Exercise equipment screen stabilization system
By combining a three-axis gyroscope and a three-axis rotary servo with image processing, the problem of screen shake and user eye fatigue caused by the vibration of fitness equipment was solved, achieving screen and camera stabilization, and improving the data acquisition accuracy and user experience of fitness equipment.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Patents(China)
- Current Assignee / Owner
- KUNSHAN HENGJU ELECTRONIC CO LTD
- Filing Date
- 2022-09-29
- Publication Date
- 2026-05-15
AI Technical Summary
Vibrations from fitness equipment can damage screens and electronic devices such as mobile phones, cause eye strain for users, and prevent smart fitness equipment from accurately collecting exercise parameters.
Employing a three-axis gyroscope and a three-axis rotary servo, the system acquires real-time data on the three-axis attitude angle changes of the fitness equipment, calculates the reverse rotation angle to counteract vibration, keeps the screen and camera relatively still, and combines the image processing module to calculate face offset data to achieve three-dimensional reverse rotation.
It effectively reduces screen and camera shake, protects electronic products from damage, reduces user eye fatigue, ensures clear acquisition of motion data by the camera, and improves the analysis accuracy of smart fitness equipment.
Smart Images
Figure CN115507272B_ABST
Abstract
Description
Technical Field
[0001] This invention relates to a treadmill, and more particularly to a screen stabilization system for fitness equipment. Background Technology
[0002] Currently, most fitness equipment is equipped with interactive screens or phone / tablet stands, allowing users to view these devices during exercise and making workouts less monotonous. However, especially during running, the vibrations of the equipment often cause the screens to vibrate, leading to the following problems:
[0003] 1. The screen and stand are reduced in life due to the vibration of fitness equipment. In addition, the frequent vibration of the phone and tablet stand can easily cause the phone or tablet to slip and cause damage to the phone, tablet and other electronic products.
[0004] 2. During running, prolonged focused viewing of a vibrating screen can lead to eye fatigue and damage.
[0005] 3. For smart fitness equipment, the camera acquisition module used to capture the user's movement will form a blurry motion image due to vibration, making it impossible to capture accurate images. As a result, the smart fitness equipment cannot accurately acquire and analyze the user's movement parameters. Summary of the Invention
[0006] To overcome the above-mentioned defects, the present invention provides a screen stabilization system for fitness equipment, which can prevent the screen, mobile phone / tablet holder and camera acquisition module on the fitness equipment from shaking synchronously with the fitness equipment.
[0007] The technical solution adopted by this invention to solve its technical problem is: a fitness equipment screen anti-shake system, including a fitness equipment frame, a screen, a three-axis gyroscope, a three-axis rotary servo, and a control system. The X-axis, Y-axis, and Z-axis are three mutually perpendicular rotation axes. The three-axis rotary servo is mounted on the fitness equipment frame and is capable of rotating around the X-axis, Y-axis, and Z-axis respectively. The screen is fixedly mounted on the three-axis rotary servo, and the three-axis gyroscope is fixedly mounted on the fitness equipment frame. The three-axis gyroscope can acquire the relative angle change values generated around the X-axis, Y-axis, and Z-axis respectively. The three-axis gyroscope outputs the attitude angle information around the X-axis, Y-axis, and Z-axis to the control system in real time. The control system can calculate the reverse rotation angle of the three-axis rotary servo in the X-axis, Y-axis, and Z-axis directions to counteract the vibration attitude angle change based on the three-axis attitude angle change data from the gyroscope, and control the three-axis rotary servo to generate reverse rotation around the X-axis, Y-axis, and Z-axis respectively.
[0008] As a further improvement of the present invention, the three-axis rotary servo motor includes a fixed base, an X-axis, front and rear supports, a Y-axis, left and right supports, a Z-axis, a pitch support, an X-axis motor, a Y-axis motor, and a Z-axis motor. The fixed base is fixedly installed on the fitness equipment frame. The Z-axis, which can rotate around the Z-axis, is installed on the fixed base. The front and rear supports are fixedly installed on the Z-axis. The X-axis, which can rotate around the X-axis, is installed on the front and rear supports. The left and right supports are fixedly installed on the X-axis. The Y-axis, which can rotate around the Y-axis, is installed on the left and right supports. The pitch support is fixedly installed on the Y-axis. The screen is fixedly installed on the pitch support. The X-axis motor, Y-axis motor, and Z-axis motor drive the X-axis, Y-axis motor, and Z-axis to rotate, respectively. The control system controls the start, stop, and direction of the X-axis motor, Y-axis motor, and Z-axis motor.
[0009] As a further improvement of the present invention, a camera and an image processing module are also provided. The camera is fixedly mounted on the pitch bracket of the three-axis rotary servo motor. The camera can capture images of the user in a fitness state. The camera is electrically connected to the image processing module and transmits the captured two-dimensional face image of the user to the image processing module. The image processing module can calculate the offset data A(Ax, Ay) of the two-dimensional face image by comparing two frames. The image processing module uses the projection principle to convert the two-dimensional face image offset data into three-dimensional face offset data A(Ax, Ay, Az). The image processing module is electrically connected to the control system and the control system can calculate the reverse rotation angle data of the motion bracket to keep the camera and screen moving synchronously with the face based on the three-dimensional face offset data obtained by the image processing module.
[0010] As a further improvement of the present invention, the control system includes a data coprocessor, a central processing unit, and a controller. The three-axis gyroscope is electrically connected to the data coprocessor for communication. The data coprocessor calculates the reverse rotation angle of the three-axis rotary servo in the X, Y, and Z axes to counteract the vibration attitude angle changes based on the three-axis attitude angle change data of the gyroscope. The image processing module is electrically connected to the central processing unit for communication. The central processing unit calculates the reverse rotation angle data of the three-dimensional face offset data obtained by the image processing module to maintain the synchronous movement of the camera and screen with the face. The data coprocessor and the central processing unit are electrically connected to the controller for communication. The controller controls the rotation of the X-axis motor, Y-axis motor, and Z-axis motor.
[0011] As a further improvement of the present invention, the method by which the control system obtains three-dimensional face offset data according to the image processing module is as follows:
[0012] a. During the factory calibration of the treadmill, first obtain the installation angle, installation position, and height from the ground of the camera on the exercise equipment. Then, make the user's face look directly at the camera while stationary. The smallest square face frame captured by the camera is adjusted according to the installation position information of the camera on the exercise equipment so that the smallest square face frame is located in the center of the screen. Then, the three-axis rotation servo is zeroed. The smallest square face frame at this time is used as the standard smallest square face frame. Obtain the pixel value x of the standard smallest square face frame from the leftmost position of the screen, the pixel value y of the smallest square face frame from the top position of the screen, and the square side length z of the smallest square face frame.
[0013] b. The camera captures images of a moving face and calculates the pixel values x (distance from the leftmost position of the captured real-time minimum square face frame), y (distance from the topmost position of the frame), and z (side length of the square). Using the projection positioning method, the pixel values x and y (distance from the leftmost and topmost positions of the minimum square face frame) represent the movement position of the mapped face on the vertical and horizontal planes. The side length z of the minimum square face frame represents the distance of the mapped face relative to the camera. The image processing module calculates the pixel distance (Mx, My, Mz) that the real-time minimum square face frame needs to move from the standard minimum square face frame. The pixel position vector (Mx, My, Mz) of the minimum square face frame moving in the image is then mapped to the movement vector (Ax, Ay, Az) of the three-axis rotary servo motor.
[0014] As a further improvement of the present invention, the three-axis rotary servo motor is also detachably provided with an electronic product mounting bracket, which can clamp and fix the electronic product.
[0015] The beneficial effects of this invention are as follows: By installing a three-axis gyroscope and a three-axis rotary servo on fitness equipment, especially a treadmill, the three-axis gyroscope acquires data on the three-axis attitude angle changes under frame vibration. The control system controls the three-axis rotary servo to generate reverse rotations in the three-axis directions, opposite to the three-axis attitude angle changes acquired by the gyroscope. This results in the screen and camera mounted on the three-axis rotary servo being in a stationary state relative to the ground, creating a stabilization effect for the screen and camera on the fitness equipment, especially the treadmill, as well as for the phone and tablet holder mounted on the three-axis rotary servo. This invention also uses a camera to image a human face and utilizes the projection principle to convert the two-dimensional position data of the face frame into three-dimensional position data. It then calculates the angle between the face, the camera, and the screen, and generates a three-dimensional reverse rotation through a three-axis rotary servo motor, ensuring that the face, camera, and screen are always aligned. This effectively reduces eye strain caused by displacement of the eyes and screen during human movement, while also ensuring that the camera captures the user without relative shaking, resulting in a clear image. This facilitates the control system's accurate calculation of the user's movement, especially running data. Attached Figure Description
[0016] Figure 1 This is a schematic diagram illustrating the structural principle of the present invention;
[0017] Figure 2 A 3D view of a three-axis rotary servo motor;
[0018] Figure 3 This is a schematic diagram of a three-axis gyroscope.
[0019] Figure 4 A schematic diagram illustrating the principle of converting a two-dimensional image into a three-dimensional image using the projection principle;
[0020] Figure 5 A diagram showing the position of the face frame captured by the camera on the screen. Detailed Implementation
[0021] Example: A screen stabilization system for fitness equipment includes a fitness equipment frame 1, a screen 2, a three-axis gyroscope 3, a three-axis rotary servo 4, and a control system. The X-axis, Y-axis, and Z-axis are three mutually perpendicular rotation axes. The three-axis rotary servo 4 is mounted on the fitness equipment frame 1, capable of rotating around the X-axis, Y-axis, and Z-axis respectively. The screen 2 is fixedly mounted on the three-axis rotary servo 4. The three-axis gyroscope 3 is fixedly mounted on the fitness equipment frame 1. The three-axis gyroscope 3 can acquire the relative angle changes it generates around the X-axis, Y-axis, and Z-axis respectively. The three-axis gyroscope 3 outputs the attitude angle information around the X-axis, Y-axis, and Z-axis to the control system in real time. The control system can calculate the reverse rotation angle of the three-axis rotary servo 4 in the X-axis, Y-axis, and Z-axis directions to counteract the vibration attitude angle changes based on the three-axis attitude angle change data from the gyroscope, and control the three-axis rotary servo 4 to generate reverse rotation around the X-axis, Y-axis, and Z-axis respectively.
[0022] During use, fitness equipment, especially treadmills, vibrates. The three-axis gyroscope 3 vibrates along with the equipment, measuring its rotation angle relative to the ground in the X, Y, and Z axes in real time. This measurement data is transmitted to the control system, which then controls the three-axis rotary servo 4 to rotate in the opposite direction to the measured data in the X, Y, and Z axes. This ensures that the screen 2, mounted on the three-axis rotary servo 4, has a zero rotation angle relative to the ground in the X, Y, and Z axes, achieving screen stabilization. Similarly, mounting a phone or tablet holder on the three-axis rotary servo 4 or the screen 4 frame also keeps the device relatively stationary, providing stabilization. Likewise, mounting cameras or other electronic devices on the three-axis rotary servo 4 or the screen 4 frame keeps them relatively stationary, preventing damage to electronic devices caused by vibration during use. It also prevents electronic device holders mounted on the fitness equipment from falling off and damaging the devices due to vibration.
[0023] The three-axis rotary servo motor 4 includes a fixed base 41, an X-axis 42, front and rear supports 43, a Y-axis 44, left and right supports 45, a Z-axis 46, a pitch support 47, an X-axis motor, a Y-axis motor, and a Z-axis motor. The fixed base 41 is fixedly installed on the fitness equipment frame 1. The Z-axis 46, which can rotate around the Z-axis, is installed on the fixed base 41. The front and rear supports 43 are fixedly installed on the Z-axis 46. The X-axis 42, which can rotate around the X-axis, is installed on the front and rear supports 43. The left and right supports 45 are fixedly installed on the X-axis 42. The Y-axis 44, which can rotate around the Y-axis, is installed on the left and right supports 45. The pitch support 47 is fixedly installed on the Y-axis 44. The screen 2 is fixedly installed on the pitch support 47. The X-axis motor, Y-axis motor, and Z-axis motor drive the X-axis 42, Y-axis 44, and Z-axis 46 to rotate, respectively. The control system controls the start, stop, and direction of the X-axis motor, Y-axis motor, and Z-axis motor.
[0024] During installation, the mounting base is fixedly installed on the frame 1 of the fitness equipment. The control system controls the X-axis motor, Y-axis motor and Z-axis motor to rotate in the opposite direction according to the three-axis rotation angle data generated by the vibration of the frame 1 measured by the three-axis gyroscope 3. This drives the front and rear supports 43, left and right supports 45 and pitch support 47 to rotate in the opposite direction around the Z-axis, X-axis and Y-axis respectively, according to the corresponding angle data measured by the three-axis gyroscope 3. This keeps the screen 2 installed on the pitch support 47 relatively stationary with respect to the ground, achieving the screen 2 anti-shake effect. Similarly, the electronic device bracket installed on the pitch support 47 or the frame of the screen 2 can also remain stationary with respect to the ground to prevent shaking.
[0025] It also includes a camera 5 and an image processing module. The camera 5 is fixedly mounted on the pitch bracket 47 of the three-axis rotary servo motor 4. The camera 5 can capture images of the user in the exercise state. The camera 5 is electrically connected to the image processing module and transmits the captured two-dimensional face image of the user to the image processing module. The image processing module can calculate the offset data A(Ax, Ay) of the two-dimensional face image by comparing two frames. The image processing module uses the projection principle to convert the two-dimensional face image offset data into three-dimensional face offset data A(Ax, Ay, Az). The image processing module is electrically connected to the control system and can calculate the reverse rotation angle data of the motion bracket to keep the camera 5 and the screen 2 in a state of synchronous movement with the face based on the three-dimensional face offset data obtained by the image processing module.
[0026] The camera 5 is mounted on the elevation bracket 47 of the three-axis rotary servo 4. First, based on the measurement data from the three-axis gyroscope 3, the three-axis rotary servo 4 is rotated in reverse around the X, Y, and Z axes respectively to make the camera 5 and screen 2 stationary relative to the ground. Then, based on the two frames of the user's two-dimensional face image captured by the camera, the offset data of the two-dimensional face image on the two-dimensional plane is calculated. Then, the image processing module converts the two-dimensional face image offset data into three-dimensional face position offset data according to the projection principle. The control system uses this data to make the three-axis rotary servo 4 rotate in reverse around the X, Y, and Z axes respectively, ultimately making the camera... The screen moves in sync with the face, meaning that the face remains relatively still relative to the camera and screen during movement. The user's two-dimensional face image remains in the same position on the screen. Because the camera and the person are relatively still in real time, the moving image captured by the camera is very clear, without ghosting or blurring. This allows smart fitness equipment to accurately analyze the user's fitness data. At the same time, because the screen and the face remain still in real time, the user's eyes do not have a relative position to the screen when looking at it, avoiding visual fatigue and effectively protecting the eyes.
[0027] The control system includes a data coprocessor, a central processing unit, and a controller. The three-axis gyroscope 3 is electrically connected to the data coprocessor for communication. The data coprocessor calculates the reverse rotation angle of the three-axis rotary servo 4 in the X, Y, and Z axes to counteract the vibration attitude angle changes based on the three-axis attitude angle change data of the gyroscope. The image processing module is electrically connected to the central processing unit for communication. The central processing unit calculates the reverse rotation angle data of the three-dimensional face offset data obtained by the image processing module to maintain the synchronous movement of the camera 5 and the screen 2 with the face. The data coprocessor and the central processing unit are electrically connected to the controller for communication. The controller controls the rotation of the X-axis motor, Y-axis motor, and Z-axis motor.
[0028] The control system obtains the 3D face offset data from the image processing module using the following method:
[0029] a. During the factory calibration of the treadmill, first obtain the installation angle, installation position, and height from the ground of the camera 5 on the exercise equipment. Then, make the user's face look directly at the camera 5 while in a static state. The smallest square face frame 6 captured by the camera 5 containing the face is adjusted according to the installation position information of the camera on the exercise equipment so that the smallest square face frame 6 is located in the center of the screen. Then, the three-axis rotation servo 4 is reset to zero. At this time, the smallest square face frame 6 is used as the standard smallest square face frame. Obtain the pixel value x of the standard smallest square face frame from the leftmost position of the screen, the pixel value y of the smallest square face frame from the top position of the screen, and the square side length z of the smallest square face frame 6.
[0030] b. Camera 5 captures images of a moving face and calculates the pixel values x (distance from the leftmost position of the captured real-time minimum square face frame 6), y (distance from the topmost position of the image), and z (side length of the square). Using the projection positioning method, the pixel values x (distance from the leftmost position of the image) and y (distance from the topmost position of the image) of the minimum square face frame 6 represent the movement position of the mapped face on the vertical and horizontal planes. The side length z of the minimum square face frame 6 represents the distance of the mapped face relative to camera 5. The image processing module calculates the pixel distance (Mx, My, Mz) that the real-time minimum square face frame needs to move from the standard minimum square face frame. The pixel position vector (Mx, My, Mz) of the minimum square face frame 6 moving in the image is mapped to the movement vector (Ax, Ay, Az) of the three-axis rotary servo motor 4.
[0031] The three-axis rotary servo is also detachably equipped with an electronic product mounting bracket, which can clamp and fix the electronic product. The electronic product mounting bracket may include a bracket for supporting the electronic product, elastic clamps for clamping the side wall of the electronic product, a pitch adjustment arm for adjusting the angle of the electronic product, a left and right angle adjustment plate for adjusting the left and right tilt angle of the electronic product, and a pitch angle adjustment plate for adjusting the pitch angle of the electronic product. It may also include a height adjustment arm for adjusting the height of the electronic product, etc., to achieve fixed positioning and position adjustment of the electronic product, so that it is directly facing the human eye, which is convenient for clear viewing of the screen on the electronic product during movement.
Claims
1. A screen stabilization system for fitness equipment, characterized in that: The system includes a fitness equipment frame (1), a screen (2), a three-axis gyroscope (3), a three-axis rotary servo (4), and a control system. The X, Y, and Z axes are three mutually perpendicular rotation axes. The three-axis rotary servo (4) is mounted on the fitness equipment frame (1) and can rotate around the X, Y, and Z axes respectively. The screen is fixedly mounted on the three-axis rotary servo (4), and the three-axis gyroscope (3) is fixedly mounted on the fitness equipment frame (1). The three-axis gyroscope (3) can acquire the relative angle changes it generates around the X, Y, and Z axes respectively. The three-axis gyroscope (3) outputs the attitude angle information around the X, Y, and Z axes to the control system in real time. The control system can calculate the reverse rotation angle of the three-axis rotary servo (4) in the X, Y, and Z axes to counteract the vibration attitude angle changes based on the three-axis attitude angle change data of the gyroscope (3), and control the three-axis rotary servo (4) to rotate around the X, Y, and Z axes respectively. The axis, Y-axis and Z-axis generate reverse rotation. It is also equipped with a camera (5) and an image processing module. The camera is fixedly installed on the pitch bracket (47) of the three-axis rotary servo motor (4). The camera (5) can take pictures of the user in the fitness state. The camera (5) is electrically connected to the image processing module and transmits the collected two-dimensional face image of the user to the image processing module. The image processing module can calculate the offset data A (Ax, Ay) of the two-dimensional face image by comparing two frames of images. The image processing module uses the projection principle to convert the two-dimensional face image offset data into three-dimensional face offset data A (Ax, Ay, Az). The image processing module is electrically connected to the control system. The control system can calculate the reverse rotation angle data of the motion bracket in the state of keeping the camera (5) and screen (2) moving synchronously with the face based on the three-dimensional face offset data obtained by the image processing module.
2. The screen stabilization system for fitness equipment according to claim 1, characterized in that: The three-axis rotary servo motor includes a fixed base (41), an X-axis (42), front and rear supports (43), a Y-axis (44), left and right supports (45), a Z-axis (46), a pitch support (47), an X-axis motor, a Y-axis motor, and a Z-axis motor. The fixed base (41) is fixedly installed on the fitness equipment frame (1). The Z-axis (46) is mounted on the fixed base (41) and can rotate around the Z-axis. The front and rear supports (43) are fixedly installed on the Z-axis (46). The X-axis (42) is mounted on the fixed base (41) and can rotate around the X-axis. The left and right brackets (45) are fixedly installed on the X-axis (42) on the front and rear brackets (43), the Y-axis (44) is installed on the left and right brackets (45) and can rotate around the Y-axis, the pitch bracket (47) is fixedly installed on the Y-axis (44), and the screen (2) is fixedly installed on the pitch bracket (47). The X-axis motor, Y-axis motor and Z-axis motor drive the X-axis (42), Y-axis (44) and Z-axis (46) to rotate respectively. The control system controls the start, stop and turn of the X-axis motor, Y-axis motor and Z-axis motor.
3. The screen stabilization system for fitness equipment according to claim 1, characterized in that: The control system includes a data coprocessor, a central processing unit, and a controller. The three-axis gyroscope is electrically connected to the data coprocessor for communication. The data coprocessor calculates the reverse rotation angle of the three-axis rotary servo motor (4) in the X, Y, and Z axes to counteract the vibration attitude angle changes based on the three-axis attitude angle change data of the gyroscope (3). The image processing module is electrically connected to the central processing unit for communication. The central processing unit calculates the reverse rotation angle data of the three-dimensional face offset data obtained by the image processing module to keep the camera (5) and screen (2) in a state of synchronous movement with the face. The data coprocessor and the central processing unit are electrically connected to the controller for communication. The controller controls the rotation of the X-axis motor, Y-axis motor, and Z-axis motor.
4. The screen stabilization system for fitness equipment according to claim 1, characterized in that: The control system obtains the 3D face offset data from the image processing module using the following method: a. When the treadmill is calibrated at the factory, first obtain the installation angle, installation position and height information of the camera (5) on the exercise equipment. Then, make the user's face face the camera (5) in a static state. The smallest square face frame (6) captured by the camera (5) containing the face is adjusted according to the installation position information of the camera on the exercise equipment so that the smallest square face frame (6) is located in the center of the screen. Then, the three-axis rotary servo (4) is reset to zero. At this time, the smallest square face frame (6) is used as the standard smallest square face frame. Obtain the pixel value x of the standard smallest square face frame from the leftmost position of the screen, the pixel value y of the smallest square face frame from the top position of the screen, and the square side length z of the smallest square face frame (6). b. The camera (5) captures the moving face image and calculates the pixel value x, the pixel value y, and the square side length z of the captured real-time minimum square face frame (6) from the leftmost position of the screen. Using the projection positioning method, the pixel value x and the pixel value y of the minimum square face frame (6) from the leftmost position of the screen are the moving positions of the mapped face on the vertical and horizontal plane. The square side length z of the minimum square face frame (6) is the distance position of the mapped face relative to the camera (5). The image processing module calculates the pixel distance (Mx, My, Mz) that the real-time minimum square face frame needs to move from the standard minimum square face frame. The pixel position vector (Mx, My, Mz) of the minimum square face frame (6) moving in the screen is mapped to the movement vector (Ax, Ay, Az) of the three-axis rotary servo (4).
5. The screen stabilization system for fitness equipment according to claim 1, characterized in that: The three-axis rotary servo motor (4) is also detachably equipped with an electronic product mounting bracket, which can clamp and fix the electronic product.