feed control method for fitness equipment as claimed in claim 1 or 2, wherein obtaining the measurement results further includes:

   Based on the mechanical module, the measurement points are initially determined;

   Scan and obtain the surrounding structure of the measurement point, perform structural analysis on the surrounding structure, determine the setting area, and obtain a set of areas for similar measurements;

   According to the measurement attributes of the corresponding device, select the main areas from the collection of similar areas to set the corresponding device;

   Based on the structural analysis results, determine the regional measurement error probability corresponding to the main area;

   If the measurement error probability of the area is greater than the preset probability, screen the spare areas and the number of spare areas from the corresponding set of similar areas, determine the measurement validity of each spare area, and make a priority determination;

   When the measurement of the corresponding main area fails, the device set in the main area is controlled to stop working;

   At the same time, the devices set in the backup area are started to work in order of priority. During the work process, based on the stability and priority of the measurement, the first device corresponding to the backup area is automatically controlled to stop working, and the remaining devices continue to work.
7. The force feed control method for fitness equipment as claimed in claim 1, wherein determining execution instructions according to the measurement results includes:

   Construct device measurement vectors of the devices involved in the measurement respectively, construct a measurement matrix, analyze the measurement matrix, and determine whether the measurement parameters of each device at different time points match consistently;

   If they are consistent, the measurement parameters at that time point are retained and the corresponding execution instructions are determined;

   Otherwise, based on the measurement rules, obtain the measurement parameters of all devices at regular time points, and construct a device measurement curve for each device at the probability time points;

   Compare all device measurement curves to determine whether there are completely inconsistent measurement parameters. If so, determine the corresponding device, and filter the standard parameters to replace the completely inconsistent measurement parameters;

   If there are inconsistent measurement parameters located at different free time points, and the first number of corresponding free time points located at the regular time points is less than the preset analysis number, then the measurement parameters at the free time points are eliminated, and Replace with standard parameters;

   If the first quantity is not less than the preset analysis quantity, determine the dissociation rule corresponding to the dissociation time point. If the dissociation rule meets the measurement rule of the corresponding device, establish an annotation index under the corresponding dissociation time point and set the corresponding index. parameter;

   If the dissociation law does not meet the measurement law of the corresponding device, the measurement parameters at the corresponding dissociation time point are replaced with preset parameters to be replaced;

   Reconstruct the measurement matrix according to the replaced parameters, and determine the corresponding execution instructions according to the measurement parameters at that time point.
8. The force feed control method for fitness equipment as claimed in claim 1, further comprising:

   In the process of controlling the force-fed joint to perform corresponding operations according to the execution instructions, each part and each device involved in the force-fed joint is monitored, including:

   Monitor the movement trajectory of each part involved and the operation process of each device involved;

   The motion trajectory is matched with the running process, feedback instructions are obtained according to the matching results, and feedback control operations are performed on the motor based on the feedback instructions.
9. A force feed control system for fitness equipment, including:

   Mechanical module, configured to build force-fed joints;

   A measurement sensing module configured to measure the part to be measured of the force-fed joint and obtain a measurement result;

   A control module configured to receive the measurement results of the measurement sensing module and determine execution instructions according to the measurement results;

   Execution module, configured to receive execution instructions from the control module and execute the instructions according to the execution instructions. Let, control the force-fed joint to perform corresponding operations. 10. The force feed control system for fitness equipment as claimed in claim 9, wherein the force feed joint includes:

   A screw slider mechanism includes a screw and a slider mounted on the screw. The screw is driven by a driving component and drives the slider to slide along the axis;

   The first connecting rod includes a horizontal rod and a longitudinal rod, and the slider is slidably disposed on the horizontal rod;

   a second connecting rod, one end of which is hinged to the slider at the first force feed node;

   The third connecting rod includes a first segment rod and a second segment rod hinged to each other. One end of the first segment rod and the other end of the second connecting rod are hinged to the second force feed node; the third connection The longitudinal rod of the rod and the first connecting rod is hingedly connected to the third force feed node. 11. The force feed control system for fitness equipment as claimed in claim 10, wherein the measurement sensing module includes:

   An encoder, located at the third force feed node on the mechanical module, is configured to measure information on the relative rotation angle of the third connecting rod and the first connecting rod at the third force feed node;

   a force sensor located on the longitudinal rod and configured to measure information on the tension or pressure exerted on the longitudinal rod;

   The motor feedback measurer is located on the motor and is configured to measure and feedback the angle, angular velocity and angular acceleration information of the motor rotation in real time;

   Among them, the measurement results include: the measurement results of the encoder, the measurement results of the force sensor, and the measurement results of the motor feedback measurer. 12. The force feed control system for fitness equipment as claimed in claim 11, the control module is configured as:

   Obtain the measurement results of the encoder to determine the rotation angle of the third connecting member;

   Obtain the measurement results of the force sensor to determine the tensile force on the second connecting member, and at the same time, determine the force generation of the force feed joint according to the mechanism motion relationship;

   Obtain the measurement results of the motor feedback measurer, and control the force feed node through the control logic to control the torque of the motor according to the required output;

   Based on the rotation angle, force and torque, comprehensive control of the force-feedback joint is obtained. 13. The force feed control system for fitness equipment as claimed in claim 9, comprising:

   The measurement results are used as input signals to the control module;

   The execution instructions serve as output signals of the control module.
10. The force feed control system for fitness equipment as claimed in claim 12, the control module includes:

    The first determination unit is used to determine the measurement attributes of the encoder, force sensor and motor feedback measurer, and determine the measurement correlation of different devices based on the force feed joint and the measurement consistency of two devices according to the measurement attributes. ;

    A label setting unit, used to assign corresponding measurement labels to different devices based on measurement correlation and measurement consistency, and the measurement labels are related to the control and adjustment effect on the force feed joint;

    The retrieval unit is used to retrieve the device detection method of the corresponding device from the label-setting database based on the measurement tag.
11. The force feed control system for fitness equipment as claimed in claim 14, the control module includes:

    The second determination unit is used to pre-detect the corresponding device according to the device detection method and determine the usage signal set of the corresponding device;

    An acquisition unit, configured to construct a signal map for the used signal set, compare the signal map with the corresponding preset map, and obtain several analysis blocks in the signal map;

    The third determination unit is used to determine the consistency information of the analysis block and the preset block based on the comparison processing result. When the analysis block is completely consistent, it is determined that the corresponding analysis block is feasible. Otherwise, the effective execution of the corresponding analysis block is determined. When the analysis block is completely consistent, When the effective executability is greater than the preset executability, the corresponding analysis block will be retained and the first qualified reminder of the corresponding analysis block will be issued;

    When the effective execution is not greater than the preset execution, calibrate the corresponding analysis block;

    The classification unit is used to extract the consistent information and inconsistent information of the calibrated analysis block, and perform a first classification on the consistent information and a second classification on the inconsistent information according to the type of information;

    Perform class signal analysis on the first classification result and the second classification result;

    The fourth determination unit is used to determine the corresponding consistent information and Confidence levels of inconsistent information. If the corresponding confidence levels meet the valid analysis conditions, the corresponding analysis block will be determined to be qualified, and a second qualification reminder for the corresponding analysis block will be issued;

    If there is a corresponding confidence between the confidence of consistent information and the confidence of inconsistent information that satisfies the corresponding valid analysis conditions, the information corresponding to the valid analysis conditions will be retained, and the confidence levels of the two will be compared, and the confidence will be The information corresponding to the large degree will be retained. If the retained information is consistent with the information that meets the valid analysis conditions, the third qualified reminder of the corresponding analysis block will be issued;

    Otherwise, a failure reminder will be issued for the corresponding analysis block;

    If all the analysis blocks after comparison processing are qualified reminders, a qualified reminder will be issued to the corresponding device. Otherwise, according to the comparison of the number of qualified reminders and the number of unqualified reminders, and the block weights of qualified analysis blocks and unqualified analysis blocks, Determine whether it is necessary to issue a non-conformity reminder for the corresponding device.
12. The force feed control system for fitness equipment as claimed in claim 10, the measurement sensing module further includes:

    The preliminary determination unit is used to initially determine the measurement points based on the mechanical module;

    A scanning unit, used to scan and obtain the surrounding structure of the measurement point, perform structural analysis on the surrounding structure, determine the setting area, and obtain a set of areas for similar measurements;

    The setting unit is used to select the main areas from the set of similar areas according to the measurement attributes of the corresponding devices to set the corresponding devices; according to the structural analysis results, determine the regional measurement error probability of the corresponding main areas;

    The device work control unit is used to screen the spare areas and the number of spare areas from the corresponding set of similar areas if the measurement error probability of the area is greater than the preset probability, determine the measurement validity of each spare area, and make a priority determination;

    When the measurement of the corresponding main area fails, the device set in the main area is controlled to stop working;

    At the same time, the devices set in the backup area are started to work in order of priority. During the work process, based on the stability and priority of the measurement, the first device corresponding to the backup area is automatically controlled to stop working, and the remaining devices continue to work.
13. The force feed control system for fitness equipment as claimed in claim 9, the control module further includes:

    The analysis unit is used to construct the device measurement vectors of the devices involved in the measurement sensing module respectively, and construct a measurement matrix, analyze the measurement matrix, and determine whether the measurement parameters of each device at different time points are consistent. ;

    If they are consistent, the measurement parameters at that time point are retained and the corresponding execution instructions are determined;

    Otherwise, based on the measurement rules, obtain the measurement parameters of all devices at regular time points, and construct a device measurement curve for each device at the probability time points;

    The comparison processing unit is used to compare all device measurement curves to determine whether there are completely inconsistent measurement parameters. If so, determine the corresponding device, and filter the standard parameters to replace the completely inconsistent measurement parameters;

    If there are inconsistent measurement parameters located at different free time points, and the first number of corresponding free time points located at the regular time points is less than the preset analysis number, then the measurement parameters at the free time points are eliminated, and Replace with standard parameters;

    If the first quantity is not less than the preset analysis quantity, determine the dissociation rule corresponding to the dissociation time point. If the dissociation rule meets the measurement rule of the corresponding device, establish an annotation index under the corresponding dissociation time point and set the corresponding index. parameter;

    If the dissociation law does not meet the measurement law of the corresponding device, the measurement parameters at the corresponding dissociation time point are replaced with preset parameters to be replaced;

    The execution determination unit is used to reconstruct the measurement matrix according to the replaced parameters, and determine the corresponding execution instructions according to the measurement parameters at that time point.
14. The force feed control system for fitness equipment as claimed in claim 9, further comprising:

    A monitoring module, configured to monitor each part and each device involved in the force-fed joint when the execution module controls the force-fed joint to perform corresponding operations according to the execution instruction, including :

    Monitoring unit, used to monitor the motion trajectory of each part involved and each involved The operation process of the device;

    A matching unit is used to match the motion trajectory with the running process, obtain feedback instructions according to the matching results, and perform feedback control operations on the motor based on the feedback instructions.
15. A force feed control device for fitness equipment, including a processor, a memory and a computer program stored on the memory and executable on the processor. When the computer program is executed by the processor, the following is implemented: The step in the force feed control method according to any one of claims 1 to 8.
16. A storage medium on which a computer program is stored. When the computer program is executed by a processor, the steps of the force feed control method described in any one of claims 1 to 8 are implemented.