阅读说明：本技术 一种力量型智能健身器械的输出力补偿方法 (Output force compensation method of strength type intelligent fitness equipment ) 是由 张博文 奚伟涛 付强 唐天广 唐宇瀚 于 2021-10-14 设计创作，主要内容包括：本发明公开了一种力量型智能健身器械的输出力补偿方法,涉及智能健身领域,所述方法包括：获取力量型智能健身器械的实际输出力；获得所述力量型智能健身器械的摩擦力；基于所述实际输出力和所述摩擦力对所述力量型智能健身器械的输出力进行补偿；本方法能够对力量型智能健身器械的输出力进行补偿,通过本方法进行补偿使得力量型智能健身器械的设定力等于实际输出力。(The invention discloses an output force compensation method of a strength type intelligent fitness device, which relates to the field of intelligent fitness and comprises the following steps: acquiring the actual output force of the strength type intelligent fitness equipment; obtaining the friction force of the strength type intelligent fitness equipment; compensating the output force of the strength-type intelligent fitness machine based on the actual output force and the friction force; the method can compensate the output force of the strength type intelligent fitness equipment, and the set force of the strength type intelligent fitness equipment is equal to the actual output force by the compensation of the method.)

1. A method of compensating for an output force of a force-type intelligent exercise machine, the method comprising:

acquiring the actual output force of the strength type intelligent fitness equipment;

obtaining the friction force of the strength type intelligent fitness equipment;

compensating the output force of the strength-type intelligent fitness machine based on the actual output force and the friction force.

2. The method of output force compensation for a strength-type intelligent exercise machine of claim 1, further comprising:

judging a first direction of the output force of the strength type intelligent fitness equipment;

compensating the output force of the strength type intelligent fitness machine based on the first direction, the actual output force and the friction force.

3. The method of claim 2, wherein the actual output force is obtained in a calibrated manner.

4. The method for compensating the output force of the intelligent strength fitness machine according to claim 2, wherein the obtaining the actual output force in a calibrated manner specifically comprises:

connecting a tension detection device with the strength type intelligent fitness equipment;

starting the tension detection equipment to detect and obtain the actual tension of the strength type intelligent fitness equipment;

obtaining a tension deviation based on the target tension and the actual tension of the strength type intelligent fitness equipment;

and calibrating the strength type intelligent fitness equipment based on the tension deviation.

5. The method of claim 2, wherein the method further comprises:

if the first direction is a pull-out direction, the actual output force is F_real＝k₁F_config+_b1The friction force is f ═ k₂F_config+b₂The output force of the force type intelligent fitness equipment after compensation is F_{Pulling device}＝(F_config-(b₁+b₂))/(k₁+k₂)；

If the first direction is a recovery direction, the actual output force is F_real＝k₁F_config+_b1The friction force is f ═ k₂F_config+b₂The output force of the force type intelligent fitness equipment after compensation is F_{Harvesting machine}＝(F_config-(b₁-b₂))/(k₁-k₂)，k₁、k₂、b₁And b₂Are all corresponding coefficients.

6. The output force compensation method of the force-type intelligent fitness machine according to claim 2, wherein if the moving speed of the pull rope of the force-type intelligent fitness machine is greater than or equal to a threshold value, the first direction is determined as a pulling-out direction; and if the moving speed of the pull rope of the strength type intelligent fitness equipment is smaller than the threshold value, judging that the first direction is the recovery direction.

7. The output force compensation method of the intelligent force-type fitness apparatus of claim 4, wherein the tension detection device is a tension table, and the tension sensor of the tension detection device is connected with the pull rope of the intelligent force-type fitness apparatus.

8. The method of claim 4, wherein the pull-cord is routed around a fixed pulley and then coupled to the force sensor.

9. The output force compensation method of a strength-type intelligent fitness apparatus according to claim 4, wherein the tension sensor carries the pull rope to reciprocate at a constant speed during the detection process of the tension detection device.

10. The method of claim 4, wherein the pull sensor carries the pull cord through N sets of two-way motions, each set comprising 2-way motions; wherein the pulling force of the pulling force table is constant in each group of reciprocating motion.

Technical Field

The invention relates to the field of intelligent fitness, in particular to an output force compensation method of a strength type intelligent fitness device.

Background

The working principle of the strength type intelligent fitness equipment is as follows: including the motor among the strength type intelligence fitness equipment, differential mechanism, the support arm, stay cord and corresponding controller, circuit and accessory, be connected with the belt between motor output shaft and the differential mechanism, stay cord one end is connected with differential mechanism, the stay cord other end is connected corresponding pull ring or other body-building accessories after marcing along the support arm, the user can take exercise through the pulling stay cord when the body-building, also can utilize the support arm to take exercise, the stay cord passes through differential mechanism and belt drive motor motion, produce output torque and resistance when the motor circular telegram, the output torque of motor need be overcome to the user pulling stay cord, and then realized that the user carries out strength training's purpose.

The power output of the force type intelligent fitness equipment needs to depend on the transmission part, but the transmission part can bring friction force, so the setting force can not be equal to the actual output force. In addition, when a user uses the strength type intelligent fitness equipment to perform resistance exercise, the resistance exercise has two strokes of pulling out and recovering, in the pulling-out process, the actual output force is equal to the output force of the motor plus the friction force, in the recovering process, the actual output force is equal to the output force of the motor minus the friction force, and if the same force is output in the pulling-out and recovering processes, the actual output force is different due to the fact that the directions of the friction forces are not consistent.

Disclosure of Invention

In order to enable the set force of the strength type intelligent fitness equipment to be equal to the actual output force and ensure the fitness effect, the invention provides the output force compensation method of the strength type intelligent fitness equipment.

In order to achieve the above object, the present invention provides a method for compensating output force of a force type intelligent fitness machine, the method comprising:

acquiring the actual output force of the strength type intelligent fitness equipment;

obtaining the friction force of the strength type intelligent fitness equipment;

compensating the output force of the strength-type intelligent fitness machine based on the actual output force and the friction force.

The method comprises the following steps of measuring and acquiring the actual output force and the friction force of the intelligent strength fitness equipment, and compensating the output force of the intelligent strength fitness equipment based on the actual output force and the friction force to enable the set force of the intelligent strength fitness equipment to be equal to the actual output force.

Preferably, the method further comprises:

judging a first direction of the output force of the strength type intelligent fitness equipment;

compensating the output force of the strength type intelligent fitness machine based on the first direction, the actual output force and the friction force.

Because the friction forces of the force type intelligent fitness equipment are different in different motion directions, the direction of the output force of the force type intelligent fitness equipment needs to be judged firstly in order to realize accurate output force supplement, and then the output force is compensated.

Preferably, the method obtains the actual output force in a calibrated manner.

The specific calibration method comprises the following steps:

connecting the tension detection equipment with the strength type intelligent fitness equipment;

starting the tension detection equipment to detect and obtain the actual tension of the strength type intelligent fitness equipment;

obtaining a tension deviation based on the target tension and the actual tension of the strength type intelligent fitness equipment;

and calibrating the strength type intelligent fitness equipment based on the tension deviation.

The calibration method comprises the following steps: connecting the tension detection equipment with the strength type intelligent fitness equipment, detecting the output force of the strength type intelligent fitness equipment through the strength type intelligent fitness equipment, and obtaining tension deviation based on the target tension and the actual tension of the strength type intelligent fitness equipment; the obtained tension deviation is used for calibrating the force type intelligent fitness equipment, and the output force of the calibrated force type intelligent fitness equipment is accurate.

Preferably, the tension detection device is a tension table, and a tension sensor of the tension detection device is connected with a pull rope of the strength type intelligent fitness equipment. The pull table can be used for generating corresponding pulling force, so that the pull rope of the strength type intelligent fitness equipment is pulled, and the pulling force can be measured through the pull sensor.

Preferably, the pull rope is connected with the tension sensor after passing around the fixed pulley. The direction of the acting force can be changed through the fixed pulley, so that the calibration is convenient in practice.

Preferably, the pull sensor carries the pull rope to reciprocate at a constant speed in the detection process of the pull detection device. The uniform motion is convenient for the output force of the strength type intelligent fitness equipment to be stable, and further the final calibration result is convenient to be accurate.

Preferably, the pull sensor carries the pull rope to perform N groups of reciprocating motions, and each group of the pull sensor performs multiple reciprocating motions; wherein the pulling force of the pulling force table is constant in each group of reciprocating motion. The method comprises the steps of averaging multiple times of reciprocating motion to obtain a more accurate pulling force model, carrying out multiple groups of reciprocating motion to obtain more data, reducing risks caused by error data and guaranteeing calibration precision, wherein the reciprocating motion is carried out to obtain different output forces in different directions, carrying out the reciprocating motion to realize accurate calibration, respectively calibrating the corresponding output forces through the reciprocating motion, and the constant pulling force of a pulling force platform in each group of reciprocating motion is used for obtaining stable output force data.

Preferably, the pulling force of the pulling force tables corresponding to any two groups of reciprocating motion is different in magnitude. The method comprises the following steps of testing by using pulling forces with different sizes so as to cover a range from small to large of output pulling force, and establishing accurate pulling force and friction force models. The purpose of the design is to obtain output force data with different sizes, and finally calculate the accurate output force of the strength type intelligent fitness equipment according to the data, so that the final accuracy is guaranteed.

Preferably, the magnitude of the pulling force table corresponding to the first group of reciprocating motions to the Nth group of reciprocating motions is increased progressively. The design is convenient for the test process to be carried out and accords with the logic.

Preferably, the method further comprises: and sampling the tension of the tension detection equipment at a preset frequency. The frequency is not fixed, namely the sampling rate, the model precision can be higher due to the high sampling rate, and the sampling rate is fixed in the primary calibration process.

Preferably, the unilateral distance of the back-and-forth movement is S, and the actual tension of the force type intelligent fitness equipment is calculated by taking tension data with the stroke of 1/4S to 3/4S. The purpose of the design is to avoid acquiring tension sudden change data caused by factors such as connecting sensors at the beginning or the end of a stroke.

Preferably, the actual tension of the intelligent strength fitness equipment when the pull rope is pulled out is F_outThe actual tension of the intelligent strength fitness equipment when the pull rope is retracted is F_inThe output force of the strength type intelligent fitness equipment is F_motor，F_motor＝(F_out+F_in)/2。

Preferably, in the present compensation method:

if the first direction is a pull-out direction, the actual output force is F_real＝k₁F_config+_b1The friction force is f ═ k₂F_config+b₂The output force of the force type intelligent fitness equipment after compensation is F_{Pulling device}＝(F_config-(b₁+b₂))/(k₁+k₂)；

If the first direction is a recovery direction, the actual output force is F_real＝k₁F_config+b₁The friction force is f ═ k₂F_config+b₂The output force of the force type intelligent fitness equipment after compensation is F_{Harvesting machine}＝(F_config-(b₁-b₂))/(k₁-k₂)，k₁、k₂、b₁And b₂Are all corresponding coefficients. Wherein k is₁、k₂、b₁And b₂Calibration process by pulling forceAnd determining that a tension and friction model is established in the tension calibration process, and the four coefficients are model parameters.

Preferably, the direction determination method in the method is as follows: if the moving speed of the pull rope of the strength type intelligent fitness equipment is larger than or equal to a threshold value, judging that the first direction is a pulling-out direction; and if the moving speed of the pull rope of the strength type intelligent fitness equipment is smaller than the threshold value, judging that the first direction is the recovery direction.

One or more technical schemes provided by the invention at least have the following technical effects or advantages:

the method can compensate the output force of the strength type intelligent fitness equipment, and the set force of the strength type intelligent fitness equipment is equal to the actual output force by the compensation of the method.

The method can realize calibration of the output force of the strength type intelligent fitness equipment, and the calibration result is accurate, so that the compensation result is accurate.

Drawings

The accompanying drawings, which are included to provide a further understanding of the embodiments of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the principles of the invention;

FIG. 1 is a schematic flow chart of a method of compensating for output force of a force-type intelligent exercise machine;

FIG. 2 is a schematic diagram of a method for calibrating output force of a force intelligent exercise machine.

Detailed Description

In order that the above objects, features and advantages of the present invention can be more clearly understood, a more particular description of the invention will be rendered by reference to the appended drawings. It should be noted that the embodiments of the present invention and features of the embodiments may be combined with each other without conflicting with each other.

In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention, however, the present invention may be practiced in other ways than those specifically described and thus the scope of the present invention is not limited by the specific embodiments disclosed below.

Example one

Referring to fig. 1, fig. 1 is a schematic flow chart illustrating an output force compensation method of a force-type intelligent exercise machine, according to an embodiment of the present invention, the method includes:

acquiring the actual output force of the strength type intelligent fitness equipment;

obtaining the friction force of the strength type intelligent fitness equipment;

compensating the output force of the strength-type intelligent fitness machine based on the actual output force and the friction force.

The purpose of output force compensation is to ensure that the deviation between the actual output force and the set force in the pulling-out and recovery processes meets the given standard through the actual force and the friction force.

Wherein, in the embodiment of the present invention, the method further includes:

judging a first direction of the output force of the strength type intelligent fitness equipment;

compensating the output force of the strength type intelligent fitness machine based on the first direction, the actual output force and the friction force.

In the tension compensation process, the pulling process or the recovery process needs to be distinguished, the compensation forces of the pulling process and the recovery process are different, so that the stroke direction needs to be judged, a speed threshold is needed, the recovery process is considered when the speed is smaller than the threshold, and the pulling process is considered when the speed is larger than the threshold. The speed is defined as positive when pulled out and negative when recovered.

The size of the speed threshold can be flexibly adjusted according to actual conditions, the embodiment of the invention is not specifically limited, and the speed threshold is related to the current travel direction:

1. when the current state is a pulling-out state, the speed threshold value is 0.05m/s (in order to avoid the too small force in the initial recovery stage);

2. when the current state is the recovery state, the speed threshold is-0.05 m/s (to avoid the blockage feeling at the initial stage of pulling).

In the embodiment of the present invention, a specific compensation method is as follows:

compensating mode

Assuming that the actual force model obtained by the tension calibration is:

F_real＝k₁F_config+b₁

wherein F_realFor the output of a motor, F_configTo set the force, k₁And b₁Is a coefficient;

the friction model is:

f＝k₂F_config+b₂

wherein F is the transmission friction force, F_configTo set the force, k₂And b₂Is a coefficient;

thus, the compensated setting force is, in the pull-out phase:

F_{pulling device}＝(F_config-(b₁+b₂))/(k₁+k₂)

And (3) a recovery stage:

F_{harvesting machine}＝(F_config-(b₁-b₂))/(k₁-k₂)

The tension compensation effect can be realized.

Example two

On the basis of the first embodiment, the two calibration methods in the first embodiment are described in detail in the first embodiment.

Referring to fig. 2, fig. 2 is a schematic diagram illustrating an output force calibration method of a force intelligent exercise machine, and a second embodiment of the present invention provides an output force calibration method of a force intelligent exercise machine, the method including:

connecting the tension detection equipment with the strength type intelligent fitness equipment;

starting the tension detection equipment to detect and obtain the actual tension of the strength type intelligent fitness equipment;

obtaining a tension deviation based on the target tension and the actual tension of the strength type intelligent fitness equipment;

and calibrating the strength type intelligent fitness equipment based on the tension deviation.

The tension detecting device in the second embodiment is a tension table, a tension device or a tension detector, wherein the tension detecting device may also be other types of tension detecting devices in practical application.

In the second embodiment of the present invention, the purpose of calibrating the output force of the strength-type intelligent exercise machine is: the strength type intelligent fitness equipment provides load for a user through output force so as to achieve the aim of impedance training, deviation exists between set force and actual output force, and the deviation needs to meet a certain standard, so that output force calibration and output force calibration compensation are needed to be carried out on each piece of equipment before delivery, and the deviation meets the corresponding standard. The calibration process is a process of acquiring actual output force data and establishing an output force model, and the process of correcting the output force through the output force model is called a compensation process.

Wherein, the output force deviation type of strength type intelligence fitness equipment falls into two kinds:

the output force deviation is related to the target force magnitude, the pull-out stroke, and the deviation is different for different machines and different arms of the same machine. The deviations are considered independent of speed, and the deviation components include:

first, structural induced bias:

a. difference of mean values of actual tension of the left and right support arms;

b. the difference between the actual tension strokes of the single support arms (the difference between the maximum instantaneous force and the minimum instantaneous force in the process of uniform pulling-out or recovery);

second, calibratable bias:

c. deviation between the average value of the actual tension of the single supporting arm and the target tension;

the pulling-out stage and the recovery stage of the strength type intelligent fitness equipment all need to meet the same requirement on tension precision:

-(0.5+5％F)<delta<0.5+5％F

where F is the set force magnitude, delta is the c deviation described above, and the two deviation criteria a and b are different.

Connecting the tension detection equipment with the strength type intelligent fitness equipment, detecting the output force of the strength type intelligent fitness equipment through the strength type intelligent fitness equipment, and obtaining tension deviation based on the target tension and the actual tension of the strength type intelligent fitness equipment; the obtained tension deviation is used for calibrating the force type intelligent fitness equipment, and the output force of the calibrated force type intelligent fitness equipment is accurate.

In a second embodiment of the present invention, the tension detection device is a tension table, and the tension sensor of the tension detection device is connected to the pull rope of the intelligent strength fitness equipment. Wherein, utilize the pulling force platform can produce corresponding pulling force, and then pull the stay cord of momentum type intelligence fitness equipment, can measure tensile size through force transducer.

In a second embodiment of the present invention, the pull rope is connected to the tension sensor after being wound around the fixed pulley. The direction of the acting force can be changed through the fixed pulley, so that the calibration is convenient in practice.

In the second embodiment of the present invention, in the detection process of the tension detection device, the tension sensor carries the pull rope to perform a reciprocating motion at a constant speed. The uniform motion is convenient for the output force of the strength type intelligent fitness equipment to be stable, and further the final calibration result is convenient to be accurate.

In the second embodiment of the invention, the pull sensor carries the pull rope to perform N groups of reciprocating motions, wherein each group comprises 2 times of reciprocating motions; wherein the pulling force of the pulling force table is constant in each group of reciprocating motion. The purpose of performing multiple sets of reciprocating motions is to obtain more data, reduce the risk caused by error data and ensure the calibration precision, wherein the purpose of performing the reciprocating motions is to obtain different output forces in different directions, in order to achieve accurate calibration, the reciprocating motions are required to be performed, the corresponding output forces are respectively calibrated through the reciprocating motions, and the purpose of obtaining stable output force data is to ensure that the tension of the tension table in each set of reciprocating motions is constant.

In the second embodiment of the present invention, the pulling forces of the two sets of pulling force tables corresponding to the reciprocating motions are different in magnitude. The purpose of the design is to obtain output force data with different sizes, and finally calculate the accurate output force of the strength type intelligent fitness equipment according to the data, so that the final accuracy is guaranteed.

In a second embodiment of the present invention, the magnitude of the pulling force table corresponding to the first set to the nth set of the reciprocating motions is increased progressively.

In a second embodiment of the present invention, the method further includes: and sampling the tension of the tension detection equipment at a preset frequency.

In the second embodiment of the present invention, the unilateral distance of the back-and-forth movement is S, and the actual tension of the intelligent strength fitness equipment is calculated by taking tension data with a stroke of 1/4S to 3/4S.

The specific calibration mode is as follows:

adopt the pulling force platform to carry out the pulling force and mark, when the mark, use the stay cord to connect pulling force platform force sensor, the steerable force sensor of pulling force platform is with 0.2m/s uniform motion to save force sensor data in real time with 50Hz, detect the actual pulling force of stay cord this moment, contrast with the actual pulling force of strength type intelligence fitness equipment, mark with this pulling force of carrying out.

As shown in fig. 2, a fixed pulley may be used, or a pull rope may be directly connected to the tension sensor.

The calibration steps in the embodiment of the invention are as follows:

the set force is sequentially set to the above-described pulling forces starting from the minimum force to the maximum force uniformly taking four points, such as 3Kg, 10Kg, 30Kg, 50Kg, or taking one point every 20 Kg.

1. When each pulling force is set, the sensor is controlled to move back and forth at a constant speed of 0.2m/s on the pulling force table, the single stroke is 800mm, and the pulling force is sampled at the frequency of 50 Hz. The interval between each round trip is 1.5s, and the speed change interval is 0.5 s.

2. And taking a tension data meter with the stroke of 200-600 mm.

3. And calculating the difference value of the average tension, the maximum tension and the minimum tension.

4. And repeating the steps 2 and 3 on the other support arm.

The calibration principle in this embodiment is as follows:

assuming that the actual output tension of the motor of the force type intelligent fitness equipment is linearly related to the set tension, the actual output tension of the motor is set to be F_motorSetting the tension force to F_configAnd f, the absolute value of the friction force is given by:

F_motor＝k₁F_config+b₁

f＝k₂F_config+b₂

at the stage of pulling-out, the actual pulling force is F_outAt the recovery stage, the actual tension is F_inThe method comprises the following steps:

F_out＝F_motor+f

F_in＝F_motor-f

namely in the pull-out phase:

F_config＝(F_out-(b₁+b₂))/(k₁+k₂)

and (3) a recovery stage:

F_config＝(F_in-(b₁-b₂))/(k₁-k₂)

when the tension calibration is carried out, the expected configuration tension is calculated according to the actual average tension in the pulling-out and recovery stages, the original expected tension is replaced, and the effect of tension calibration can be realized, wherein k is₁、k₂、b₁And b₂Are all corresponding coefficients.

Assuming that the absolute values of the friction forces during the pull-out and recovery phases are equal when no tension calibration is performed, the friction force can be determined from the difference between the pull-out and recovery forces:

f＝(F_out-F_in)/2

therefore, the output tension of the motor can be obtained as follows:

F_motor＝(F_out+F_in)/2

the pull force calibration device has the advantages that the pull force platform is used for calibration, the pull force platform is controlled to be pulled out and recovered at a constant speed, the pull force condition of the pull rope can be monitored in real time through the pull force sensor of the pull force platform, and the pull force deviation can be obtained through comparison of actual pull force and target pull force, so that the pull force calibration is carried out.

While preferred embodiments of the present invention have been described, additional variations and modifications in those embodiments may occur to those skilled in the art once they learn of the basic inventive concepts. Therefore, it is intended that the appended claims be interpreted as including preferred embodiments and all such alterations and modifications as fall within the scope of the invention.

It will be apparent to those skilled in the art that various changes and modifications may be made in the present invention without departing from the spirit and scope of the invention. Thus, if such modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include such modifications and variations.