A control method and device of a strength training apparatus, and a storage medium

Abstract

The application provides a control method of a strength training device, and the control method comprises the following steps: acquiring a mechanical origin of the strength training device; acquiring first real-time position data and first real-time torque data; determining a first real-time working state of the strength training device according to the mechanical origin, the first real-time position data and the first real-time torque data; when the first real-time working state is a first preset training state, acquiring second real-time position data and second real-time torque data; determining a second real-time working state of the strength training device according to the first real-time working state, the mechanical origin, the second real-time position data and the second real-time torque data; and when the second real-time working state of the strength training device is any one of a plurality of first preset out-of-control states, controlling the strength training device to adjust to a safe operation mode. The application solves the technical problem that the protection function of the existing strength training device is too single.

Description

TECHNICAL FIELD

[0001] The application relates to a control method and device of a strength training device and a storage medium, and belongs to the technical field of computers. BACKGROUND

[0002] In the prior art, a traditional training device generally has no effective method for preventing mechanical injuries. An electromechanical hybrid training device has many components for preventing injuries, which not only complicate the system, but also make the injury prevention function relatively single.

[0003] For example, a rehabilitation training device for preventing injuries in sports stretching, CN110478855A, can only adjust the damping of normal exercise to achieve the claimed protection. CN111467776B, a sports device for muscle training, increases many components such as a gas storage device, a gas buffer tank, a piston, a pressure sensor, and the like. When the training device is dropped, the emergency support device can prevent human injuries. In addition, the speed detection can determine the fatigue state and issue a language reminder to prevent overexertion injuries caused by excessive exercise. CN112870666A, a sports device for muscle training, increases many components such as a gas pump, a connecting pipe block, a gas connection tank, a movable spring plate, and a pressure detection block. The device prevents the manual control block from being affected by excessive force during exercise, is convenient to use, and has no clear protection effect. CN113318377B, a muscle training sports device for preventing injuries, uses mechanical components such as a positioning seat, a locking plate, and a locking screw, which only prevent the device from falling over. SUMMARY

[0004] In view of the above problems of the prior art, the application aims to provide a control method of a strength training device, which can solve the technical problem of the single protection function of the existing strength training device.

[0005] According to an embodiment of the application, a first scheme is provided, which is a control method of a strength training device, the control method of the strength training device comprising:

[0006] obtaining a mechanical origin of the strength training device;

[0007] obtaining first real-time position data and first real-time torque data;

[0008] determining a first real-time working state of the strength training device according to the mechanical origin, the first real-time position data, and the first real-time torque data;

[0009] when the first real-time working state is a first preset training state, obtaining second real-time position data and second real-time torque data;

[0010] determining a second real-time working state of the strength training device according to the first real-time working state, the mechanical origin, the second real-time position data and the second real-time torque data;

[0011] controlling the strength training device to adjust to a safe operation mode when the second real-time working state of the strength training device is any one of a plurality of first preset out-of-control states.

[0012] Optionally, the step of determining the first real-time working state of the strength training device according to the mechanical origin, the first real-time position data and the first real-time torque data comprises:

[0013] determining a first velocity vector, a first position vector, a first velocity differential and a first torque vector according to the mechanical origin, the first real-time position data and the first real-time torque data;

[0014] determining the first real-time working state of the strength training device according to the first position vector, the first velocity differential and the first torque vector.

[0015] Optionally, the first preset out-of-control states comprise a stretching over-speed state, a fatigue state and a contraction state, the first preset training state comprises a stretching state, and the step of determining the second real-time working state of the strength training device according to the first real-time working state, the mechanical origin, the second real-time position data and the second real-time torque data comprises:

[0016] determining a second velocity vector, a second position vector, a second velocity differential and a second torque vector according to the first real-time working state, the mechanical origin, the second real-time position data and the second real-time torque data;

[0017] when the first real-time working state is the stretching state, determining that the second real-time working state of the strength training device is the stretching over-speed state when the absolute value of the second position vector continuously increases and the value of the second velocity vector exceeds a first preset velocity threshold value at this time;

[0018] when the first real-time working state is the stretching state, determining that the second real-time working state of the strength training device is the contraction state when the strength training device is not in the origin range and the absolute value of the second position vector gradually decreases or remains unchanged;

[0019] when the first real-time working state is the stretching state, determining that the second real-time working state of the strength training device is the fatigue state when the accumulated value of the absolute value of the second velocity differential exceeds a second preset differential value.

[0020] Optionally, the safe operation mode comprises a low-speed rope-retrieving mode (return to original state after throwing rope) and an original point force-releasing state, the first preset out-of-control state comprises a stretching over-speed state and a fatigue state, and the step of controlling the strength trainer to adjust to the safe operation mode when the second real-time working state of the strength trainer is any one of the first preset out-of-control states comprises:

[0021] when the strength trainer is in the stretching over-speed state, alarming and executing the safe operation mode as the original point force-releasing state / low-speed rope-retrieving mode (return to original state after throwing rope) to reduce the motion damping of the strength trainer to a first preset motion damping value;

[0022] when the strength trainer is in the fatigue state, alarming and executing the safe operation mode as the original point force-releasing state / low-speed rope-retrieving mode (return to original state after throwing rope) to reduce the motion damping of the strength trainer to a second preset motion damping value.

[0023] Optionally, the first preset out-of-control state further comprises a rope-throwing state, a contraction-keeping-after-returning-to-original state and a throwing-rope-after-returning-to-original state, and the first preset training state further comprises a contraction state, and the step of determining the second real-time working state of the strength trainer according to the first real-time working state, the mechanical original point, the second real-time position data and the second real-time torque data further comprises:

[0024] when the first real-time working state is the contraction state, when the strength trainer is not in the original point range and the absolute value of the second position vector gradually increases, determining that the second real-time working state of the strength trainer is the stretching state;

[0025] when the working state is the contraction state, when the second position vector remains unchanged, determining that the second real-time working state of the strength trainer is the contraction-keeping-after-returning-to-original state;

[0026] when the first real-time working state is the contraction state, when the second speed vector is lower than a second preset speed threshold value and the second torque vector is lower than a first preset torque threshold value, determining that the second real-time working state of the strength trainer is the original point force-releasing state;

[0027] when the first real-time working state is the contraction state, when the second speed vector is higher than a third preset speed threshold value, the second torque vector is lower than a second preset torque threshold value and the motion damping of the strength trainer is higher than a first preset damping, determining that the second real-time state of the strength trainer is the rope-throwing state;

[0028] When the working state is the contraction state, when the accumulated value of the absolute value of the second speed differential exceeds a third preset differential value, it is determined that the second real-time state of the strength trainer is a fatigue state.

[0029] Optionally, the safe operation mode includes a low-speed rope-retrieving mode (returning to the original state after throwing the rope) and an original point force-releasing state, the first preset out-of-control state includes a stretching overspeed state and a fatigue state, and the step of controlling the strength trainer to adjust to the safe operation mode when the second real-time working state of the strength trainer is any of the first preset out-of-control states includes:

[0030] When the strength trainer is in the fatigue state, alarming and executing the safe operation mode to the original point force-releasing state / low-speed rope-retrieving mode (returning to the original state after throwing the rope) to reduce the motion damping of the strength trainer to a third preset motion damping value;

[0031] When the strength trainer is in the throwing state, alarming and executing the safe operation mode to the low-speed rope-retrieving mode (returning to the original state after throwing the rope) to reduce the motion damping of the strength trainer to a fourth preset motion damping value.

[0032] Optionally, the step of controlling the strength trainer to adjust to the safe operation mode when the second real-time working state of the strength trainer is any of the first preset out-of-control states includes:

[0033] When the second real-time working state is the stretching overspeed state, third real-time position data and third real-time torque data are acquired;

[0034] A third torque vector and a third speed vector are determined according to the mechanical origin, the third real-time position data and the third real-time torque data;

[0035] When the third speed vector is higher than a first preset speed threshold, the third torque vector is lower than a second preset torque threshold, and the motion damping of the strength trainer is higher than a first preset damping, it is determined that the strength trainer is in the throwing mode;

[0036] The strength trainer is controlled to operate the throwing state in the safe operation mode.

[0037] Optionally, the step of determining the first speed vector, the first position vector, the first speed differential and the first torque vector according to the mechanical origin, the first real-time position data and the first real-time torque data includes:

[0038] The first real-time position data and the mechanical origin are subjected to vector operation to determine a first real-time position vector;

[0039] differential operation is performed on the first real-time position data to determine a first real-time speed vector;

[0040] accumulation operation is performed on the absolute value of the differential of the first real-time speed vector to determine the first real-time speed differential;

[0041] Clark transformation and Park transformation are performed on the first real-time torque data, and the first real-time torque vector is determined according to motor parameters.

[0042] According to an embodiment of the present application, a second aspect provides a control device of a strength training machine, the control device comprising:

[0043] a data acquisition module configured to acquire a mechanical origin of the strength training machine, first real-time position data and first real-time torque data, and acquire second real-time position data and second real-time torque data when the first real-time working state is a first preset training state;

[0044] a control module configured to determine a first real-time working state of the strength training machine according to the mechanical origin, the first real-time position data and the first real-time torque data, and determine a second real-time working state of the strength training machine according to the first real-time working state, the mechanical origin, the second real-time position data and the second real-time torque data, and control the strength training machine to adjust to a safe operation mode when the second real-time working state of the strength training machine is any one of a plurality of first preset out-of-control states.

[0045] According to an embodiment of the present application, a third aspect provides that the storage medium stores a control program of a strength training machine, and the control program of the strength training machine, when executed by a processor, causes the processor to perform the control method of the strength training machine as described above.

[0046] According to an embodiment of the present application, a fourth aspect provides a control device of a strength training machine, comprising a memory and a processor, wherein the memory stores a control program of a strength training machine, and the control program of the strength training machine, when executed by the processor, causes the processor to perform the steps of the control method of the strength training machine as described above.

[0047] Compared with the prior art, the technical scheme provided by the application comprises the following steps: acquiring a mechanical origin of the strength training device; acquiring first real-time position data and first real-time torque data; determining a first real-time working state of the strength training device according to the mechanical origin, the first real-time position data and the first real-time torque data; when the first real-time working state is a first preset training state, acquiring second real-time position data and second real-time torque data; determining a second real-time working state of the strength training device according to the first real-time working state, the mechanical origin, the second real-time position data and the second real-time torque data; and when the second real-time working state of the strength training device is any one of a plurality of first preset out-of-control states, controlling the strength training device to adjust to a safe operation mode. According to the above scheme, when the first real-time working state is the first preset training state, that is, the general operation training mode, continuous detection is performed, and when the second real-time working state is a dangerous state such as the first preset out-of-control state, the strength training device is adjusted to the safe operation mode, so that the working state of the strength training device can be comprehensively detected, and the technical problem that the protection function of the existing strength training device is too single is solved. BRIEF DESCRIPTION OF DRAWINGS

[0048] Figure 1 A flowchart of a control method of the strength training device;

[0049] Figure 2 A structural diagram of the control method of the strength training device;

[0050] Figure 3 A module diagram of the control device of the strength training device;

[0051] Figure 4 A mode switching diagram of the strength training device. DETAILED DESCRIPTION

[0052] In order for those skilled in the art to better understand the technical solutions in the application, the technical solutions in the embodiments of the application will be clearly and completely described below in conjunction with the drawings in the embodiments of the application. Obviously, the described embodiments are only some of the embodiments of the application, not all the embodiments. Based on the embodiments in the application, all other embodiments obtained by those skilled in the art without creative labor fall within the scope of protection of the application.

[0053] It should be noted that when an element is referred to as being "fixed to" or "disposed on" another component, it can be directly on the other component or indirectly disposed on the other component; when a component is referred to as being "connected to" another component, it can be directly connected to the other component or indirectly connected to the other component.

[0054] It should be understood that the terms "length", "width", "upper", "lower", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer" and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the devices or components referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as limiting the present application.

[0055] In addition, the terms "first", "second" are only for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, the features defined with "first", "second" can explicitly or implicitly include one or more of the features. In the description of the present application, the meaning of "a plurality of" or "when a plurality of" is two or more, unless otherwise specifically limited.

[0056] It should be understood that the structures, proportions, sizes and the like shown in the drawings of the present application are only used to cooperate with the content disclosed in the description, to be understood and read by those skilled in the art, and do not have technical significance, and any modification of the structure, change of the proportion relationship or adjustment of the size, without affecting the effect and purpose that can be achieved by the present application, should still fall within the scope of the technical content disclosed by the present application.

[0057] According to the embodiments of the present application, a first scheme is provided: a control method of a strength training device, the control method of the strength training device comprising:

[0058] S1, acquiring a mechanical origin of the strength training device;

[0059] Wherein, the strength training device mentioned in the present application is composed of a motor and a pull rope, and the specific structure can refer to the structure of the strength training device described in the subsequent description, wherein the servo motor is a closed-loop servo mechanism, which uses a matching encoder to acquire the mechanical origin. At this time, the mechanical origin is actually the encoder position when the encoder measured speed is zero and the torque measured by other measurement methods is the preset limit value. In actual use, due to the error of the mechanical structure, a concept of an origin range is set to determine whether the strength training device is at the mechanical origin. The strength training device is confirmed to be in the origin range at this time by a certain range of the mechanical origin, that is, the mechanical origin allowed to exist in actual use, for example, the origin is 0, and the origin range can be plus or minus 5, 1 or 0.5.

[0060] S2, acquiring first real-time position data and first real-time torque data;

[0061] Wherein, the first real-time position data is acquired by the encoder of the servo motor, and the first real-time torque data is actually the real-time motor current collected by the current sampling circuit.

[0062] S3, determining the first real-time working state of the strength training device according to the mechanical origin, the first real-time position data and the first real-time torque data;

[0063] Wherein, the first real-time working state can be a plurality of working states set by the user, the professional or the manufacturer before use, and any one of the working states can be uniquely determined according to the mechanical origin, the first real-time position data and the first real-time torque data, so that the first real-time working state of the strength training device can be quickly determined.

[0064] S4, acquiring second real-time position data and second real-time torque data when the first real-time working state is a first preset training state;

[0065] Wherein, the first preset training state is generally set as a general working state, in which the strength training device works normally, and the first real-time position data and the first real-time torque data at this time can also determine that the user is using the strength training device normally. The acquisition of the second real-time position data and the second real-time torque data is a real-time detection of the state of the strength training device. At this time, the second real-time position data is acquired by the encoder of the servo motor, and the second real-time torque data is actually the real-time motor current collected by the current sampling circuit after certain mathematical operation.

[0066] S5, determining the second real-time working state of the strength training device according to the first real-time working state, the mechanical origin, the second real-time position data and the second real-time torque data;

[0067] At this time, since the second real-time working state is developed from the first real-time working state, the first real-time working state is introduced and combined with the mechanical origin, the second real-time position data and the second real-time torque data to comprehensively determine the second real-time working state of the strength training device, which can ensure the sustainability of the development and improve the accuracy of the judgment of the second real-time working state.

[0068] S6, controlling the strength training device to adjust to a safe operation mode when the second real-time working state of the strength training device is any one of a plurality of first preset out-of-control states.

[0069] The first preset out-of-control state can be set to multiple states, which are generally preset as some dangerous conditions. For example, when the movement damping is set to be large, the user can be injured during training, and the training can also hit the user. In addition, fatigue training can also cause the user to be injured. Therefore, when the first preset out-of-control state is preset, the parameters corresponding to these conditions are set to multiple different first preset out-of-control states, so that the mechanical injury of the trainer during the stretching process and the contraction process can be avoided. The present application uses the physical information inside the motor to design a comprehensive software method of the protection mechanism with movement state detection, which can effectively prevent mechanical injury accidents. The safe operation mode can be some numerical fixed state, for example, the mechanical origin, the second real-time position data or the second real-time torque data needs to be how much, or another safety parameter, for example, the movement damping needs to be reduced to a certain value. At this time, different parameter settings can correspond to one total safe operation mode, or the above parameters can be set respectively, or the parameters can be set to different values, so that multiple different safe operation modes are set for multiple different parameters and different parameter value combinations. For example, when the movement damping is 1, the first safe operation mode is set, when the movement damping is 2, the second safe operation mode is set, and when the movement damping is 1 and in the origin range, the third safe operation mode is set. Therefore, in actual use, any safe operation mode can be directly adjusted, or the safe operation mode can be adjusted according to the first preset out-of-control state, the mechanical origin, the second real-time position data and the second real-time torque data. It should be noted that the first preset out-of-control state and the first preset training state can include multiple different states, which can be set according to the actual use needs of the user and the actual corresponding relationship between different states.

[0070] Based on the above embodiment, the present application can detect the first real-time working state as the first preset training state, that is, the general running training mode, and continuously detect the second real-time working state as the first preset out-of-control state and the like. When the dangerous state is found, the power trainer is adjusted to the safe operation mode, so that the working state of the power trainer can be comprehensively detected, and the technical problem that the protection function of the existing power trainer is too single is solved.

[0071] In order to further clarify the working process of the present application, the calculation process of the movement damping is as follows:

[0072] The movement damping model adopts the formula M d The expression is:

[0073]

[0074] F[L(t), v(t), M] is a target damping force obtained based on a pulling rope stretching length of the strength trainer, a current training speed and an application mode, t d is a damping force duration of the strength trainer in a current training round, is an integral of F[L(t), v(t), M], M d is a motion damping in a training round;

[0075] The application mode is any one of a constant force mode, a concentric mode, an eccentric mode, a rowing mode, a spring mode and a free mode;

[0076] In the constant force mode, the damping force of the strength trainer in a stretching motion and the damping force of the strength trainer in a contraction motion during strength training are both constant force damping forces;

[0077] In the concentric mode, the damping force of the strength trainer in a stretching motion during strength training adopts the constant force damping force, and the damping force of the strength trainer in a contraction motion during strength training adopts the constant force damping force multiplied by a preset target concentric rate, wherein the target concentric rate is a value greater than a preset first value and less than 1;

[0078] In the eccentric mode, the damping force of the strength trainer in a stretching motion during strength training adopts the constant force damping force, and the damping force of the strength trainer in a contraction motion during strength training adopts the constant force damping force multiplied by a preset target eccentric rate, wherein the target eccentric rate is a value greater than 1 and less than a preset second value;

[0079] In the rowing mode, the damping force of the strength trainer in a stretching motion during strength training adopts the constant force damping force multiplied by a preset target isokinetic rate, and the damping force of the strength trainer in a contraction motion during strength training adopts the constant force damping force;

[0080] In the spring mode, the damping force of the strength trainer in a stretching motion and the damping force of the strength trainer in a contraction motion during strength training both adopt the constant force damping force multiplied by a preset target isometric rate;

[0081] The free mode is a mode obtained by combining at least two application modes of the constant force mode, the concentric mode, the eccentric mode, the rowing mode and the spring mode.

[0082] Specifically, the motion damping is a comprehensive embodiment of the following several elements: a damping force setting value, a damping force compensation value, a training round time, a regression speed and an application mode. The sum of the damping force setting value and the damping force compensation value is referred to as a damping force. A servo deceleration motor is used as a variable damping.

[0083] The formula for calculating the damping force set value F is: The damping force set value is the most important part of the motion damping, which is the resistance generated at the end of the strength trainer after the output torque T of the servo motor of the strength trainer passes through the mechanical transmission components. In the formula, k is the reduction ratio of the reducer of the servo reducer motor of the strength trainer, η is the transmission efficiency of the reducer, R is the radius of the double-thread rod component, and d is the diameter of the pull rope. Since k, η, r, and d are constants, the damping force F at the end of the strength trainer is proportional to the output torque T of the servo motor.

[0084] The damping force compensation value is the compensation force for losses such as friction in the entire transmission process, which is set to a certain fixed value according to measurement statistics.

[0085] The training round time is the duration of the damping force of the strength trainer in the current training round. The training round time is the time that the trainer persists in a training round.

[0086] The return speed is the actual speed of the contraction process of the trainer, and the return speed limit value is the speed limit value of the contraction process of the strength trainer. The return speed is less than or equal to the return speed limit value, and the smaller the return speed limit value, the longer the actual contraction time. In addition, the stretching speed is the actual speed of the stretching process, which is independent of the return speed limit value and is a manifestation of the training acceleration. The return speed and the stretching speed are unified and combined into the training speed.

[0087] Optionally, the first numerical value is set to 0.3.

[0088] Optionally, the second numerical value is set to 3.

[0089] Optionally, the formula for calculating the target constant rate is S1=(1+V1 / V0), where V1 is the actual stretching speed and V0 is the preset reference speed. It can be understood that the preset reference speed is a constant.

[0090] Optionally, the formula for calculating the target constant length rate is S2=(1+L1 / L0), where L1 is the actual pull-out length of the pull rope and L0 is the preset reference pull-out length. It can be understood that the preset reference pull-out length is a constant.

[0091] The embodiment adjusts the motion damping model by adjusting the application mode, meets the personalized strength training demand, and realizes adjustable damping by accumulating the damping force of the strength trainer in a training round, which is beneficial to quickly determining high-precision and high-response motion damping.

[0092] Optionally, the step of determining the first real-time operating state of the strength trainer based on the mechanical origin, the first real-time position data, and the first real-time torque data includes:

[0093] The first velocity vector, the first position vector, the first velocity derivative, and the first torque vector are determined based on the mechanical origin, the first real-time position data, and the first real-time torque data.

[0094] The steps of determining the first velocity vector, first position vector, first velocity derivative, and first torque vector based on the mechanical origin, the first real-time position data, and the first real-time torque data include:

[0095] Perform vector operations on the first real-time position data and the mechanical origin to determine the first real-time position vector;

[0096] Perform a differential operation on the first real-time position data to determine the first real-time velocity vector;

[0097] The absolute values ​​of the derivatives of the first real-time velocity vector are accumulated to determine the first real-time velocity derivative;

[0098] The first real-time torque data is subjected to Clarke transform and Parker transform, and the first real-time torque vector is determined based on the motor parameters.

[0099] In the following process, the first real-time position data and the first real-time torque data are respectively equated as position data and torque data, and the first velocity vector, the first position vector, the first velocity derivative, and the first torque vector are respectively equated as velocity vector, position vector, velocity derivative, and torque vector to illustrate the calculation process.

[0100] The step of determining the position vector, velocity vector, velocity derivative, and torque vector based on the mechanical origin, the position data, and the torque data includes:

[0101] Perform vector operations on the position data and the mechanical origin to determine the position vector;

[0102] Where the encoder position value at the mechanical origin is denoted as P(0), and the encoder position value at the real time of the pull rope is denoted as P(k), then the position vector at this time... for:

[0103] Where |R(k)-P(0)| is a vector Size

[0104] If R(k)-P(0) is greater than zero, the direction of the vector is positive; if R(k)-P(0) is less than zero, the direction of the vector is negative.

[0105] When P(0) = 9800, P(k) = 1800, the position vector at this time is The size is |1800-9800| = 8000, that is, the position direction of 8000 from the origin is negative, that is, in the negative direction of the origin.

[0106] The position data is differentiated to determine the velocity vector;

[0107] The position value is obtained every T time interval, and the position vectors of adjacent two times are denoted as P(k) and P(k+1). The velocity vector is :

[0108] Wherein, is the size of the vector .

[0109] Wherein, R(k+1)-R(k) is greater than zero, the direction of the vector is positive, R(k+1)-R(k) is less than zero, and the direction of the vector is negative.

[0110] The absolute value of the differential of the velocity vector is accumulated to determine the velocity differential;

[0111] The differential of the velocity vector is denoted as the acceleration vector The size of the vector is V(k+1)-V(k) greater than zero, which is positive, and V(k+1)-V(k) less than zero, which is negative.

[0112] The torque data is subjected to clarke transformation and park transformation, and the torque vector is determined according to the motor parameters.

[0113] Clarke transformation: is to transform the collected three-phase static coordinate system current to two-phase static coordinate system, the process is as follows:

[0114] The motor phase current in the three-phase static coordinate system is denoted as Ia, Ib, and Ic, according to Kirchhoff's current law Ia+Ib+Ic=0. Therefore, only two-phase phase current needs to be collected to determine the remaining one-phase phase current.

[0115] The current in the two-phase static coordinate system is denoted as Iα and Iβ, and the clarke transformation formula is:

[0116] Iα = Ia;

[0117]

[0118] Park transformation: transform the current in the two-phase static coordinate system to the two-phase rotating coordinate system, and the specific process is as follows:

[0119] The currents in the two-phase rotating coordinate system are denoted as Iq and Id, and the park transformation formula is:

[0120] Id = Ia sin θ + Ib cos θ

[0121] Iq = Ia cos θ - Ib sin θ

[0122] where θ is an electrical angle calculated by the position feedback of the encoder.

[0123] determine the first real-time working state of the strength trainer according to the first position vector, the first speed differential, and the first torque vector.

[0124] The first position vector, the first speed differential, and the first torque vector have a directional attribute and can indicate the running tendency of the motor in a certain time period. According to the above embodiment, the first position vector, the first speed differential, and the first torque vector can be accurately determined. Since the first real-time working state can be a plurality of working states pre-set by the user, a professional, or the manufacturer before use, the corresponding first position vector, the first speed differential, and the first torque vector can also more accurately determine the first real-time working state.

[0125] Optionally, the step of obtaining the mechanical origin of the strength trainer further comprises:

[0126] starting the strength trainer;

[0127] At this time, the starting instruction is issued by the user, and the strength trainer obtains the starting instruction through various interactive modules or communication modules. The interactive module generally interacts in the form of a key, a touch screen, induction, magnetic control, a switch, etc. to obtain the starting instruction of the user. The communication module can be in the form of wireless communication, wired communication, Bluetooth, zigbee, etc. to obtain the starting instruction of the user from a communication terminal.

[0128] switching the trainer to a power-on original state.

[0129] The power-on original state of the trainer is generally set to run the motor towards the mechanical origin, and the motor maintains a low speed and a low torque throughout the process. This scheme can prevent accidents during the original return process. The low speed and the low torque can be actually changed or set by the user or the manufacturer according to the specifications of the strength trainer, such as the pulling torque, etc., thereby further improving the use safety of the user.

[0130] Optionally, the step of switching the trainer to a power-on original state further comprises:

[0131] Real-time detection of motor speed vector, when the trainer reaches the mechanical origin, the motor is judged to be stationary through the speed vector, and the feedback position is kept stable, the feedback position at this time is obtained as the origin, and the movement damping is gradually reduced to a very low value to prevent the trainer from being pulled up and injuring the trainer, and the trainer jumps to the "origin unloading state". It should be noted that the movement damping is the comprehensive result of the speed limit and the torque limit, that is, the speed vector and the torque vector are reduced. At this time, the movement damping can be reduced by controlling the parameters of the motor, such as increasing the torque opposite to the direction of the speed operation, and the like.

[0132] Optionally, the first preset out-of-control state includes a stretching overspeed state, a fatigue state, and a contraction state, the first preset training state includes a stretching state, and the second real-time working state of the strength trainer is determined according to the first real-time working state, the mechanical origin, the second real-time position data, and the second real-time torque data, including:

[0133] According to the first real-time working state, the mechanical origin, the second real-time position data, and the second real-time torque data, a second speed vector, a second position vector, a second speed differential, and a second torque vector are determined.

[0134] Wherein, the second speed vector, the second position vector, the second speed differential, and the second torque vector are equivalent to the speed vector, the position vector, the speed differential, and the torque vector respectively, and the second speed vector, the second position vector, the second speed differential, and the second torque vector are calculated by referring to the steps of determining the position vector, the speed vector, the speed differential, and the torque vector according to the mechanical origin, the position data, and the torque data.

[0135] The second real-time working state of the strength trainer includes the following cases, referring to Figure 4 The first case is shown in the following:

[0136] In the first case, when the first real-time working state is a stretching state, when the absolute value of the second position vector at this time continuously increases and the value of the second speed vector exceeds a first preset speed threshold, the second real-time working state of the strength trainer is determined to be a stretching overspeed state.

[0137] The real-time position vector is detected, and when the position of the trainer is out of the original point range, it is determined that the strength trainer is in a "stretching state", the position vector is continuously detected, and when the position value shows an increasing trend, the strength trainer is continuously in the "stretching state", and the speed vector is detected, and when the instantaneous speed value exceeds a certain threshold value, that is, a first preset speed threshold value, the strength trainer is in a "stretching overspeed state", and the real-time detection result at this time indicates that the stretching movement of the trainer is too violent, and therefore, the first preset out-of-control state is set, and the strength trainer needs to give an alarm and adjust to a safe operation mode in the future, so as to prevent damage to the strength trainer and accidents caused thereby.

[0138] In the second case, when the first real-time working state is a stretching state, when the strength trainer is not in the original point range and the absolute value of the second position vector gradually decreases or remains unchanged, it is determined that the second real-time working state of the strength trainer is a contraction state.

[0139] In the above case, any switching between the stretching state and the contraction state can be realized according to the conditions.

[0140] In the third case, when the first real-time working state is a stretching state, when the absolute value of the second speed differential exceeds a second preset differential value, it is determined that the second real-time working state of the strength trainer is a fatigue state.

[0141] The differential of the real-time speed vector is detected, and when it continuously and alternately changes in two movement directions, the absolute value of the differential is accumulated, and when the accumulated value in a unit of time exceeds a limit, it indicates that the trainer is in a fatigue tremor training state, and therefore, the fatigue state is set as the first preset out-of-control state in advance, and an alarm needs to be given and adjusted to a safe operation mode in the future, and the movement damping is gradually reduced to a smaller value, so as to prevent accidents caused by fatigue training.

[0142] Optionally, the safe operation mode includes a low-speed rope collection mode (returning to the original state after throwing the rope) and an original point unloading state, the first preset out-of-control state includes a stretching overspeed state and a fatigue state, and when the second real-time working state of the strength trainer is any of the first preset out-of-control states, the step of controlling the strength trainer to adjust to the safe operation mode includes:

[0143] When the strength trainer is in the stretching overspeed state, an alarm is given and the safe operation mode is executed as the original point unloading state / low-speed rope collection mode (returning to the original state after throwing the rope), so as to reduce the movement damping of the strength trainer to a first preset movement damping value.

[0144] When the power trainer is in the fatigue state, an alarm is given and the safe operation mode is executed to a force unloading state / low speed rope winding mode (back to the original state after throwing the rope) to reduce the movement damping of the power trainer to a second preset movement damping value.

[0145] By detecting the movement state of the trainer, it is determined whether the trainer has a tendency or process of "injury and compression", the control strategy is corrected in time, and warning information is given to prevent the trainer from causing mechanical injuries.

[0146] Optionally, the second real-time working state further includes a rope throwing state, a contraction holding back to original state, and a back to original state after throwing the rope, the contraction state is further included according to the first real-time working state, the mechanical origin, and the first preset training state, and the step of determining the second real-time working state of the power trainer according to the first real-time working state, the mechanical origin, the second real-time position data, and the second real-time torque data further includes:

[0147] In a fourth case, when the first real-time working state is the contraction state, when the power trainer is not in the origin range and the absolute value of the second position vector gradually increases, the second real-time working state of the power trainer is determined to be the stretching state;

[0148] In a fifth case, when the first real-time working state is the contraction state, when the second position vector remains unchanged, the second real-time working state of the power trainer is determined to be the contraction holding back to original state;

[0149] When the trainer position is out of the origin range and the position value shows a decreasing or unchanged trend, the trainer jumps to the "contraction state", and the position vector, velocity vector, and torque vector are detected in real time. When it is stationary at a certain position for a period of time, to prevent injuries caused by the exhaustion of the trainer, the movement damping is gradually reduced to a lower value, and the trainer jumps to the "contraction holding back to original state".

[0150] In a sixth case, when the first real-time working state is the contraction state, when the second velocity vector is lower than a second preset velocity threshold value and the second torque vector is lower than a first preset torque threshold value, the second real-time working state of the power trainer is determined to be the origin unloading state;

[0151] When the trainer is exhausted and cannot hold the hand, the trainer performs a low-speed and low-torque back-to-original movement until it jumps to the "origin unloading state". When the trainer continues to train, the trainer always maintains a lower movement damping until it goes through the "origin unloading state" (indicating that the training is stopped and a rest is taken), and then the larger movement damping can be restored.

[0152] In the seventh case, when the first real-time working state is the contraction state, when the second speed vector is higher than a third preset speed threshold, the second torque vector is lower than a second preset torque threshold, and the movement damping of the strength trainer is higher than a first preset damping, it is determined that the second real-time state of the strength trainer is the rope-throwing state.

[0153] The trainer "contraction state" detects the speed vector and the torque vector in real time. When the speed vector exceeds the threshold value and the torque vector is greatly different from the torque limit, it indicates that the trainer is in the free movement state after stretching, and the pull rope may have been thrown off the hand. The trainer is to the "rope-throwing state", and subsequent warning information needs to be given by the trainer and adjusted to the safe operation mode to prevent damage to the trainer and the resulting injury accidents.

[0154] In the eighth case, when the working state is the contraction state, when the cumulative value of the absolute value of the second speed differential exceeds a third preset differential value, it is determined that the second real-time state of the strength trainer is the fatigue state.

[0155] The differential of the speed vector is detected in real time. When it changes continuously and alternately in two movement directions, the absolute value of the differential is accumulated. When the cumulative value per unit time exceeds the limit, it indicates that the trainer is in the fatigue tremor training state, enters the "fatigue state", gives warning information, and gradually reduces the movement damping to a smaller value to prevent injury accidents caused by fatigue training.

[0156] By detecting the movement state of the trainer, it is determined whether the trainer has a trend or process of "injury and compression", and the control strategy is corrected in time and warning information is given to prevent mechanical injury accidents of the trainer.

[0157] It should be noted that in the above embodiments, the first preset torque threshold, the second preset torque threshold, the first preset speed threshold, the second preset speed threshold, and the third preset speed threshold can be set according to the data measured in the actual laboratory. Here, in order to distinguish the judgment criteria of each parameter, some preset torque thresholds can be the same value, and some preset speed thresholds can also be the same value under certain special conditions.

[0158] Optionally, the safe operation mode includes a low-speed rope winding mode (returning to the original state after throwing the rope) and a zero-point unloading state, the first preset out-of-control state includes a stretching overspeed state and a fatigue state, and the step of controlling the strength trainer to adjust to the safe operation mode when the second real-time working state of the strength trainer is any one of the first preset out-of-control states includes:

[0159] When the power trainer is in the fatigue state, an alarm is given and the safe operation mode is executed to a point unloading state / low speed rope collecting mode (back to original state after throwing rope) to reduce the movement damping of the power trainer to a second preset movement damping value;

[0160] When the power trainer is in the rope throwing state, an alarm is given and the safe operation mode is executed to a low speed rope collecting mode (back to original state after throwing rope) to reduce the movement damping of the power trainer to a third preset movement damping value.

[0161] When the power trainer is in the rope throwing state, the safe operation mode executes a low speed rope collecting mode, which is to control the movement damping of the power trainer to be small until the real-time movement damping is lower than a fourth preset damping value, then control the power trainer to switch to a back to original state after throwing rope, and jump to a point unloading state after performing the back to original movement.

[0162] After the movement damping is reduced to a lower value, jump to the "back to original state after throwing rope", perform the back to original movement, and then jump to the "point unloading state".

[0163] It should be noted that in all the above embodiments, the first preset damping value, the second preset damping value, the third preset damping value, and the fourth preset damping value mentioned can be set according to the data measured in the actual laboratory. Here, the judgment criteria for each parameter can be different, and in some special conditions or for the convenience of judgment, some preset damping values can be the same value.

[0164] Optionally, when the second real-time working state of the power trainer is any one of a plurality of first preset out-of-control states, the step of controlling the power trainer to adjust to a safe operation mode includes:

[0165] When the second real-time working state is a stretching overspeed state, third real-time position data and third real-time torque data are obtained;

[0166] According to the mechanical origin, the third real-time position data, and the third real-time torque data, a third torque vector and a third speed vector are determined;

[0167] When the third speed vector is higher than a third preset speed threshold, the third torque vector is lower than a second preset torque threshold, and the movement damping of the power trainer is higher than a first preset damping, it is determined that the power trainer is in a rope throwing mode;

[0168] The power trainer is controlled to operate in the back to original state after throwing rope in the safe operation mode.

[0169] The application further provides a control device of a strength training device, which comprises:

[0170] a data acquisition module, configured to acquire a mechanical origin of the strength training device, first real-time position data and first real-time torque data, and acquire second real-time position data and second real-time torque data when the first real-time working state is a first preset training state;

[0171] a control module, configured to determine a first real-time working state of the strength training device according to the mechanical origin, the first real-time position data and the first real-time torque data, and determine a second real-time working state of the strength training device according to the first real-time working state, the mechanical origin, the second real-time position data and the second real-time torque data, and control the strength training device to adjust to a safe operation mode when the second real-time working state of the strength training device is any one of a plurality of first preset out-of-control states.

[0172] The step of determining the first real-time working state of the strength training device according to the mechanical origin, the first real-time position data and the first real-time torque data comprises:

[0173] determining a first speed vector, a first position vector, a first speed differential and a first torque vector according to the mechanical origin, the first real-time position data and the first real-time torque data;

[0174] determining the first real-time working state of the strength training device according to the first position vector, the first speed differential and the first torque vector.

[0175] Optionally, the control module is further configured to determine a second speed vector, a second position vector, a second speed differential and a second torque vector according to the first real-time working state, the mechanical origin, the second real-time position data and the second real-time torque data;

[0176] when the first real-time working state is a stretching state, and when the absolute value of the second position vector continuously increases and the value of the second speed vector exceeds a first preset speed threshold value at this time, determining that the second real-time working state of the strength training device is a stretching overspeed state;

[0177] when the first real-time working state is a stretching state, and when the strength training device is not in the origin range and the absolute value of the second position vector gradually decreases or remains unchanged, determining that the second real-time working state of the strength training device is a contraction state;

[0178] When the first real-time working state is the stretching state, when the accumulated value of the absolute value of the second speed differential exceeds a second preset differential value, it is determined that the second real-time working state of the strength trainer is a fatigue state.

[0179] Optionally, the control module is further configured to, when the strength trainer is in the stretching over-speed state, alarm and execute the safe operation mode as a home unloading state / low-speed rope collecting mode (back to home state after throwing rope), so as to reduce the motion damping of the strength trainer to a first preset motion damping value.

[0180] When the strength trainer is in the fatigue state, alarm and execute the safe operation mode as a home unloading state / low-speed rope collecting mode (back to home state after throwing rope), so as to reduce the motion damping of the strength trainer to a second preset motion damping value.

[0181] Optionally, the control module is further configured to, when the first real-time working state is the contraction state, when the strength trainer is not in the home range and the absolute value of the second position vector gradually increases, determine that the second real-time working state of the strength trainer is a stretching state.

[0182] When the first real-time working state is the contraction state, when the second position vector remains unchanged, it is determined that the second real-time working state of the strength trainer is a contraction holding and back to home state.

[0183] When the first real-time working state is the contraction state, when the second speed vector is lower than a second preset speed threshold value and the second torque vector is lower than a first preset torque threshold value, it is determined that the second real-time working state of the strength trainer is a home unloading state.

[0184] When the first real-time working state is the contraction state, when the second speed vector is higher than a third preset speed threshold value, the second torque vector is lower than a second preset torque threshold value, and the motion damping of the strength trainer is higher than a first preset damping, it is determined that the second real-time state of the strength trainer is a rope throwing state.

[0185] When the working state is the contraction state, when the accumulated value of the absolute value of the second speed differential exceeds a third preset differential value, it is determined that the second real-time state of the strength trainer is a fatigue state.

[0186] Optionally, the control module is further configured to, when the strength trainer is in the fatigue state, alarm and execute the safe operation mode as a home unloading state / low-speed rope collecting mode (back to home state after throwing rope), so as to reduce the motion damping of the strength trainer to a third preset motion damping value.

[0187] When the power trainer is in the rope throwing state, an alarm is given and the safe operation mode is executed into a low-speed rope collecting mode (back to the original state after rope throwing) to reduce the movement damping of the power trainer to a fourth preset movement damping value.

[0188] Optionally, the control module is further configured to acquire third real-time position data and third real-time torque data when the second real-time working state is a stretching overspeed state.

[0189] determine a third torque vector and a third speed vector according to the mechanical origin, the third real-time position data and the third real-time torque data;

[0190] determine that the power trainer is in a rope throwing mode when the third speed vector is higher than a third preset speed threshold, the third torque vector is lower than a second preset torque threshold and the movement damping of the power trainer is higher than a first preset damping;

[0191] control the power trainer to operate the back to the original state after rope throwing in the safe operation mode.

[0192] Optionally, the control module is further configured to perform vector operation on the first real-time position data and the mechanical origin to determine a first real-time position vector.

[0193] perform differential operation on the first real-time position data to determine a first real-time speed vector.

[0194] perform accumulation operation on the absolute value of the differential of the first real-time speed vector to determine the first real-time speed differential.

[0195] perform Clarke transformation and Park transformation on the first real-time torque data and determine the first real-time torque vector according to motor parameters.

[0196] The patent utilizes the physical information inside the motor to design a comprehensive software method of protection mechanism with movement state detection, which can effectively prevent mechanical accidents. The safe operation mode can be some fixed numerical state, for example, the mechanical origin, the second real-time position data or the second real-time torque data need to be how much, or set another safety parameter, for example, the movement damping needs to be reduced to a certain numerical value, at this time, different parameter settings can correspond to one total safe operation mode, or the above parameters can be set respectively or the parameters are set to different values, so as to set corresponding multiple different safe operation modes for multiple different parameters and different parameter value combinations, which can comprehensively avoid the state of mechanical injury of the trainer in the stretching process and the contraction process, and solve the technical problem that the protection function of the existing power trainer is too single.

[0197] The application further provides a storage medium, wherein the computer program is executed by a processor to enable the processor to perform the control method of the strength trainer.

[0198] It should be noted that the storage medium of the application contains all the steps of the control method of the strength trainer, and thus can implement all the schemes of the control method of the strength trainer and has the same beneficial effects, which will not be described here.

[0199] The control method of the strength trainer is executed according to one of the method embodiments. The apparatus embodiments described above are merely illustrative, wherein the units described as separate components can or can not be physically separate, that is, can be located in one place or distributed on multiple network units. Part or all of the modules can be selected according to actual needs to achieve the purpose of the embodiment scheme. Those skilled in the art can understand that all or some of the steps of the method disclosed above can be implemented as software, firmware, hardware and appropriate combinations thereof. Some or all of the physical components can be implemented as software executed by a processor, such as a central processing unit, a digital signal processor or a microprocessor, or as hardware, or as an integrated circuit, such as an application specific integrated circuit. Such software can be distributed on a computer readable medium, which can include computer storage media (or non-transitory media) and communication media (or transitory media). As known to those skilled in the art, the term computer storage media includes volatile and non-volatile, removable and non-removable media implemented in any method or technology for storing information such as computer readable instructions, data structures, program modules or other data. Computer storage media includes, but is not limited to, RAM, ROM, EEPROM, flash memory or other memory technology, CD-ROM, digital versatile disk (DVD) or other optical disk storage, magnetic cassettes, magnetic tapes, magnetic disk storage or other magnetic storage devices, or any other medium that can be used to store desired information and can be accessed by a computer. In addition, as known to those skilled in the art, communication media generally includes computer readable instructions, data structures, program modules or other data in a modulated data signal such as a carrier wave or other transport mechanism, and can include any information delivery medium.

[0200] The application further provides a control device of a strength trainer, comprising a memory and a processor, wherein the memory stores a control program of the strength trainer, and the control program of the strength trainer is executed by the processor to enable the processor to perform the steps of the control method of the strength trainer.

[0201] It should be noted that the strength trainer control device of the present application contains all the steps of the strength trainer control method described above, so the strength trainer control device can also implement all the schemes of the strength trainer control method and has the same beneficial effects, which will not be repeated here.

[0202] The present application also provides a strength trainer, comprising a controller and a power supply circuit, wherein the controller stores a strength trainer control program, and the strength trainer control program is executed to enable the controller to perform the steps of the strength trainer control method described above.

[0203] Optionally, the strength trainer further comprises a leakage current detection circuit, wherein an output end of the leakage current detection circuit is connected with the controller, and a detection power supply end of the leakage current detection circuit is connected with a ground end of the power supply circuit.

[0204] The leakage current detection circuit detects the leakage current to the ground, and automatically cuts off the power supply when the leakage current exceeds a certain threshold current. Through the above scheme, it is determined whether the leakage current of the strength trainer power supply end is abnormal, so as to cut off the power supply in time or give warning information, and prevent the strength trainer from causing electric shock accidents.

[0205] Optionally, the strength trainer further comprises a load current detection circuit, wherein an output end of the load current detection circuit is connected with the controller, and a detection power supply end of the load current detection circuit is connected with an input end of the power supply circuit.

[0206] The load current detection circuit is used to detect the input current of the power supply circuit, and automatically cut off the power supply when the input current exceeds a certain threshold. Through the detection of the current information of the strength trainer, it is determined whether the input current of the strength trainer is abnormal, so as to cut off the power supply in time or give warning information, and prevent the strength trainer from causing electric shock accidents.

[0207] Optionally, the strength trainer further comprises a power current detection circuit, wherein an output end of the power current detection circuit is connected with the controller, and a detection power supply end of the power current detection circuit is connected with a motor power supply end of the strength trainer.

[0208] The power current detection circuit detects the current output to the motor, and alarms when the current exceeds a certain threshold. Through the detection of the current information of the strength trainer, it is determined whether the power current of the strength trainer is abnormal, so as to cut off the power supply in time or give warning information, and prevent the strength trainer from causing electric shock accidents.

[0209] Through the above multiple embodiments, the technical problem that the motor driver in the strength trainer is powered by the mains, the human body directly contacts, and there is a risk of electric shock is solved. The above methods are comprehensively used, which greatly improves the safety factor of the strength trainer.

[0210] Optionally, the strength training device further comprises a temperature sensor, a motor and a motor driver, the controller is connected with the motor driver, the motor driver is connected with the motor, and the temperature sensor is arranged close to the motor.

[0211] The temperature sensor is configured to detect a corresponding temperature value and output an alarm information when the temperature value exceeds a threshold.

[0212] Optionally, the strength training device further comprises a rotation speed detection circuit, a fan and a fan driving circuit, an output terminal of the rotation speed detection circuit is connected with the driver, and the fan driving circuit is connected with the driver and the fan respectively.

[0213] The rotation speed detection circuit is configured to detect a rotation speed of the fan and output an alarm information when the rotation speed is too low.

[0214] Optionally, the strength training device further comprises a smoke sensor, and an output terminal of the smoke sensor is connected with the driver.

[0215] The smoke sensor is configured to detect a smoke concentration, and the controller is configured to output an alarm information when the smoke concentration is detected to be high, indicating that the working environment is abnormal.

[0216] Based on the above scheme, the problem that when the heat dissipation device fails or ages, or when the training movement is too frequent and intense to cause the brake resistor to generate a large amount of heat, there is a risk of high temperature or even burning people can be solved. The brake resistor of the motor driver is the main heat generating device, and the heat sink and the cooling fan are the main heat dissipation devices. Through the above scheme, the electrical state of the training device can be detected in time, the working temperature and the working environment (such as smoke) of the training device are determined to be abnormal, and warning information is given in time to prevent high temperature accidents of the training device.

[0217] In one embodiment, the strength training device comprises a servo deceleration motor, a pull rope 904, a support frame 901, a nut, a double-thread rod component and a connecting rod.

[0218] The servo deceleration motor comprises a servo motor 902 and a deceleration machine 903, and an output shaft of the servo motor 902 is connected with an input shaft of the deceleration machine 903.

[0219] The output shaft of the speed reducer 903 is connected with the connecting rod, the connecting rod is arranged in the hollow hole of the first outer threaded rod 906 of the double-threaded rod component, the bottom end of the nut is installed on the support frame 901, the free end of the first outer threaded rod 906 is rotatably arranged in the nut, the pull rope 904 is wound around the outer periphery of the second outer threaded rod 905 of the double-threaded rod component, the second outer threaded rod 905 is sleeved on the outer periphery of the first outer threaded rod 906 and coaxial, and the second outer threaded rod 905 and the first outer threaded rod 906 are installed on the same face of the bottom plate of the double-threaded rod component.

[0220] The calculation formula L of the pull-out length of the pull rope 904 is:

[0221]

[0222] Wherein, p is the current total feedback position of the servo motor 902 minus the total feedback position corresponding to the origin position of the servo motor 902, ppr is the feedback position of one rotation of the servo motor 902, k is the reduction ratio of the speed reducer 903, s1 is the gap compensation factor generated according to the gap generated by one rotation of the servo motor 902 in the speed reducer 903, R is the radius of the second outer threaded rod 905, d is the diameter of the pull rope 904, s2 is the gap compensation factor generated according to the gap generated by one rotation of the second outer threaded rod 905, and π is the circular constant. Ppr, k, s1, R, d, s2 are constants.

[0223] Specifically, the gap compensation factor can be obtained by independent repeated experiments.

[0224] It can be understood that the rotational movement of the servo motor 902 will drive the speed reducer 903 to move.

[0225] It can be understood that the second outer threaded rod and the first outer threaded rod are fixedly installed on the same face of the bottom plate of the double-threaded rod component. The second outer threaded rod and the first outer threaded rod are both provided with external threads.

[0226] The connecting rod is a hollow hexagonal connecting steel pipe, and the shape of the hollow hole is matched with the shape of the connecting rod. Wherein, the output shaft of the speed reducer 903 drives the connecting rod to rotate, the rotation of the connecting rod drives the first outer threaded rod 906 of the double-threaded rod component to rotate, and the rotation of the first outer threaded rod 906 drives.

[0227] It can be understood that the power training device of the present application adopts a one-dimensional Cartesian coordinate system, and there are three basic elements in the coordinate system: origin, positive direction, and unit length. The origin, that is, the origin position, is a physical reference point in the mechanical coordinate system. The direction of the return motion, that is, the direction of the contraction of the pull rope, is defined as the positive direction. The design accuracy of the length of the pull rope is 0.001 m, and the accuracy is defined as the unit length of the pull rope. The bottom plate of the double-threaded rod component rotates, and the rotation of the bottom plate of the double-threaded rod component drives the rotation of the second external threaded rod 905.

[0228] In the present application, the position of the pull rope 904 of the power training device when it is tightened is taken as the origin.

[0229] Optionally, the reduction ratio of the speed reducer 903 is 7.

[0230] It can be understood that the damping torque in the stretching process of the servo motor (that is, the stretching damping force generated by the mechanical transmission), the damping torque in the contraction process (that is, the contraction damping force), and the motion damping force of the power training device are defined. The damping torque means that the torque plays a damping role.

[0231] The motion damping response time reflects the performance index of the power training device, and represents the speed of the damping change of the power training device. It is generated by the following links in series: the driver torque control response time τ1, the servo speed reducer mechanical time constant τ2, and the screw-pull rope mechanical time constant τ3. According to related data, τ1=2 ms, τ2=5 ms, and t3=50 ms. It is obtained that the motion damping response time of the power training device is within 100 ms, and the response time of the driver-servo motor-speed reducer is less than 10 ms, which is much higher than the performance index of the traditional similar power training device screw-pull rope part.

[0232] The present embodiment effectively compensates for the error caused by the mechanical transmission gap by setting the gap compensation factor, further improves the accuracy of the power training; by using a servo speed reducer to replace part of the mechanical structure in a pure mechanical way, the mechanical structure is reduced, thereby shortening the response time and reducing the occupied space; the servo motor of the servo speed reducer makes the damping adjustable, the damping adjustment accuracy is high, and the damping adjustment response is fast.

[0233] The above description of the disclosed embodiments enables a person skilled in the art to implement or use the present application. Various modifications to these embodiments will be apparent to those skilled in the art, and the general principles defined herein can be implemented in other embodiments without departing from the spirit or scope of the present application. Therefore, the present application will not be limited to these embodiments shown herein, but will conform to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A control method of a strength trainer, characterized in that, The control method of the strength trainer comprises: acquiring a mechanical origin of the strength trainer; acquiring first real-time position data and first real-time torque data; determining a first real-time working state of the strength trainer according to the mechanical origin, the first real-time position data and the first real-time torque data; when the first real-time working state is a first preset training state, acquiring second real-time position data and second real-time torque data; determining a second real-time working state of the strength trainer according to the first real-time working state, the mechanical origin, the second real-time position data and the second real-time torque data; when the second real-time working state of the strength trainer is any one of a plurality of first preset out-of-control states, controlling the strength trainer to adjust to a safe operation mode; wherein the step of determining the first real-time working state of the strength trainer according to the mechanical origin, the first real-time position data and the first real-time torque data comprises: determining a first speed vector, a first position vector, a first speed differential and a first torque vector according to the mechanical origin, the first real-time position data and the first real-time torque data; determining the first real-time working state of the strength trainer according to the first position vector, the first speed differential and the first torque vector; wherein the first preset out-of-control states comprise a stretching overspeed state, a fatigue state and a contraction state, the first preset training state comprises a stretching state, and the step of determining the second real-time working state of the strength trainer according to the first real-time working state, the mechanical origin, the second real-time position data and the second real-time torque data comprises: determining a second speed vector, a second position vector, a second speed differential and a second torque vector according to the first real-time working state, the mechanical origin, the second real-time position data and the second real-time torque data; when the first real-time working state is the stretching state, when the absolute value of the second position vector continuously increases and the value of the second speed vector exceeds a first preset speed threshold value at this time, determining that the second real-time working state of the strength trainer is the stretching overspeed state; when the first real-time working state is the stretching state, when the strength trainer is not in an origin range and the absolute value of the second position vector gradually decreases or remains unchanged, determining that the second real-time working state of the strength trainer is the contraction state; when the first real-time working state is the stretching state, when the accumulated value of the absolute value of the second speed differential exceeds a second preset differential value, determining that the second real-time working state of the strength trainer is the fatigue state. The safe operation mode comprises a low-speed rope winding mode and an origin force unloading state, the first preset out-of-control states comprise the stretching overspeed state and the fatigue state, and the step of controlling the strength trainer to adjust to the safe operation mode when the second real-time working state of the strength trainer is any one of the plurality of first preset out-of-control states comprises:

2. The control method of the strength trainer according to claim 1, characterized in that, ​ when the power training device is in the stretching over-speed state, alarming and executing the safe operation mode as a zero-point unloading state / low-speed rope collecting mode to reduce the motion damping of the power training device to a first preset motion damping value; when the power training device is in the fatigue state, alarming and executing the safe operation mode as a zero-point unloading state / low-speed rope collecting mode to reduce the motion damping of the power training device to a second preset motion damping value.

3. The control method of the strength trainer according to claim 1, characterized in that, The first preset out-of-control state further includes a rope throwing state, a contraction holding and back-to-origin state, and a rope throwing and back-to-origin state, and the first preset training state further includes the contraction state, and the step of determining the second real-time working state of the power training device according to the first real-time working state, the mechanical zero point, the second real-time position data, and the second real-time torque data further includes: when the first real-time working state is the contraction state, when the power training device is not in the zero-point range and the absolute value of the second position vector gradually increases, determining that the second real-time working state of the power training device is the stretching state; when the first real-time working state is the contraction state, when the second position vector remains unchanged, determining that the second real-time working state of the power training device is the contraction holding and back-to-origin state; when the first real-time working state is the contraction state, when the second speed vector is lower than a second preset speed threshold value and the second torque vector is lower than a first preset torque threshold value, determining that the second real-time working state of the power training device is the zero-point unloading state; when the first real-time working state is the contraction state, when the second speed vector is higher than a third preset speed threshold value, the second torque vector is lower than a second preset torque threshold value, and the motion damping of the power training device is higher than a first preset damping, determining that the second real-time state of the power training device is the rope throwing state; when the first real-time working state is the contraction state, when the absolute value of the second speed differential exceeds a third preset differential value, determining that the second real-time state of the power training device is the fatigue state.

4. The control method of the strength trainer according to claim 3, characterized in that, The safe operation mode includes a low-speed rope collecting mode and a zero-point unloading state, the first preset out-of-control state includes a stretching over-speed state and a fatigue state, and the step of controlling the power training device to adjust to the safe operation mode when the second real-time working state of the power training device is any one of the plurality of first preset out-of-control states includes: when the power training device is in the fatigue state, alarming and executing the safe operation mode as a zero-point unloading state / low-speed rope collecting mode to reduce the motion damping of the power training device to a third preset motion damping value; when the power training device is in the rope throwing state, alarming and executing the safe operation mode as a low-speed rope collecting mode to reduce the motion damping of the power training device to a fourth preset motion damping value.

5. The control method of the strength trainer according to claim 1, characterized by, The step of controlling the power training device to adjust to the safe operation mode when the second real-time working state of the power training device is any one of the plurality of first preset out-of-control states includes: When the second real-time working state is a stretch over-speed state, third real-time position data and third real-time torque data are acquired; A third torque vector and a third speed vector are determined according to the mechanical origin, the third real-time position data and the third real-time torque data; When the third speed vector is higher than a third preset speed threshold, the third torque vector is lower than a second preset torque threshold, and the movement damping of the strength trainer is higher than a first preset damping, it is determined that the strength trainer is in a rope throwing mode; The strength trainer is controlled to run the rope throwing post-throwing back-to-original state in the safe running mode.

6. The control method of a strength trainer according to any one of claims 1-5, characterized in that, The step of determining a first speed vector, a first position vector, a first speed differential and a first torque vector according to the mechanical origin, the first real-time position data and the first real-time torque data comprises: The first real-time position data and the mechanical origin are subjected to vector operation to determine a first real-time position vector; The first real-time position data are subjected to differential operation to determine a first real-time speed vector; The absolute value of the differential of the first real-time speed vector is subjected to accumulation operation to determine a first real-time speed differential; The first real-time torque data are subjected to Clarke transformation and Park transformation, and a first real-time torque vector is determined according to motor parameters.

7. Control device for a strength trainer, characterized in that A control method for a strength trainer according to any one of claims 1 to 6, the control device of the strength trainer comprising: a data acquisition module that acquires a mechanical origin, first real-time position data and first real-time torque data of the strength trainer, and acquires second real-time position data and second real-time torque data when a first real-time working state is a first preset training state; a control module that determines a first real-time working state of the strength trainer according to the mechanical origin, the first real-time position data and the first real-time torque data, and determines a second real-time working state of the strength trainer according to the first real-time working state, the mechanical origin, the second real-time position data and the second real-time torque data; and controls the strength trainer to adjust to a safe running mode when the second real-time working state of the strength trainer is a first preset out-of-control state.

8. A storage medium, characterized by The storage medium stores a control program of a strength trainer, and the control program of the strength trainer, when executed by a processor, causes the processor to execute the control method of the strength trainer according to any one of claims 1 to 6.

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