Methods, devices, and media for motion self-correction in strength training equipment

Abstract

This invention discloses a motion self-correction method, device, power trainer, and medium for a strength trainer. The method includes: obtaining the motion vector of the power trainer in the i-th cycle according to the cycle configuration, and determining whether the i-th cycle is a cycle after the first cycle; if not, taking the initial motion command of the (i+1)-th cycle corresponding to the preset motion damping model as the target motion command of the (i+1)-th cycle; if so, obtaining the disturbance detection result based on the motion vectors of the i-th and (i-1)-th cycles, correcting the initial motion command of the (i+1)-th cycle corresponding to the motion damping model based on the disturbance detection result, and obtaining the target motion command of the (i+1)-th cycle; controlling the power trainer to perform strength training according to the target motion command of the (i+1)-th cycle, incrementing i by 1, and repeating the step of obtaining the motion vector. This achieves automatic real-time correction of disturbances, improving the stability of the power trainer's operation.

Description

Technical Field

[0001] This invention relates to the field of strength training device control technology, and in particular to a method, device, strength training device and medium for self-correction of motion in a strength training device. Background Technology

[0002] Life lies in movement, and sports injuries also require appropriate rehabilitation training. With urbanization, outdoor sports have higher requirements for venues, weather, and individuals, while indoor sports and rehabilitation training have developed rapidly, leading to the booming development of various indoor fitness and rehabilitation equipment. Strength training, a type of indoor exercise, uses strength training equipment to exercise the body's muscles and bones. Existing strength training equipment is purely mechanical, using springs, pulleys, gears, belts, chains, and counterweights to achieve strength training. However, typical strength training equipment experiences disturbances during strength training, such as continuous vibration during training, speed pulsation during training, and residual vibration when training stops. These disturbances affect the stability of the strength training equipment and reduce the effectiveness of strength training. Summary of the Invention

[0003] Based on this, it is necessary to address the technical problem that existing strength trainers experience disturbances during strength training, which affect the stability of the strength trainer's operation. Therefore, a motion self-correction method, device, strength trainer, and medium for a strength trainer are proposed.

[0004] A method for motion self-correction of a strength training device, the method comprising:

[0005] According to the preset cycle configuration, obtain the motion vector of the servo motor of the servo reduction motor of the strength trainer in the i-th cycle, and determine whether the i-th cycle is a cycle after the first cycle, where the i-th cycle is the current cycle.

[0006] If not, the initial motion command of the (i+1)th cycle corresponding to the preset motion damping model will be used as the target motion command of the (i+1)th cycle.

[0007] If so, then disturbance detection is performed based on the motion vector of the i-th period and the motion vector of the (i-1)-th period to obtain the disturbance detection result. Based on the disturbance detection result, the initial motion command of the (i+1)-th period corresponding to the motion damping model is corrected to obtain the target motion command of the (i+1)-th period.

[0008] According to the target motion command in the (i+1)th cycle, the strength trainer is controlled to perform strength training. i is incremented by 1, and the step of obtaining the motion vector of the servo motor of the servo reduction motor of the strength trainer in the ith cycle according to the preset cycle configuration is repeated until the training end signal is obtained.

[0009] A motion self-correction device for a strength training device, the device comprising:

[0010] The motion vector acquisition module is used to acquire the motion vector of the servo motor of the servo reduction motor of the strength trainer in the i-th cycle according to the preset cycle configuration, and to determine whether the i-th cycle is a cycle after the first cycle, where the i-th cycle is the current cycle.

[0011] The first motion command determination module is used to take the initial motion command of the (i+1)th cycle corresponding to the preset motion damping model as the target motion command of the (i+1)th cycle if the i-th cycle is not a cycle after the first cycle.

[0012] The second motion command determination module is used to perform disturbance detection based on the motion vector of the i-th period and the motion vector of the (i-1)-th period if the i-th period is a period after the 1-th period, to obtain a disturbance detection result, and to correct the initial motion command of the (i+1)-th period corresponding to the motion damping model based on the disturbance detection result, so as to obtain the target motion command of the (i+1)-th period.

[0013] The loop control module is used to control the strength trainer to perform strength training according to the target motion command in the (i+1)th cycle. The step of obtaining the motion vector of the servo motor of the servo reduction motor of the strength trainer in the i-th cycle according to the preset cycle configuration is repeated until the training end signal is obtained.

[0014] A strength training device includes a memory and a processor, the memory storing a computer program that, when executed by the processor, causes the processor to perform the following steps:

[0015] According to the preset cycle configuration, obtain the motion vector of the servo motor of the servo reduction motor of the strength trainer in the i-th cycle, and determine whether the i-th cycle is a cycle after the first cycle, where the i-th cycle is the current cycle.

[0016] If not, the initial motion command of the (i+1)th cycle corresponding to the preset motion damping model will be used as the target motion command of the (i+1)th cycle.

[0017] If so, then disturbance detection is performed based on the motion vector of the i-th period and the motion vector of the (i-1)-th period to obtain the disturbance detection result. Based on the disturbance detection result, the initial motion command of the (i+1)-th period corresponding to the motion damping model is corrected to obtain the target motion command of the (i+1)-th period.

[0018] According to the target motion command in the (i+1)th cycle, the strength trainer is controlled to perform strength training. i is incremented by 1, and the step of obtaining the motion vector of the servo motor of the servo reduction motor of the strength trainer in the ith cycle according to the preset cycle configuration is repeated until the training end signal is obtained.

[0019] A computer-readable storage medium storing a computer program, which, when executed by a processor, causes the processor to perform the following steps:

[0020] According to the preset cycle configuration, obtain the motion vector of the servo motor of the servo reduction motor of the strength trainer in the i-th cycle, and determine whether the i-th cycle is a cycle after the first cycle, where the i-th cycle is the current cycle.

[0021] If not, the initial motion command of the (i+1)th cycle corresponding to the preset motion damping model will be used as the target motion command of the (i+1)th cycle.

[0022] If so, then disturbance detection is performed based on the motion vector of the i-th period and the motion vector of the (i-1)-th period to obtain the disturbance detection result. Based on the disturbance detection result, the initial motion command of the (i+1)-th period corresponding to the motion damping model is corrected to obtain the target motion command of the (i+1)-th period.

[0023] According to the target motion command in the (i+1)th cycle, the strength trainer is controlled to perform strength training. i is incremented by 1, and the step of obtaining the motion vector of the servo motor of the servo reduction motor of the strength trainer in the ith cycle according to the preset cycle configuration is repeated until the training end signal is obtained.

[0024] The self-correction method for the strength trainer of this application performs disturbance detection based on the motion vector of the i-th cycle and the motion vector of the (i-1)-th cycle when the i-th cycle is a cycle after the 1-th cycle, and obtains the disturbance detection result. Based on the disturbance detection result, the initial motion command of the motion damping model corresponding to the (i+1)-th cycle is corrected to obtain the target motion command of the (i+1)-th cycle. This achieves automatic real-time correction of disturbances, improves the stability of the strength trainer and enhances the effect of strength training. Attached Figure Description

[0025] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0026] in:

[0027] Figure 1 A flowchart of a motion self-correction method for a strength trainer in one embodiment;

[0028] Figure 2 This is a schematic diagram of the strength training device in one embodiment;

[0029] Figure 3 This is a structural block diagram of the motion self-correction device of a strength trainer in one embodiment. Detailed Implementation

[0030] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0031] like Figure 1 As shown, in one embodiment, a motion self-correction method for a strength training device is provided. This method can be applied to strength training devices. The motion self-correction method for this strength training device specifically includes the following steps:

[0032] S1: Obtain the motion vector of the servo motor of the servo reduction motor of the strength trainer in the i-th cycle according to the preset cycle configuration, and determine whether the i-th cycle is a cycle after the first cycle, where the i-th cycle is the current cycle.

[0033] Specifically, it can acquire the start training signal input by the user via a mobile device terminal or a button on the strength trainer, or it can acquire the start training signal input by a third-party application; in response to the start training signal, it acquires the motion vector of the servo motor of the strength trainer's servo reduction motor in the i-th cycle according to a preset cycle configuration, wherein the motion vector includes: torque vector, velocity vector, and position vector. The torque vector includes: torque value and direction. The velocity vector includes: velocity value and direction. The position vector includes: position value and direction.

[0034] The period configuration includes the period duration. The time at which the training signal is generated is designated as period 0, and the interval between period i and period (i-1) is the period duration in the period configuration. i can be 0 or an integer greater than 0.

[0035] S2: If not, the initial motion command of the (i+1)th cycle corresponding to the preset motion damping model will be used as the target motion command of the (i+1)th cycle.

[0036] Specifically, if not, that is, if the i-th period is not a period after the 1st period, it means that the i-th period is the 0th period or the 1st period. Since there is no data for two consecutive periods to compare, it is impossible to determine whether there is a disturbance. Therefore, the initial motion command of the i+1th period corresponding to the preset motion damping model is taken as the target motion command of the i+1th period.

[0037] The initial motion command for the (i+1)th cycle is generated based on a preset motion damping model. The motion command is the instruction that controls the strength trainer to perform strength training.

[0038] The motion damping model is a calculation model for the motion damping of a strength trainer. Motion damping is the cumulative damping force of the strength trainer over time within a training round. The motion damping model is an integral model of the damping force, used to calculate the motion damping in a training round.

[0039] S3: If so, then perform disturbance detection based on the motion vector of the i-th period and the motion vector of the (i-1)-th period to obtain the disturbance detection result. Based on the disturbance detection result, correct the initial motion command of the (i+1)-th period corresponding to the motion damping model to obtain the target motion command of the (i+1)-th period.

[0040] Specifically, if the i-th period is a period after the first period, it means that there are two consecutive periods of data to compare, namely the second period or a period after the second period. Therefore, the torque difference, velocity difference, and position difference are calculated based on the motion vector of the i-th period and the motion vector of the (i-1)-th period, respectively. The torque difference is compared with the continuous vibration difference threshold to obtain the continuous vibration detection result, the velocity difference is compared with the velocity pulsation difference threshold to obtain the velocity pulsation detection result, and the position difference is compared with the residual vibration difference threshold to obtain the residual vibration detection result. The continuous vibration detection result, the velocity pulsation detection result, and the residual vibration detection result are used as the disturbance detection result. Based on the disturbance detection result, the initial motion command of the (i+1)-th period corresponding to the motion damping model is corrected so that the disturbance can be eliminated in the (i+1)-th period. The corrected initial motion command of the (i+1)-th period is used as the target motion command of the (i+1)-th period.

[0041] S4: Control the strength trainer to perform strength training according to the target motion command in the (i+1)th cycle, increment i by 1, and repeat the step of obtaining the motion vector of the servo motor of the servo reduction motor of the strength trainer in the ith cycle according to the preset cycle configuration until the training end signal is obtained.

[0042] Specifically, the strength trainer is controlled to perform one cycle of strength training according to the target motion command of the (i+1)th cycle. i is incremented by 1 to provide a basis for determining the target motion command next time. The step of obtaining the motion vector of the servo motor of the servo reduction motor of the strength trainer in the i-th cycle according to the preset cycle configuration is repeated, that is, steps S1 to S4 are repeated until the training end signal is obtained. When the training end signal is obtained, it means that the strength training needs to be stopped.

[0043] The training end signal can be input by the user, sent by a third-party application system, or generated by the program implementing this application based on preset conditions. For example, the preset condition is that a training end signal will be generated when the training duration reaches a preset training duration.

[0044] In this embodiment, when the i-th period is a period after the first period, disturbance detection is performed based on the motion vector of the i-th period and the motion vector of the (i-1)-th period to obtain the disturbance detection result. Based on the disturbance detection result, the initial motion command of the (i+1)-th period corresponding to the motion damping model is corrected to obtain the target motion command of the (i+1)-th period. This achieves automatic real-time correction of disturbances, improves the stability of the strength trainer, and enhances the effectiveness of strength training. It also enables the strength trainer to perform strength training based on the motion damping model, allowing the strength trainer to output high-precision, high-response, and adjustable motion damping.

[0045] like Figure 2 As shown, in one embodiment, the strength training device includes: a servo geared motor, a pull rope 904, a support frame 901, a nut, a double-threaded rod component, and a connecting rod;

[0046] The servo geared motor includes a servo motor 902 and a reducer 903, wherein the output shaft of the servo motor 902 is connected to the input shaft of the reducer 903.

[0047] The output shaft of the reducer 903 is connected to the connecting rod, which passes through the hollow hole of the first external thread rod 906 of the double threaded rod component. The bottom end of the nut is mounted on the support frame 901. The free end of the first external thread rod 906 rotates into the nut. The pull rope 904 is wound around the outer circumference of the second external thread rod 905 of the double threaded rod component. The second external thread rod 905 is sleeved on the outer circumference of the first external thread rod 906 and is coaxial. The second external thread rod 905 and the first external thread rod 906 are mounted on the same surface of the base plate of the double threaded rod component.

[0048] The formula for calculating the pull-out length L of the pull rope 904 is:

[0049]

[0050] Where 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 the servo motor 902 after one revolution, k is the reduction ratio of the reducer 903, s1 is the gap compensation factor generated based on the gap generated by the reducer 903 after one revolution of the servo motor 902, R is the radius of the second external thread rod 905, d is the diameter of the pull rope 904, s2 is the gap compensation factor generated based on the gap generated by the second external thread rod 905 after one revolution, π is pi, and ppr, k, s1, R, d, and s2 are constants.

[0051] Specifically, the gap compensation factor can be obtained from empirical data obtained through independent repeated experiments.

[0052] It is understandable that the rotation of the servo motor 902 will drive the speed reducer 903 to move.

[0053] It is understood that the second external threaded rod and the first external threaded rod are fixedly installed on the same surface of the base plate of the double-threaded rod component. Both the second external threaded rod and the first external threaded rod are provided with external threads.

[0054] The connecting rod is made of hollow hexagonal steel pipe, and the shape of the hollow hole matches the shape of the connecting rod. The output shaft of the reducer 903 drives the connecting rod to rotate, and the rotation of the connecting rod drives the first external thread rod 906 of the double-threaded rod component to rotate.

[0055] It is understood that the strength training device of this application adopts a one-dimensional Cartesian coordinate system, which has three basic elements: origin, positive direction, and unit length. The origin, that is, the origin position, is the physical reference point in the mechanical coordinate system. The direction of the return motion, that is, the direction of the cable contraction, is defined as the positive direction. The design accuracy of the cable length is 0.001m, and this accuracy is defined as the unit length of the cable. The base plate of the double-threaded rod component rotates, and the rotation of the base plate of the double-threaded rod component drives the rotation of the second external threaded rod 905.

[0056] In this application, the position of the pull rope 904 of the strength training device when it is tightened is taken as the origin.

[0057] In this application, the servo motor of the strength trainer is controlled by a normalized torque command. Optionally, the rated torque of the servo motor is T. R =3.2 N·m, the normalized torque command is 2500, the control range is 2500±25, then the control accuracy is 1%.

[0058] Optionally, the reduction ratio of the reducer 903 is set to 7.

[0059] It is understood that this application defines the damping torque (i.e., the tensile damping force generated through mechanical transmission) during the stretching process of the servo motor and the damping torque (i.e., the contraction damping force) during the contraction process, which together generate the motion damping force of the strength training device. The damping torque describes the effect of torque on damping.

[0060] The motion damping response time reflects the performance index of the strength trainer and characterizes how fast the damping of the strength trainer changes. It is generated by the following components in series: the driver torque control response time τ1, the servo geared motor mechanical time constant τ2, and the screw-rope mechanical time constant τ3.

[0061] According to relevant data, τ1 = 2ms, τ2 = 5ms, and τ3 = 50ms, indicating that the response time of the motion damping of the strength trainer is within 100ms. Among them, the response time of the driver-servo motor-reducer is less than 10ms, which is far higher than the performance index of the screw-pull rope part of traditional similar strength trainers.

[0062] This embodiment effectively compensates for errors caused by gaps in mechanical transmission by setting a gap compensation factor, further improving the accuracy of strength training; by using a servo geared motor to replace part of the purely mechanical structure, the mechanical structure is reduced, thereby shortening the response time and reducing the space occupied; the servo motor of the servo geared motor makes the damping adjustable, with high damping adjustment accuracy and fast damping adjustment response.

[0063] In one embodiment, the step of performing disturbance detection based on the motion vector of the first period and the motion vector of the second period to obtain the disturbance detection result includes:

[0064] S311: Subtract the torque vector of the (i-1)th period from the torque vector of the motion vector of the i-th period to obtain the torque difference of the i-th period;

[0065] Specifically, the torque value of the torque vector of the motion vector in the i-th period is subtracted from the torque value of the torque vector in the (i-1)-th period, and the resulting data is used as the torque difference in the i-th period.

[0066] S312: Determine whether the torque difference in the i-th period is greater than a preset continuous vibration difference threshold. If yes, determine that the continuous vibration detection result of the disturbance detection result is yes; otherwise, determine that the continuous vibration detection result is no. The continuous vibration difference threshold is the product of the continuous vibration detection threshold and the continuous vibration sensitivity.

[0067] Specifically, if yes, that is, the torque difference in the i-th period is greater than the preset continuous vibration difference threshold, it means that there is continuous vibration in the i-th period, so the continuous vibration detection result of the disturbance detection result is determined to be yes; if no, that is, the torque difference in the i-th period is less than or equal to the preset continuous vibration difference threshold, it means that there is no continuous vibration in the i-th period, so the continuous vibration detection result of the disturbance detection result is determined to be no.

[0068] Both the continuous vibration detection threshold and the continuous vibration sensitivity are constants. The continuous vibration sensitivity is a coefficient.

[0069] S313: Subtract the velocity vector of the motion vector in the (i-1)th period from the velocity vector of the motion vector in the i-th period to obtain the velocity difference in the i-th period;

[0070] Specifically, the velocity value of the velocity vector of the motion vector in the i-th period is subtracted from the velocity value of the velocity vector in the (i-1)-th period, and the resulting data is used as the velocity difference in the i-th period.

[0071] S314: Determine whether the velocity difference in the i-th period is greater than the preset velocity fluctuation difference threshold. If yes, determine that the velocity fluctuation detection result of the disturbance detection result is yes; otherwise, determine that the velocity fluctuation detection result is no. The velocity fluctuation difference threshold is the product of the velocity fluctuation detection threshold and the velocity fluctuation sensitivity.

[0072] Specifically, if the speed difference in the i-th period is greater than the preset speed fluctuation difference threshold, it means that there is speed fluctuation in the i-th period, so the speed fluctuation detection result of the disturbance detection result is determined to be yes; if the speed difference in the i-th period is less than or equal to the preset speed fluctuation difference threshold, it means that there is no speed fluctuation in the i-th period, so the speed fluctuation detection result of the disturbance detection result is determined to be no.

[0073] Both the velocity pulsation detection threshold and the velocity pulsation sensitivity are constants. The velocity pulsation sensitivity is a coefficient.

[0074] S315: Subtract the position vector of the motion vector in the i-th period from the position vector of the (i-1)-th period to obtain the position difference of the i-th period;

[0075] Specifically, the position value of the motion vector in the i-th period is subtracted from the position value of the position vector in the (i-1)-th period, and the resulting data is used as the position difference in the i-th period.

[0076] S316: Determine whether the position difference in the i-th period is greater than a preset residual vibration difference threshold. If yes, determine that the residual vibration detection result of the disturbance detection result is yes; otherwise, determine that the residual vibration detection result is no. The residual vibration difference threshold is the product of the residual vibration detection threshold and the residual vibration sensitivity.

[0077] Specifically, if yes, that is, the position difference of the i-th period is greater than the preset residual vibration difference threshold, it means that there is residual vibration in the i-th period, so the residual vibration detection result of the disturbance detection result is determined to be yes; if no, that is, the position difference of the i-th period is less than or equal to the preset residual vibration difference threshold, it means that there is no residual vibration in the i-th period, so the residual vibration detection result of the disturbance detection result is determined to be no.

[0078] Both the residual vibration detection threshold and the residual vibration sensitivity are constants. The residual vibration sensitivity is a coefficient.

[0079] This embodiment uses the product of the continuous vibration detection threshold and the continuous vibration sensitivity as the continuous vibration differential threshold, thereby improving the accuracy of the determined continuous vibration detection result. It also uses the product of the velocity pulsation detection threshold and the velocity pulsation sensitivity as the velocity pulsation differential threshold, thereby improving the accuracy of the determined velocity pulsation detection result. Finally, it uses the product of the residual vibration detection threshold and the residual vibration sensitivity as the residual vibration differential threshold, thereby improving the accuracy of the determined residual vibration detection result.

[0080] In one embodiment, the step of correcting the initial motion command of the motion damping model for the (i+1)th period based on the disturbance detection result to obtain the target motion command for the (i+1)th period includes:

[0081] S321: If the continuous vibration detection result of the disturbance detection result is yes, then a preset adaptive filter is used to calculate the vibration frequency based on the motion vector of the i-th period, and the initial motion command of the i+1-th period corresponding to the motion damping model is filtered based on the vibration frequency to obtain the first motion command of the i+1-th period.

[0082] Specifically, if the continuous vibration detection result of the disturbance detection result is yes, it means that there is continuous vibration in the i-th period, and the continuous vibration needs to be corrected. Therefore, a preset adaptive filter is used to calculate the vibration frequency based on the torque vector and velocity vector of the motion vector in the i-th period. Based on the vibration frequency, the initial motion command of the motion damping model in the i+1-th period is filtered to avoid vibration in the i+1-th period. Therefore, the initial motion command of the i+1-th period after the filtering process is taken as the first motion command of the i+1-th period.

[0083] An adaptive filter is a filter that uses an adaptive algorithm to change its parameters and structure in response to changes in the environment. Generally, the structure of the adaptive filter remains unchanged. The coefficients of the adaptive filter are time-varying coefficients updated by the adaptive algorithm. That is, its coefficients automatically and continuously adapt to a given signal to obtain the desired response.

[0084] The method for calculating the vibration frequency based on the torque vector and velocity vector of the motion vector in the i-th period can be selected from existing technologies and will not be elaborated here.

[0085] The method for filtering the initial motion command of the (i+1)th cycle corresponding to the motion damping model based on the vibration frequency can be selected from the prior art and will not be elaborated here.

[0086] S322: If the result of the continuous vibration detection is negative, then the initial motion command of the (i+1)th cycle corresponding to the motion damping model shall be taken as the first motion command of the (i+1)th cycle.

[0087] Specifically, if the result of the continuous vibration detection is negative, it means that there is no continuous vibration in the i-th period and no correction for continuous vibration is needed. Therefore, the initial motion command of the i+1-th period corresponding to the motion damping model is directly used as the first motion command of the i+1-th period.

[0088] S323: If the speed pulsation detection result of the disturbance detection result is yes, then generate a reverse torque pulsation according to the motion vector of the i-th cycle, and modify the first motion command of the i+1-th cycle to reduce the speed pulsation according to the reverse torque pulsation, so as to obtain the second motion command of the i+1-th cycle.

[0089] Specifically, if the speed pulsation detection result of the disturbance detection result is yes, it means that there is speed pulsation in the i-th cycle and speed pulsation correction is required. Therefore, based on the torque vector of the motion vector in the i-th cycle, a reverse torque pulsation is generated. Based on the reverse torque pulsation, the first motion command in the i+1-th cycle is corrected to reduce speed pulsation, so that the motor runs more smoothly in the i+1-th cycle. The first motion command in the i+1-th cycle after correction is used as the second motion command in the i+1-th cycle.

[0090] Based on the reverse torque pulsation, the first motion command in the (i+1)th cycle is corrected to reduce the speed pulsation, so as to achieve superimposed correction of speed pulsation using reverse torque pulsation.

[0091] S324: If the speed fluctuation detection result is negative, then the first motion command of the (i+1)th cycle is used as the second motion command of the (i+1)th cycle.

[0092] Specifically, if the speed pulsation detection result is negative, it means that there is no speed pulsation in the i-th cycle and no speed pulsation correction is needed. Therefore, the first motion command in the (i+1)-th cycle is directly used as the second motion command in the (i+1)-th cycle.

[0093] S325: If the residual vibration detection result of the disturbance detection result is yes, then obtain the gain mode identifier of the i-th cycle, and perform gain mode correction on the second motion command of the i+1-th cycle according to the gain mode identifier of the i-th cycle to obtain the target motion command of the i+1-th cycle.

[0094] Specifically, if the residual vibration detection result of the disturbance detection result is yes, it means that there is residual vibration in the i-th period and residual vibration correction is required. Therefore, the gain mode identifier of the i-th period is obtained, and a preset residual vibration correction method is adopted. Based on the gain mode identifier of the i-th period, the second motion command of the i+1-th period is corrected in gain mode, and the second motion command of the i+1-th period after the gain mode correction is completed is taken as the target motion command of the i+1-th period.

[0095] S326: If the residual vibration detection result is negative, then the second motion command of the (i+1)th cycle is taken as the target motion command of the (i+1)th cycle.

[0096] Specifically, if the residual vibration detection result is negative, it means that there is no residual vibration in the i-th cycle and no residual vibration correction is needed. Therefore, the second motion command in the (i+1)-th cycle is directly used as the target motion command in the (i+1)-th cycle.

[0097] This embodiment enables automatic real-time correction of continuous vibration, velocity pulsation, and residual vibration, thereby improving the stability of the strength training device and enhancing the effectiveness of strength training.

[0098] In one embodiment, the step of performing gain mode correction on the second motion command in the (i+1)th cycle based on the gain mode identifier of the i-th cycle to obtain the target motion command in the (i+1)th cycle includes:

[0099] S3251: If the gain mode identifier in the i-th cycle is the first mode identifier, then determine whether the absolute value of the torque command in the second motion command in the i+1-th cycle is greater than a preset first threshold, or whether the absolute value of the speed command in the second motion command in the i+1-th cycle is greater than a preset second threshold, or whether the change in the speed command in the second motion command in the i+1-th cycle is greater than a preset third threshold.

[0100] S3252: If yes, then the preset second mode identifier is used as the gain mode identifier in the target motion command of the (i+1)th cycle; otherwise, the first mode identifier is used as the gain mode identifier in the target motion command of the (i+1)th cycle.

[0101] Specifically, if the absolute value of the torque command in the second motion command of the (i+1)th cycle is greater than a preset first threshold, or the absolute value of the speed command in the second motion command of the (i+1)th cycle is greater than a preset second threshold, or the change in the speed command in the second motion command of the (i+1)th cycle is greater than a preset third threshold, then gain mode adjustment is required. Therefore, the preset second mode identifier is used as the gain mode identifier in the target motion command of the (i+1)th cycle. If not, if the absolute value of the torque command in the second motion command of the (i+1)th cycle is less than or equal to the preset first threshold, and the absolute value of the speed command in the second motion command of the (i+1)th cycle is less than or equal to the preset second threshold, and the change in the speed command in the second motion command of the (i+1)th cycle is less than or equal to the preset third threshold, then gain mode adjustment is not required. Therefore, the first mode identifier is used as the gain mode identifier in the target motion command of the (i+1)th cycle.

[0102] The change in speed command is the value of the speed command in cycle (i+1) minus the value of the speed command in cycle (i).

[0103] S3253: If the gain mode identifier in the i-th cycle is the second mode identifier, then determine whether the absolute value of the torque command in the second motion command in the (i+1)-th cycle is less than or equal to the first threshold, or whether the absolute value of the speed command in the second motion command in the (i+1)-th cycle is less than or equal to the second threshold, or whether the change in the speed command in the second motion command in the (i+1)-th cycle is less than or equal to the third threshold.

[0104] S3254: If yes, then the first mode identifier is used as the gain mode identifier in the target motion command of the (i+1)th cycle; otherwise, the second mode identifier is used as the gain mode identifier in the target motion command of the (i+1)th cycle.

[0105] The gain modes corresponding to the first mode identifier include: first velocity loop gain and first velocity loop integral time constant, and the gain modes corresponding to the second mode identifier include: second velocity loop gain and second velocity loop integral time constant.

[0106] Specifically, if the absolute value of the torque command in the second motion command of the (i+1)th cycle is less than or equal to the first threshold, or the absolute value of the speed command in the second motion command of the (i+1)th cycle is less than or equal to the second threshold, or the change in the speed command in the second motion command of the (i+1)th cycle is less than or equal to the third threshold, then gain mode adjustment is required. Therefore, the first mode identifier is used as the gain mode identifier in the target motion command of the (i+1)th cycle. If the absolute value of the torque command in the second motion command of the (i+1)th cycle is greater than the first threshold, and the absolute value of the speed command in the second motion command of the (i+1)th cycle is greater than the second threshold, and the change in the speed command in the second motion command of the (i+1)th cycle is greater than the third threshold, then gain mode adjustment is not required. Therefore, the second mode identifier is used as the gain mode identifier in the target motion command of the (i+1)th cycle.

[0107] During strength training, the first mode is used to identify the corresponding gain mode, and when strength training stops, the second mode is used to identify the corresponding gain mode.

[0108] The first and second velocity loop gains are both velocity loop gains. A larger velocity loop gain results in a faster response, but excessive velocity loop gain can cause oscillations.

[0109] Optionally, the values ​​of the first speed loop gain and the second speed loop gain are both in the range of 0Hz to 500Hz.

[0110] Optionally, the factory default value for the first speed loop gain is 100Hz. The factory default value for the second speed loop gain is 0Hz.

[0111] The integral time constants of both the first and second velocity loops are integral time constants of the velocity loops. A smaller integral time constant results in a stronger integral effect and a stronger speed tracking capability for the strength trainer; however, this needs to be coordinated with the velocity loop gain.

[0112] Optionally, the values ​​of the first velocity loop integral time constant and the second velocity loop integral time constant are both in the range of 0ms to 300ms.

[0113] Optionally, the factory default value for the integral time constant of the first speed loop is 20ms. The factory default value for the integral time constant of the second speed loop is 0ms.

[0114] This embodiment sets two gain levels. By adjusting the two gain levels, residual vibrations can be eliminated, which improves the stability of the strength trainer and enhances the effectiveness of strength training.

[0115] In one embodiment, the step of controlling the strength trainer to perform strength training according to the target motion command in the (i+1)th cycle includes:

[0116] S41: Control the strength trainer to perform strength training according to the torque command and the speed command in the target motion command of the (i+1)th cycle;

[0117] Specifically, the strength trainer is controlled to perform strength training according to the torque command and the speed command in the target motion command of the (i+1)th cycle, so as to achieve strength training according to the modified motion command.

[0118] S42: During strength training, according to a preset switching duration, the strength trainer is controlled to switch to the gain mode corresponding to the gain mode identifier in the target movement command of the (i+1)th cycle.

[0119] Specifically, during strength training, the strength trainer is controlled to switch to the gain mode corresponding to the gain mode identifier in the target movement command of the (i+1)th cycle according to the preset switching time, thereby achieving the switching of gain mode by changing the slope and avoiding direct switching of gain mode.

[0120] This embodiment enables strength training based on modified exercise instructions, and switches the gain mode gradually by switching the duration of the switch, avoiding the discomfort caused by sudden changes in the gain mode and further improving the effectiveness of strength training.

[0121] In one embodiment, the above-mentioned motion damping model adopts formula M. d The expression is as follows:

[0122]

[0123] Where F[L(t), v(t), M] is the target damping force obtained based on the cable extension length of the strength trainer, the current training speed, and the application mode, t dThis refers to the duration of the damping force of the strength trainer during the current training round. Calculate the integral over F[L(t), v(t), M], where M is the integral over F[L(t), v(t), M]. d The motion damping in a training round;

[0124] The application mode is any one of the following: constant force mode, centripetal mode, centrifugal mode, rowing mode, spring mode, and free mode;

[0125] In the constant force mode, the damping force of the stretching motion and the damping force of the contraction motion of the strength trainer during strength training are both constant force damping forces.

[0126] In the centripetal mode, the damping force of the stretching motion of the strength trainer during strength training is the constant damping force, and the damping force of the contraction motion of the strength trainer during strength training is the constant damping force multiplied by a preset target centripetal rate, wherein the target centripetal rate is a value that is greater than a preset first value and less than 1.

[0127] In the eccentric mode, the damping force of the stretching motion of the strength trainer during strength training is the constant damping force, and the damping force of the contraction motion of the strength trainer during strength training is the constant damping force multiplied by a preset target eccentricity, wherein the target eccentricity is greater than 1 and less than a preset second value.

[0128] In the rowing mode, the damping force of the stretching motion of the strength trainer during strength training is the constant damping force multiplied by the preset target constant rate, and the damping force of the contraction motion of the strength trainer during strength training is the constant damping force.

[0129] In the spring mode, the damping force of the stretching motion and the damping force of the contraction motion of the strength trainer during strength training are both the constant damping force multiplied by the preset target isochronous ratio.

[0130] The free mode is a mode obtained by combining at least two application modes from the constant force mode, the centripetal mode, the centrifugal mode, the rowing mode, and the spring mode.

[0131] Specifically, motion damping is a comprehensive reflection of the following factors: damping force setpoint, damping force compensation value, training round time, regression speed, and application mode. The sum of the damping force setpoint and the damping force compensation value is called the damping force. A servo geared motor is used as the variable damping.

[0132] The formula for calculating the damping force setpoint F is: The damping force setting is the most important part of motion damping. It is the resistance generated at the end of the strength trainer after the output torque T of the servo motor passes through the mechanical transmission components. In the formula, k is the reduction ratio of the servo motor's reducer, n is the transmission efficiency of the reducer, R is the radius of the double-threaded 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 directly proportional to the output torque T of the servo motor.

[0133] The damping force compensation value is the compensation force for losses such as friction during the entire transmission process. Based on the measurement and statistical results, it is set to a certain fixed value.

[0134] Training round time refers to the duration of the damping force of the strength trainer during the current training round. Training round time is the amount of time a trainee maintains the resistance during a single training round.

[0135] The regression speed is the actual speed of the contraction process of the training device; the regression speed limit value is the speed limit value of the contraction process of the strength training device. The regression speed must be less than or equal to the regression speed limit value; the smaller the regression speed limit value, the longer the actual contraction time. The stretching speed is the actual speed of the stretching process, which is independent of the regression speed limit value and reflects the trainee's pulling acceleration. The regression speed and stretching speed are combined into a single training speed.

[0136] Optionally, the first value is set to 0.3.

[0137] Optionally, the second value is set to 3.

[0138] Optionally, the target constant rate can be calculated using the formula S1 = (1 + V1 / V0), where V1 is the actual stretching speed and V0 is the preset reference speed. It is understood that the preset reference speed is a constant.

[0139] Optionally, the target equal length ratio can be calculated using the formula S2 = (1 + L1 / L0), where L1 is the actual length of the rope pulled out, and L0 is the preset baseline length pulled out. It is understood that the preset baseline length pulled out is a constant.

[0140] This embodiment adjusts the motion damping model by changing the application mode to meet personalized strength training needs; by using the cumulative damping force of the strength trainer over time within a training round as the motion damping, the damping is adjustable, which is beneficial for the strength trainer to output high-precision and high-response motion damping.

[0141] In one embodiment, before the step of obtaining the motion vector of the servo motor of the servo geared motor of the strength trainer according to the preset period configuration in the i-th period, the following steps are included:

[0142] S11: Obtain the model learning request;

[0143] Specifically, it can obtain model learning requests from users via buttons on mobile devices or strength trainers, or it can obtain model learning requests from third-party applications.

[0144] A model learning request is a request to learn a motion damping model.

[0145] S12: In response to the model learning request, a preset initial damping force is used as the training damping force. The strength trainer is controlled to perform constant force strength training according to the training damping force, and the first motion data of the strength trainer is obtained. The training damping force is adjusted according to the first motion data and the preset constant force motion data. The step of controlling the strength trainer to perform constant force strength training according to the training damping force is repeated until a first training failure signal is obtained. The training damping force before the last adjustment is used as the constant force damping force.

[0146] Specifically, in response to the model learning request, a preset initial damping force is used as the training damping force, thereby avoiding learning from zero damping force and improving learning efficiency. The strength trainer is controlled to perform constant-force strength training based on the training damping force, and the motion data of the strength trainer is acquired in real time as the first motion data. During constant-force strength training, both the stretching and contraction damping forces of the strength trainer are used as training damping forces. The first motion data is compared with the preset constant-force motion data, and the training damping force is adjusted so that the next redefined first motion data approaches the preset constant-force motion data. The steps of constant-force strength training and adjusting the training damping force are repeated until a first training failure signal is obtained. Therefore, the last constant-force strength training session is a failed training session. Thus, the training damping force before the last adjustment is used as the constant-force damping force, ensuring that the constant-force damping force is a damping force that the trainee subjectively perceives as appropriate.

[0147] The first training failure signal is generated when the trainee fails to pull the rope of the strength training machine during constant force strength training.

[0148] Motion data includes, but is not limited to: the relationship between servo motor speed and time, the relationship between servo motor torque and time, stretch length, and training round time.

[0149] S13: Using the preset initial centripetal rate as the training centripetal rate, controlling the strength trainer to perform centripetal strength training according to the training centripetal rate and the constant damping force, and acquiring the second motion data of the strength trainer, adjusting the training centripetal rate according to the second motion data and the preset centripetal motion data, and repeating the step of controlling the strength trainer to perform centripetal strength training according to the training centripetal rate and the constant damping force until a second training failure signal is acquired, and taking the training centripetal rate before the last adjustment as the target centripetal rate;

[0150] Specifically, a preset initial concentric rate is used as the training concentric rate, thus avoiding learning from a zero concentric rate and improving learning efficiency. The strength trainer is controlled to perform concentric strength training based on the training concentric rate and the constant damping force. The movement data of the strength trainer is acquired in real time as the second movement data. During concentric strength training, the damping force of the stretching movement of the strength trainer is the constant damping force, and the damping force of the contraction movement is the constant damping force multiplied by the training concentric rate. The second movement data is compared with the preset concentric movement data, and the training concentric rate is adjusted so that the next redefined second movement data approaches the preset concentric movement data. The steps of concentric strength training and adjusting the training concentric rate are repeated until a second training failure signal is obtained. Therefore, the last concentric strength training session is a failed training session. Thus, the training concentric rate before the last adjustment is taken as the target concentric rate, ensuring that the trainee's subjective feeling is appropriate at the target concentric rate.

[0151] The second training failure signal is generated when the trainee fails to pull the rope of the strength training machine during concentric strength training.

[0152] S14: Using the preset initial eccentricity as the training eccentricity, controlling the strength trainer to perform eccentric strength training according to the training eccentricity and the constant damping force, and acquiring the third motion data of the strength trainer, adjusting the training eccentricity according to the third motion data and the preset eccentric motion data, repeating the step of controlling the strength trainer to perform eccentric strength training according to the training eccentricity and the constant damping force until a third training failure signal is acquired, and using the training eccentricity before the last adjustment as the target eccentricity;

[0153] Specifically, a preset initial eccentricity is used as the training eccentricity, thus avoiding learning from 0 eccentricity and improving learning efficiency. The strength trainer is controlled to perform eccentric strength training based on the training eccentricity and the constant damping force. The movement data of the strength trainer is acquired in real time as the third movement data. During eccentric strength training, the damping force of the stretching movement of the strength trainer is the constant damping force, and the damping force of the contraction movement is the constant damping force multiplied by the training eccentricity. The third movement data is compared with the preset eccentric movement data, and the training eccentricity is adjusted so that the next redefined third movement data approaches the preset eccentric movement data. The steps of eccentric strength training and adjusting the training eccentricity are repeated until a third training failure signal is obtained. Therefore, the last eccentric strength training session is a failed training session. Thus, the training eccentricity before the last adjustment is used as the target eccentricity, ensuring that the trainee's subjective feeling is appropriate at the target eccentricity.

[0154] The third training failure signal is generated when the trainee fails to pull the rope of the strength training machine during eccentric strength training.

[0155] S15: Using the preset initial isokinetic speed as the training isokinetic speed, controlling the strength trainer to perform rowing strength training according to the training isokinetic speed and the constant damping force, and acquiring the fourth motion data of the strength trainer, adjusting the training isokinetic speed according to the fourth motion data and the preset isokinetic motion data, and repeating the step of controlling the strength trainer to perform rowing strength training according to the training isokinetic speed and the constant damping force until the fourth training failure signal is acquired, and taking the training isokinetic speed before the last adjustment as the target isokinetic speed;

[0156] Specifically, a preset initial isokinetic rate is used as the training isokinetic rate, thus avoiding learning from a rate of 0 and improving learning efficiency. The strength training device is controlled to perform rowing strength training based on the training isokinetic rate and the constant damping force. The motion data of the strength training device is acquired in real time as the fourth motion data. During rowing strength training, the damping force of the stretching motion of the strength training device is the constant damping force multiplied by the training isokinetic rate, and the damping force of the contraction motion of the strength training device is the constant damping force. The fourth motion data is compared with the preset isokinetic motion data, and the training isokinetic rate is adjusted so that the next redefined fourth motion data approaches the preset isokinetic motion data. The steps of rowing strength training and adjusting the training isokinetic rate are repeated until a second training failure signal is obtained. Therefore, the last rowing strength training session is a failed training session. Thus, the training isokinetic rate before the last adjustment is used as the target isokinetic rate, ensuring that the trainee feels comfortable at the target isokinetic rate.

[0157] The fourth training failure signal is generated when the trainee fails to pull the rope of the strength training machine during rowing strength training.

[0158] S16: Using the preset initial isometric ratio as the training isometric ratio, control the strength trainer to perform spring strength training according to the training isometric ratio and the constant force damping force, and obtain the fifth motion data of the strength trainer. Based on the fifth motion data and the preset isometric motion data, adjust the training isometric ratio. Repeat the step of controlling the strength trainer to perform spring strength training according to the training isometric ratio and the constant force damping force until the fifth training failure signal is obtained. Use the training isometric ratio before the last adjustment as the target isometric ratio.

[0159] Specifically, a preset initial isometric ratio is used as the training isometric ratio, thus avoiding learning from a 0 isometric ratio and improving learning efficiency. The strength trainer is controlled to perform spring strength training based on the training isometric ratio and the constant damping force. The movement data of the strength trainer is acquired in real time as the fifth movement data. During spring strength training, the damping force of the stretching movement of the strength trainer is the constant damping force multiplied by the training isometric ratio, and the damping force of the contraction movement is also the constant damping force multiplied by the training isometric ratio. The fifth movement data is compared with the preset isometric movement data, and the training isometric ratio is adjusted so that the next redefined fifth movement data approaches the preset isometric movement data. The steps of spring strength training and adjusting the training isometric ratio are repeated until a second training failure signal is obtained. Therefore, the last spring strength training is a failed training session. Thus, the training isometric ratio before the last adjustment is used as the target isometric ratio, ensuring that the trainee's subjective feeling is appropriate at the target isometric ratio.

[0160] The fifth training failure signal is generated when the trainee fails to pull the rope of the strength training device during spring strength training.

[0161] This embodiment achieves automated learning of the trainee's constant damping force, target centripetal rate, target eccentric rate, target isotropic rate, and target isometric rate based on the model learning request, thereby learning the trainee's unique motion damping model. This provides a foundation for controlling the strength trainer to output high-precision, high-response, and adjustable motion damping when performing strength training based on the motion damping model.

[0162] like Figure 3 As shown, in one embodiment, a motion self-correction device for a strength trainer is provided, the device comprising:

[0163] The motion vector acquisition module 801 is used to acquire the motion vector of the servo motor of the servo reduction motor of the strength trainer in the i-th cycle according to the preset cycle configuration, and to determine whether the i-th cycle is a cycle after the first cycle, wherein the i-th cycle is the current cycle.

[0164] The first motion command determination module 802 is used to take the initial motion command of the (i+1)th cycle corresponding to the preset motion damping model as the target motion command of the (i+1)th cycle if the i-th cycle is not a cycle after the first cycle.

[0165] The second motion command determination module 803 is used to perform disturbance detection based on the motion vector of the i-th period and the motion vector of the (i-1)-th period if the i-th period is a period after the 1-th period, to obtain a disturbance detection result, and to correct the initial motion command of the (i+1)-th period corresponding to the motion damping model based on the disturbance detection result, so as to obtain the target motion command of the (i+1)-th period.

[0166] The loop control module 804 is used to control the strength trainer to perform strength training according to the target motion command in the (i+1)th cycle. The step of obtaining the motion vector of the servo motor of the servo reduction motor of the strength trainer in the i-th cycle according to the preset cycle configuration is repeated until the training end signal is obtained.

[0167] In this embodiment, when the i-th period is a period after the first period, disturbance detection is performed based on the motion vector of the i-th period and the motion vector of the (i-1)-th period to obtain the disturbance detection result. Based on the disturbance detection result, the initial motion command of the (i+1)-th period corresponding to the motion damping model is corrected to obtain the target motion command of the (i+1)-th period. This achieves automatic real-time correction of disturbances, improves the stability of the strength trainer, and enhances the effectiveness of strength training. It also enables the strength trainer to perform strength training based on the motion damping model, allowing the strength trainer to output high-precision, high-response, and adjustable motion damping.

[0168] In one embodiment, a strength training device is provided, including a memory and a processor, the memory storing a computer program that, when executed by the processor, causes the processor to perform the following steps:

[0169] According to the preset cycle configuration, obtain the motion vector of the servo motor of the servo reduction motor of the strength trainer in the i-th cycle, and determine whether the i-th cycle is a cycle after the first cycle, where the i-th cycle is the current cycle.

[0170] If not, the initial motion command of the (i+1)th cycle corresponding to the preset motion damping model will be used as the target motion command of the (i+1)th cycle.

[0171] If so, then disturbance detection is performed based on the motion vector of the i-th period and the motion vector of the (i-1)-th period to obtain the disturbance detection result. Based on the disturbance detection result, the initial motion command of the (i+1)-th period corresponding to the motion damping model is corrected to obtain the target motion command of the (i+1)-th period.

[0172] According to the target motion command in the (i+1)th cycle, the strength trainer is controlled to perform strength training. i is incremented by 1, and the step of obtaining the motion vector of the servo motor of the servo reduction motor of the strength trainer in the ith cycle according to the preset cycle configuration is repeated until the training end signal is obtained.

[0173] In this embodiment, when the i-th period is a period after the first period, disturbance detection is performed based on the motion vector of the i-th period and the motion vector of the (i-1)-th period to obtain the disturbance detection result. Based on the disturbance detection result, the initial motion command of the (i+1)-th period corresponding to the motion damping model is corrected to obtain the target motion command of the (i+1)-th period. This achieves automatic real-time correction of disturbances, improves the stability of the strength trainer, and enhances the effectiveness of strength training. It also enables the strength trainer to perform strength training based on the motion damping model, allowing the strength trainer to output high-precision, high-response, and adjustable motion damping.

[0174] In one embodiment, a computer-readable storage medium is provided storing a computer program that, when executed by a processor, causes the processor to perform the following steps:

[0175] According to the preset cycle configuration, obtain the motion vector of the servo motor of the servo reduction motor of the strength trainer in the i-th cycle, and determine whether the i-th cycle is a cycle after the first cycle, where the i-th cycle is the current cycle.

[0176] If not, the initial motion command of the (i+1)th cycle corresponding to the preset motion damping model will be used as the target motion command of the (i+1)th cycle.

[0177] If so, then disturbance detection is performed based on the motion vector of the i-th period and the motion vector of the (i-1)-th period to obtain the disturbance detection result. Based on the disturbance detection result, the initial motion command of the (i+1)-th period corresponding to the motion damping model is corrected to obtain the target motion command of the (i+1)-th period.

[0178] According to the target motion command in the (i+1)th cycle, the strength trainer is controlled to perform strength training. i is incremented by 1, and the step of obtaining the motion vector of the servo motor of the servo reduction motor of the strength trainer in the ith cycle according to the preset cycle configuration is repeated until the training end signal is obtained.

[0179] In this embodiment, when the i-th period is a period after the first period, disturbance detection is performed based on the motion vector of the i-th period and the motion vector of the (i-1)-th period to obtain the disturbance detection result. Based on the disturbance detection result, the initial motion command of the (i+1)-th period corresponding to the motion damping model is corrected to obtain the target motion command of the (i+1)-th period. This achieves automatic real-time correction of disturbances, improves the stability of the strength trainer, and enhances the effectiveness of strength training. It also enables the strength trainer to perform strength training based on the motion damping model, allowing the strength trainer to output high-precision, high-response, and adjustable motion damping.

[0180] Those skilled in the art will understand that all or part of the processes in the above embodiments can be implemented by a computer program instructing related hardware. The program can be stored in a non-volatile computer-readable storage medium, and when executed, it can include the processes of the embodiments described above. Any references to memory, storage, databases, or other media used in the embodiments provided in this application can include non-volatile and / or volatile memory. Non-volatile memory can include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM), or flash memory. Volatile memory can include random access memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in various forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), dual data rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous link DRAM (SLDRAM), RAMbus direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and RAMbus dynamic RAM (RDRAM), etc.

[0181] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0182] The embodiments described above are merely illustrative of several implementation methods of this application, and while the descriptions are specific and detailed, they should not be construed as limiting the scope of this patent application. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this patent application should be determined by the appended claims.

Claims

1. A method for motion self-correction of a strength training device, the method comprising: According to the preset cycle configuration, obtain the motion vector of the servo motor of the servo reduction motor of the strength trainer in the i-th cycle, and determine whether the i-th cycle is a cycle after the first cycle, where the i-th cycle is the current cycle. If not, the initial motion command of the (i+1)th cycle corresponding to the preset motion damping model will be used as the target motion command of the (i+1)th cycle. If so, then perturbation detection is performed based on the motion vector of the i-th cycle and the motion vector of the (i-1)-th cycle. The perturbation refers to the disturbance of the strength trainer during strength training. The perturbation of the strength trainer during strength training is detected to obtain the perturbation detection result. Based on the perturbation detection result, the initial motion command of the (i+1)-th cycle corresponding to the motion damping model is corrected to obtain the target motion command of the (i+1)-th cycle. The motion damping model uses formula M. d The expression is as follows: ； Where F[L(t),v(t),M] is the target damping force obtained based on the cable extension length of the strength trainer, the current training speed, and the application mode, t d This refers to the duration of the damping force of the strength trainer during the current training round. Calculate the integral over F[L(t), v(t), M], where M is the integral over F[L(t), v(t), M]. d The motion damping in a training round; According to the target motion command in the (i+1)th cycle, the strength trainer is controlled to perform strength training. i is incremented by 1, and the step of obtaining the motion vector of the servo motor of the servo reduction motor of the strength trainer in the ith cycle according to the preset cycle configuration is repeated until the training end signal is obtained. The step of detecting disturbances based on the motion vectors of the i-th period and the (i-1)-th period, where the disturbance refers to the disturbances of the strength trainer during strength training, and detecting the disturbances of the strength trainer during strength training to obtain the disturbance detection result, includes: Subtract the torque vector of the (i-1)th cycle from the torque vector of the motion vector of the i-th cycle to obtain the torque difference of the i-th cycle; Determine whether the torque difference in the i-th period is greater than a preset continuous vibration difference threshold. If it is, then determine that the continuous vibration detection result of the disturbance detection result is yes; otherwise, determine that the continuous vibration detection result is no. The continuous vibration difference threshold is the product of the continuous vibration detection threshold and the continuous vibration sensitivity. Subtract the velocity vector of the motion vector in the i-th period from the velocity vector of the (i-1)-th period to obtain the velocity difference of the i-th period; Determine whether the velocity difference in the i-th period is greater than a preset velocity fluctuation difference threshold. If yes, then determine that the velocity fluctuation detection result of the disturbance detection result is yes; otherwise, determine that the velocity fluctuation detection result is no. The velocity fluctuation difference threshold is the product of the velocity fluctuation detection threshold and the velocity fluctuation sensitivity. Subtract the position vector of the motion vector in the i-th period from the position vector of the (i-1)-th period to obtain the position difference of the i-th period; Determine whether the position difference in the i-th period is greater than a preset residual vibration difference threshold. If yes, then determine that the residual vibration detection result of the disturbance detection result is yes; otherwise, determine that the residual vibration detection result is no. The residual vibration difference threshold is the product of the residual vibration detection threshold and the residual vibration sensitivity.

2. The motion self-correction method for the strength training device according to claim 1, characterized in that, The step of correcting the initial motion command of the motion damping model for the (i+1)th period based on the disturbance detection result to obtain the target motion command for the (i+1)th period includes: If the continuous vibration detection result of the disturbance detection result is yes, then a preset adaptive filter is used to calculate the vibration frequency based on the motion vector of the i-th period. Based on the vibration frequency, the initial motion command of the i+1-th period corresponding to the motion damping model is filtered to obtain the first motion command of the i+1-th period. If the result of the continuous vibration detection is negative, then the initial motion command of the (i+1)th cycle corresponding to the motion damping model is taken as the first motion command of the (i+1)th cycle. If the speed pulsation detection result of the disturbance detection result is yes, then a reverse torque pulsation is generated according to the motion vector of the i-th cycle, and the first motion command of the i+1-th cycle is corrected to reduce the speed pulsation according to the reverse torque pulsation to obtain the second motion command of the i+1-th cycle. If the speed fluctuation detection result is negative, then the first motion command of the (i+1)th cycle is used as the second motion command of the (i+1)th cycle. If the residual vibration detection result of the disturbance detection result is yes, then the gain mode identifier of the i-th cycle is obtained, and the gain mode of the second motion command of the i+1-th cycle is corrected according to the gain mode identifier of the i-th cycle to obtain the target motion command of the i+1-th cycle. If the residual vibration detection result is negative, then the second motion command of the (i+1)th cycle is taken as the target motion command of the (i+1)th cycle.

3. The motion self-correction method for the strength training device according to claim 1, characterized in that, The application mode is any one of the following: constant force mode, centripetal mode, centrifugal mode, rowing mode, and spring mode. In the constant force mode, the damping force of the stretching motion and the damping force of the contraction motion of the strength trainer during strength training are both constant force damping forces. In the centripetal mode, the damping force of the stretching motion of the strength trainer during strength training is the constant damping force, and the damping force of the contraction motion of the strength trainer during strength training is the constant damping force multiplied by a preset target centripetal rate, wherein the target centripetal rate is a value that is greater than a preset first value and less than 1. In the eccentric mode, the damping force of the stretching motion of the strength trainer during strength training is the constant damping force, and the damping force of the contraction motion of the strength trainer during strength training is the constant damping force multiplied by a preset target eccentricity, wherein the target eccentricity is greater than 1 and less than a preset second value. In the rowing mode, the damping force of the stretching motion of the strength trainer during strength training is the constant damping force multiplied by the preset target constant rate, and the damping force of the contraction motion of the strength trainer during strength training is the constant damping force. In the spring mode, the damping force of the stretching motion and the damping force of the contraction motion of the strength trainer during strength training are both calculated by multiplying the constant force damping force by the preset target isochronous ratio.

4. The motion self-correction method for the strength training device according to claim 3, characterized in that, Before the step of obtaining the motion vector of the servo motor of the servo reduction motor of the strength trainer in the i-th period according to the preset period configuration, the following steps are included: Get the model learning request; In response to the model learning request, a preset initial damping force is used as the training damping force, and the training damping force is then used to... Control the strength trainer to perform constant force strength training and acquire the first motion data of the strength trainer. Based on the first motion data and the preset constant force motion data, adjust the training damping force. Repeat the step of controlling the strength trainer to perform constant force strength training based on the training damping force until the first training failure signal is acquired. Use the training damping force before the last adjustment as the constant force damping force. The preset initial centripetal rate is used as the training centripetal rate. The strength trainer is controlled to perform centripetal strength training based on the training centripetal rate and the constant damping force. The second motion data of the strength trainer is acquired. The training centripetal rate is adjusted based on the second motion data and the preset centripetal motion data. The steps of controlling the strength trainer to perform centripetal strength training based on the training centripetal rate and the constant damping force are repeated until a second training failure signal is acquired. The training centripetal rate before the last adjustment is taken as the target centripetal rate. Using a preset initial eccentricity as the training eccentricity, the strength trainer is controlled to perform eccentric strength training based on the training eccentricity and the constant damping force. Third motion data of the strength trainer is acquired. Based on the third motion data and preset eccentric motion data, the training eccentricity is adjusted. This process is repeated until a third training failure signal is obtained. The training eccentricity before the last adjustment is then taken as the target eccentricity. Using a preset initial isokinetic rate as the training isokinetic rate, the strength trainer is controlled to perform rowing strength training based on the training isokinetic rate and the constant damping force. Fourth motion data of the strength trainer is acquired. Based on the fourth motion data and preset isokinetic motion data, the training isokinetic rate is adjusted. This process is repeated until a fourth training failure signal is obtained. The training isokinetic rate before the last adjustment is then taken as the target isokinetic rate. The preset initial isometric ratio is used as the training isometric ratio. The strength trainer is controlled to perform spring strength training based on the training isometric ratio and the constant damping force. The fifth motion data of the strength trainer is obtained. Based on the fifth motion data and the preset isometric motion data, the training isometric ratio is adjusted. The step of controlling the strength trainer to perform spring strength training based on the training isometric ratio and the constant damping force is repeated until the fifth training failure signal is obtained. The training isometric ratio before the last adjustment is used as the target isometric ratio.

5. A motion self-correction device for a strength training machine, characterized in that, A method for motion self-correction of a strength trainer according to any one of claims 1 to 4, the apparatus comprising: The motion vector acquisition module is used to acquire the motion vector of the servo motor of the servo reduction motor of the strength trainer in the i-th cycle according to the preset cycle configuration, and to determine whether the i-th cycle is a cycle after the first cycle, where the i-th cycle is the current cycle. The first motion command determination module is used to take the initial motion command of the (i+1)th cycle corresponding to the preset motion damping model as the target motion command of the (i+1)th cycle if the i-th cycle is not a cycle after the first cycle. The second motion command determination module is used to perform disturbance detection based on the motion vector of the i-th period and the motion vector of the (i-1)-th period if the i-th period is a period after the 1-th period, to obtain a disturbance detection result, and to correct the initial motion command of the (i+1)-th period corresponding to the motion damping model based on the disturbance detection result, so as to obtain the target motion command of the (i+1)-th period. The loop control module is used to control the strength trainer to perform strength training according to the target motion command in the (i+1)th cycle. The step of obtaining the motion vector of the servo motor of the servo reduction motor of the strength trainer in the i-th cycle according to the preset cycle configuration is repeated until the training end signal is obtained.

6. A computer-readable storage medium storing a computer program that, when executed by a processor, causes the processor to perform the steps of the method as claimed in any one of claims 1 to 4.

7. A strength training device, comprising a memory and a processor, the memory storing a computer program that, when executed by the processor, causes the processor to perform the steps of the method as claimed in any one of claims 1 to 4.

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