Control method and device of strength training apparatus, strength training apparatus, and storage medium

Abstract

Embodiments of the present application disclose a control method and device of a strength trainer, the strength trainer and a storage medium, wherein the method comprises: controlling the strength trainer to perform a return-to-origin movement according to a return-to-origin instruction to obtain a return-to-origin result; if the return-to-origin result is successful, controlling the strength trainer to enter a point-of-origin unloading state; and controlling the strength trainer to perform a stretching movement or a contraction movement according to a preset application mode configuration, a preset in-point-of-origin threshold, a preset out-point-of-origin threshold and the point-of-origin unloading state until a training stop signal is obtained, wherein the in-point-of-origin threshold is less than or equal to the out-point-of-origin threshold. Thus, the strength trainer is controlled to perform strength training in combination with a mechanical structure and the method of the present application, the accuracy of the strength training is improved, and the response time is shortened.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of strength trainer control, and in particular to a strength trainer control method and device, a strength trainer and a storage medium. BACKGROUND

[0002] Life lies in movement, and sports injuries also need appropriate rehabilitation training. With the development of urbanization, outdoor sports have higher requirements for venues, weather and individuals, and indoor sports and rehabilitation training are developing rapidly, followed by the vigorous development of various indoor fitness and rehabilitation exercise equipment. Strength training is a kind of indoor sports, which exercises human muscles and bones with the help of a strength trainer. The existing strength trainer is a pure mechanical mode, which realizes strength training through mechanical devices such as springs, pulleys, gears, belts, chains and counterweights. However, the precision of pure mechanical strength training is not high, and the response time is long, which affects the effect of strength training. SUMMARY

[0003] Therefore, it is necessary to propose a strength trainer control method and device, a strength trainer and a storage medium to solve the technical problems of low precision and long response time of the pure mechanical strength training.

[0004] A strength trainer control method, the method comprising:

[0005] According to the obtained return-to-origin instruction, the strength trainer is controlled to perform a return-to-origin movement, and a return-to-origin result is obtained;

[0006] If the return-to-origin result is successful, the strength trainer is controlled to enter a zero-point unloading state;

[0007] According to the preset application mode configuration, the preset in-range threshold value, the preset out-of-range threshold value and the zero-point unloading state, the strength trainer is controlled to perform a stretching movement or a contraction movement until a training stop signal is obtained, wherein the in-range threshold value is less than or equal to the out-of-range threshold value.

[0008] Further, the step of controlling the strength trainer to perform a return-to-origin movement according to the obtained return-to-origin instruction to obtain a return-to-origin result comprises:

[0009] According to the obtained return-to-origin instruction, the strength trainer is controlled to enter a return-to-origin state, and according to the return-to-origin state, the strength trainer is controlled to enter a return-to-origin preparation sub-state;

[0010] Based on the return-to-origin preparation sub-state, the strength trainer is controlled to output according to the preset return-to-origin torque configuration and the preset return-to-origin speed configuration, so that the pull rope of the strength trainer can be pulled;

[0011] If the actual rotating speed of the strength trainer does not increase, when the duration of the back-to-origin preparation sub-state reaches a preset first back-to-origin waiting duration, the current pull-out length of the pull rope of the strength trainer is taken as the origin position, and the back-to-origin result is determined as successful.

[0012] If the actual rotating speed of the strength trainer increases, when the duration of the back-to-origin preparation sub-state reaches a preset second back-to-origin waiting duration, and if the actual rotating speed of the strength trainer does not reach a preset first rotating speed threshold, the current pull-out length of the pull rope of the strength trainer is taken as the origin position, and the back-to-origin result is determined as successful, wherein the first rotating speed threshold is less than the back-to-origin rotating speed configuration, and the second back-to-origin waiting duration is greater than or equal to the first back-to-origin waiting duration.

[0013] If the actual rotating speed of the strength trainer increases, when the duration of the back-to-origin preparation sub-state is less than the second back-to-origin waiting duration, and the actual rotating speed of the strength trainer reaches the first rotating speed threshold, the strength trainer is controlled to enter a speed increase sub-state, and based on the speed increase sub-state, it is determined whether the actual rotating speed of the strength trainer is less than a preset second rotating speed threshold, wherein the second rotating speed threshold is less than the first rotating speed threshold.

[0014] If yes, the strength trainer is controlled to enter a speed decrease sub-state, and it is determined whether the duration of the speed decrease sub-state is greater than a preset first duration.

[0015] If yes, the strength trainer is controlled to enter a position stabilization sub-state, and it is determined whether the duration of the position stabilization sub-state is greater than a preset second duration.

[0016] If yes, the current pull-out length of the pull rope of the strength trainer is taken as the origin position, and the back-to-origin result is determined as successful.

[0017] Further, the step of controlling the strength trainer to perform the stretching movement or the contraction movement according to the preset application mode configuration, the preset in-origin range threshold, the preset out-of-origin range threshold, and the origin unloading state comprises:

[0018] In the origin unloading state, the pull-out length of the pull rope of the strength trainer is acquired in real time as a first pull-out length, and it is determined whether the first pull-out length is greater than the out-of-origin range threshold, if yes, the strength trainer is controlled to enter a stretching state.

[0019] control the strength trainer to perform a stretching movement based on the application mode configuration and the stretching state, and in the stretching state, acquire the pulling length of the pulling rope as a second pulling length in real time, and if the change trend of the second pulling length is decreasing or unchanged, control the strength trainer to enter a contraction state;

[0020] control the strength trainer to perform a contraction movement based on the application mode configuration and the contraction state, and in the contraction state, acquire the pulling length of the pulling rope as a third pulling length in real time;

[0021] If the third pulling length is greater than or equal to the threshold value within the original point range, and the change trend of the third pulling length is increasing, control the strength trainer to enter a stretching state, and repeat the step of controlling the strength trainer to perform a stretching movement based on the application mode configuration and the stretching state;

[0022] If the third pulling length is less than the threshold value within the original point range, control the strength trainer to enter the original point unloading state, and repeat the step of acquiring the pulling length of the pulling rope of the strength trainer as a first pulling length in real time in the original point unloading state.

[0023] Further, before the step of controlling the strength trainer to perform a return-to-original movement according to the acquired return-to-original instruction to obtain a return-to-original result, the method further comprises:

[0024] acquiring a power-on initialization completion signal;

[0025] in response to the power-on initialization completion signal, determining whether there is an alarm signal;

[0026] If not, control the strength trainer to enter a preparation completion state;

[0027] If so, control the strength trainer to enter an alarm state, clear each of the alarm signals according to the alarm state and a preset alarm clearing configuration to obtain a clearing result, if the clearing result is successful, control the strength trainer to enter the preparation completion state, and if the clearing result is failed, control the strength trainer to perform power-off;

[0028] determine the return-to-original instruction according to the preparation completion state.

[0029] Further, the application mode configuration includes any one of a constant force mode, a concentric mode, an eccentric mode, a rowing mode, a spring mode, and a custom mode, wherein the constant force mode, the concentric mode, the eccentric mode, the rowing mode, the spring mode, and the custom mode are application modes based on stretching damping force and contraction damping force.

[0030] Further, the self-defined mode is a model 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 according to a pull-out length of a pull rope of the strength trainer, or a model 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 according to a training time length.

[0031] Further, the strength trainer comprises a servo deceleration motor, a pull rope, a support frame, a nut, a double-threaded rod component and a connecting rod.

[0032] The servo deceleration motor comprises a rotary motor and a deceleration machine, and an output shaft of the rotary motor is connected with an input shaft of the deceleration machine.

[0033] An output shaft of the deceleration machine is connected with the connecting rod, the connecting rod is arranged in a hollow hole of a first outer threaded rod of the double-threaded rod component, a bottom end of the nut is installed on the support frame, a free end of the first outer threaded rod is rotatably arranged in the nut, the pull rope is wound around an outer periphery of a second outer threaded rod of the double-threaded rod component, the second outer threaded rod is arranged on the outer periphery of the first outer threaded rod coaxially, and the second outer threaded rod and the first outer threaded rod are installed on the same face of a bottom plate of the double-threaded rod component.

[0034] A calculation formula L of the pull-out length of the pull rope is:

[0035]

[0036] Wherein, p is a total feedback position of the rotary motor at present minus a total feedback position corresponding to an original position of the rotary motor, ppr is a feedback position of one rotation of the rotary motor, k is a deceleration ratio of the deceleration machine, s1 is a gap compensation factor generated according to a gap generated in the deceleration machine in one rotation of the rotary motor, R is a radius of the second outer threaded rod, d is a diameter of the pull rope, s2 is a gap compensation factor generated according to a gap generated in one rotation of the second outer threaded rod, and π is a circular constant. ppr, k, s1, R, d and s2 are constants.

[0037] A control device of a strength trainer, the device comprising:

[0038] A return-to-origin result acquisition module is configured to control the strength trainer to perform a return-to-origin movement according to an acquired return-to-origin instruction, and obtain a return-to-origin result.

[0039] A zero-point unloading state determination module is configured to control the strength trainer to enter a zero-point unloading state if the return-to-origin result is successful.

[0040] The strength training module is configured to control the strength training device to perform a stretching movement or a contraction movement according to a preset application mode configuration, a preset in-origin threshold, a preset out-of-origin threshold, and the origin unloading state, until a training stop signal is obtained, wherein the in-origin threshold is less than or equal to the out-of-origin threshold.

[0041] A strength training device includes a memory and a processor, the memory storing a computer program, and the computer program being executed by the processor to cause the processor to perform the following steps:

[0042] According to the obtained return-to-origin instruction, the strength training device is controlled to perform a return-to-origin movement to obtain a return-to-origin result;

[0043] If the return-to-origin result is successful, the strength training device is controlled to enter an origin unloading state;

[0044] The strength training device is controlled to perform a stretching movement or a contraction movement according to a preset application mode configuration, a preset in-origin threshold, a preset out-of-origin threshold, and the origin unloading state, until a training stop signal is obtained, wherein the in-origin threshold is less than or equal to the out-of-origin threshold.

[0045] A computer-readable storage medium stores a computer program, and the computer program is executed by a processor to cause the processor to perform the following steps:

[0046] According to the obtained return-to-origin instruction, the strength training device is controlled to perform a return-to-origin movement to obtain a return-to-origin result;

[0047] If the return-to-origin result is successful, the strength training device is controlled to enter an origin unloading state;

[0048] The strength training device is controlled to perform a stretching movement or a contraction movement according to a preset application mode configuration, a preset in-origin threshold, a preset out-of-origin threshold, and the origin unloading state, until a training stop signal is obtained, wherein the in-origin threshold is less than or equal to the out-of-origin threshold.

[0049] The control method of the strength training device of the present application controls the strength training device to perform a stretching movement or a contraction movement according to a preset application mode configuration, a preset in-origin threshold, a preset out-of-origin threshold, and the origin unloading state, until a training stop signal is obtained, wherein the in-origin threshold is less than or equal to the out-of-origin threshold, thereby realizing the combination of the mechanical structure and the method of the present application to control the strength training device to perform strength training, improving the accuracy of strength training; and the combination of the mechanical structure and the method of the present application to reduce the mechanical structure, thereby shortening the response time. Attached Figure Description

[0050] 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.

[0051] in:

[0052] Figure 1 A flowchart of a control method for a strength trainer in one embodiment;

[0053] Figure 2 This is a structural block diagram of a strength trainer in one embodiment;

[0054] Figure 3 This is a structural block diagram of the control device for a strength trainer in one embodiment. Detailed Implementation

[0055] 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.

[0056] like Figure 1 As shown, in one embodiment, a control method for a strength training device is provided. This method can be applied to any strength training device. The control method for the strength training device specifically includes the following steps:

[0057] S1: Based on the obtained return-to-origin command, control the strength training device to perform the return-to-origin movement and obtain the return-to-origin result;

[0058] Specifically, the return-to-origin command can be obtained from the host computer, triggered by the user pressing the return-to-origin button on the strength trainer, sent by third-party software, or triggered by the program implementing this application based on preset conditions. For example, the preset condition is a power-on initialization completion signal, which is a signal generated when the strength trainer completes power-on initialization.

[0059] When the return-to-origin instruction is acquired, the power training device is controlled to perform a return-to-origin movement to make the pull-out length of the pull rope of the power training device close to the default position (i.e., the origin), and if the return-to-origin movement meets the expected requirement, the return-to-origin result is determined to be successful, and if the return-to-origin movement does not meet the expected requirement, the return-to-origin result is determined to be unsuccessful. For example, the expected requirement is that the distance deviation from the default position is within a preset deviation range, and the pull-out length of the pull rope of the power training device is equal to the default position.

[0060] It can be understood that the reasons for the return-to-origin failure include but are not limited to mechanical structure component failure, servo system failure, and human obstruction.

[0061] S2: If the return-to-origin result is successful, the power training device is controlled to enter a point unloading state.

[0062] Specifically, if the return-to-origin result is successful, the main state machine of the power training device is controlled to enter the point unloading state.

[0063] It can be understood that if the return-to-origin result is unsuccessful, the power training device is controlled to be powered off to enable the user to perform power-off inspection.

[0064] In the point unloading state, the movement damping of the power training device is gradually unloaded to save energy and prevent the user from being injured when the user does not know the movement damping during initial stretching.

[0065] S3: According to the preset application mode configuration, the preset in-point range threshold value, the preset out-point range threshold value, and the point unloading state, the power training device is controlled to perform a stretching movement or a contraction movement until a training stop signal is acquired, wherein the in-point range threshold value is less than or equal to the out-point range threshold value.

[0066] Specifically, in the point unloading state, when the pull-out length of the pull rope of the power training device is greater than the out-point range threshold value, the main state machine of the power training device is controlled to enter a stretching state; after entering the stretching state from the point unloading state, the power training device is controlled to enter the stretching state according to the entering condition of the stretching state to perform a stretching movement, and the power training device is controlled to enter a contraction state according to the entering condition of the contraction state to perform a contraction movement, and the stretching movement and the contraction movement are repeated to realize power training; the power training device is controlled to perform a stretching movement or a contraction movement according to the application mode configuration; it can be understood that when the power training device performs the contraction movement, if the power training device meets the entering condition of the point unloading state, the power training device is controlled to re-enter the point unloading state.

[0067] The application mode configuration includes an application mode identifier. The application mode identifier can be an application mode name, an application mode ID, or other data that uniquely identifies an application mode.

[0068] If the origin range threshold value is equal to the origin range outside threshold value, it means that the origin range has only one position data.

[0069] If the origin range threshold value is less than the origin range outside threshold value, it means that the origin range is the range data from the origin range threshold value to the origin range outside threshold value.

[0070] The training stop signal can be input by a user, sent by a third-party application system, or generated by a program according to a preset condition. For example, the preset condition is that the strength trainer enters the origin unloading state from the contraction movement, and the training stop signal is generated.

[0071] The embodiment controls the strength trainer to perform the stretching movement or the contraction movement until the training stop signal is obtained according to the preset application mode configuration, the preset origin range threshold value, the preset origin range outside threshold value, and the origin unloading state, wherein the origin range threshold value is less than or equal to the origin range outside threshold value, thereby realizing the combination of the mechanical structure and the method to control the strength trainer to perform the strength training, improving the accuracy of the strength training, and reducing the mechanical structure by combining the mechanical structure and the method, thereby shortening the response time.

[0072] In one embodiment, the step of controlling the strength trainer to perform the origin returning movement according to the obtained origin returning instruction to obtain an origin returning result comprises:

[0073] S111: controlling the strength trainer to enter an origin returning state according to the obtained origin returning instruction, and controlling the strength trainer to enter an origin returning preparation sub-state according to the origin returning state;

[0074] Specifically, when the origin returning instruction is obtained, the main state machine of the strength trainer is controlled to enter the origin returning state, and the sub-state machine of the strength trainer is controlled to enter the origin returning preparation sub-state according to the origin returning state.

[0075] S112: based on the origin returning preparation sub-state, controlling the strength trainer to output according to a preset origin returning torque configuration and a preset origin returning speed configuration, so as to enable the pull rope of the strength trainer to be pulled;

[0076] Specifically, in the origin returning preparation sub-state, the strength trainer is controlled to output according to the preset origin returning torque configuration and the preset origin returning speed configuration, so as to enable the servo deceleration motor of the strength trainer to run, and the speed of the servo deceleration motor will start from 0 and accelerate, at this time the pull rope of the strength trainer can be pulled, thereby driving the pull rope to perform the origin returning movement.

[0077] S113: If the actual rotating speed of the strength training device does not increase, when the duration of the back-to-origin preparation sub-state reaches a preset first back-to-origin waiting duration, the current pull-out length of the pull rope of the strength training device is taken as the origin position, and it is determined that the back-to-origin result is successful.

[0078] Specifically, if the actual rotating speed of the strength training device does not increase, it means that the pull rope of the strength training device has been wound to the end at this time. Therefore, when the duration of the back-to-origin preparation sub-state reaches a preset first back-to-origin waiting duration, the current pull-out length of the pull rope of the strength training device is taken as the origin position, and it is determined that the back-to-origin result is successful.

[0079] S114: If the actual rotating speed of the strength training device increases, when the duration of the back-to-origin preparation sub-state reaches a preset second back-to-origin waiting duration, and if the actual rotating speed of the strength training device does not reach a preset first rotating speed threshold, the current pull-out length of the pull rope of the strength training device is taken as the origin position, and it is determined that the back-to-origin result is successful, wherein the first rotating speed threshold is less than the back-to-origin rotating speed configuration, and the second back-to-origin waiting duration is greater than or equal to the first back-to-origin waiting duration.

[0080] Specifically, if the actual rotating speed of the strength training device increases, it means that the pull rope of the strength training device has not been wound to the end at this time. Therefore, when the duration of the back-to-origin preparation sub-state reaches a preset second back-to-origin waiting duration, and if the actual rotating speed of the strength training device does not reach a preset first rotating speed threshold, it means that the second back-to-origin waiting duration has been waited in the back-to-origin preparation sub-state, the actual rotating speed of the strength training device still does not meet the entering condition of the speed increasing sub-state, the pull-out length of the pull rope of the strength training device is not very long at the beginning of the back-to-origin preparation sub-state, and the back-to-origin has been completed when the duration of the back-to-origin preparation sub-state reaches the preset second back-to-origin waiting duration. Therefore, the current pull-out length of the pull rope of the strength training device at the time when the duration of the back-to-origin preparation sub-state reaches the preset second back-to-origin waiting duration is taken as the origin position, and it is determined that the back-to-origin result is successful.

[0081] Optionally, the origin position plus a preset distance is equal to the threshold in the origin range. The preset distance is a very small number.

[0082] S115: If the actual rotating speed of the strength training device is rising, and the duration of the back-to-origin preparation sub-state is less than the second back-to-origin waiting duration, and the actual rotating speed of the strength training device reaches the first rotating speed threshold, the strength training device is controlled to enter a speed rising sub-state, and it is determined whether the actual rotating speed of the strength training device is less than a preset second rotating speed threshold based on the speed rising sub-state, wherein the second rotating speed threshold is less than the first rotating speed threshold.

[0083] Specifically, if the actual rotating speed of the strength training device is rising, which means that the cable of the strength training device is not fully wound, when the duration of the back-to-origin preparation sub-state is less than (i.e., reaches) the second back-to-origin waiting duration, and the actual rotating speed of the strength training device reaches the first rotating speed threshold, the actual rotating speed of the strength training device has met the entering condition of the speed rising sub-state, and thus the sub-state machine of the strength training device is controlled to enter the speed rising sub-state. In the speed rising sub-state, it is determined whether the actual rotating speed of the strength training device is less than the preset second rotating speed threshold.

[0084] S116: If yes, the strength training device is controlled to enter a speed falling sub-state, and it is determined whether the duration of the speed falling sub-state is greater than a preset first duration.

[0085] Specifically, if yes, i.e., in the speed rising sub-state, the actual rotating speed of the strength training device is less than the preset second rotating speed threshold, which means that the rotating speed of the strength training device starts to fall, and thus the sub-state machine of the strength training device is controlled to enter the speed falling sub-state. It is determined whether the duration of the speed falling sub-state is greater than the preset first duration.

[0086] S117: If yes, the strength training device is controlled to enter a position stabilizing sub-state, and it is determined whether the duration of the position stabilizing sub-state is greater than a preset second duration.

[0087] Specifically, if yes, i.e., the duration of the speed falling sub-state is greater than the preset first duration, the sub-state machine of the strength training device is controlled to enter the position stabilizing sub-state, and then it is determined whether the duration of the position stabilizing sub-state is greater than the preset second duration.

[0088] S118: If yes, the current pulled-out length of the cable of the strength training device is taken as the origin position, and it is determined that the back-to-origin result is successful.

[0089] Specifically, if yes, that is, the duration of the position stable sub-state is greater than the preset second duration, at this time it means that the stable state of the pull-out length of the pull rope meets the requirements, therefore, the current pull-out length of the pull rope of the strength training device is taken as the origin position, and the return-to-origin result is determined as successful.

[0090] The embodiment automatically retracts the pull rope of the strength training device according to the return-to-origin instruction, improves the degree of automation, and improves the user experience.

[0091] In one embodiment, the step of controlling the strength training device to perform the stretching movement or the contraction movement according to the preset application mode configuration, the preset in-origin range threshold value, the preset out-of-origin range threshold value, and the origin unloading state comprises:

[0092] S31: In the origin unloading state, the pull-out length of the pull rope of the strength training device is acquired as a first pull-out length in real time, and it is determined whether the first pull-out length is greater than the out-of-origin range threshold value, if yes, the strength training device is controlled to enter a stretching state;

[0093] Specifically, in the origin unloading state, the pull-out length of the pull rope of the strength training device is acquired as a first pull-out length at a preset first time interval; it is determined whether the first pull-out length is greater than the out-of-origin range threshold value, if yes, that is, the first pull-out length is greater than the out-of-origin range threshold value, at this time it means that the user of the strength training device starts to perform stretching for strength training, therefore, the main state machine of the strength training device is controlled to enter the stretching state.

[0094] S32: The strength training device is controlled to perform the stretching movement based on the application mode configuration and the stretching state, and in the stretching state, the pull-out length of the pull rope is acquired as a second pull-out length in real time, if the change trend of the second pull-out length is decreasing or unchanged, the strength training device is controlled to enter a contraction state;

[0095] Specifically, in the stretching state, the strength training device is controlled to perform the stretching movement according to the application mode configuration, so as to improve the accuracy of strength training; in the stretching state, the pull-out length of the pull rope is acquired as a second pull-out length at a preset second time interval; if the change trend of the second pull-out length is decreasing or unchanged, that is, the second second pull-out length of the second pull-out length acquired continuously for two times is less than or equal to the second pull-out length, at this time it means that the user of the strength training device starts to perform contraction for strength training, therefore, the main state machine of the strength training device is controlled to enter the contraction state.

[0096] S33: controlling the strength trainer to perform a contraction movement based on the application mode configuration and the contraction state, and acquiring the pull-out length of the pull rope as a third pull-out length in real time in the contraction state;

[0097] Specifically, in the contraction state, the strength trainer is controlled to perform a contraction movement according to the application mode configuration, and the pull-out length of the pull rope is acquired as a third pull-out length at a preset third time interval in the contraction state.

[0098] It can be understood that the first time interval, the second time interval, and the third time interval can all be the same, partially the same, or all different.

[0099] S34: if the third pull-out length is greater than or equal to the threshold within the origin range, and the change trend of the third pull-out length is increasing, controlling the strength trainer to enter a stretching state, and repeating the step of controlling the strength trainer to perform a stretching movement based on the application mode configuration and the stretching state;

[0100] Specifically, if the third pull-out length is greater than or equal to the threshold within the origin range, and the change trend of the third pull-out length is increasing, it means that the user of the strength trainer starts to perform a stretching for strength training, and thus the main state machine of the strength trainer is controlled to enter a stretching state; the step of controlling the strength trainer to perform a stretching movement based on the application mode configuration and the stretching state is repeated, that is, steps S32 to S34 are repeated.

[0101] S35: if the third pull-out length is less than the threshold within the origin range, controlling the strength trainer to enter the origin unloading state, and repeating the step of acquiring the pull-out length of the pull rope of the strength trainer as a first pull-out length in real time in the origin unloading state.

[0102] Specifically, if the third pull-out length is less than the threshold within the origin range, it means that the pull-out length of the pull rope has entered the origin unloading state, and thus the main state machine of the strength trainer is controlled to enter the origin unloading state; the step of acquiring the pull-out length of the pull rope of the strength trainer as a first pull-out length in real time in the origin unloading state is repeated, that is, steps S31 to S35 are repeated.

[0103] Because the force training device is in a "force relief" state with extremely low motion damping within the origin range and in a "training" state with higher motion damping outside the origin range, and the frequent switching of motion damping caused by the stretching-contracting training near the origin boundary leads to poor motion experience, the embodiment ends the origin force relief state when the pull-out length of the pull rope is greater than the threshold value outside the origin range, reenters the origin force relief state when the pull-out length of the pull rope is less than the threshold value within the origin range, and avoids the problem of poor motion experience caused by the frequent switching of motion damping due to the stretching-contracting training near the origin boundary. Moreover, the stretching motion of the force training device is controlled based on the application mode configuration and the stretching state, and the contraction motion of the force training device is controlled based on the application mode configuration and the contraction state, so as to improve the control accuracy of the stretching motion and the contraction motion by the application mode configuration, improve the accuracy of the force training, meet the personalized training demand, and improve the user experience.

[0104] In one embodiment, before the step of controlling the force training device to perform the home motion according to the obtained home instruction to obtain a home result, the method further comprises:

[0105] S121: obtaining a power-on initialization completion signal;

[0106] Specifically, when the power-on initialization of the force training device is completed, a power-on initialization completion signal is generated.

[0107] S122: in response to the power-on initialization completion signal, determining whether an alarm signal exists;

[0108] Specifically, in response to the power-on initialization completion signal, it is determined whether an alarm signal exists. The alarm signal is an alarm signal generated in the process of power-on initialization.

[0109] When the driving voltage, current and temperature detection unit of the force training device detects an abnormality, an alarm signal is generated; when the encoder detection unit of the force training device detects an abnormality, an alarm signal is generated,

[0110] S123: if not, controlling the force training device to enter a preparation completion state;

[0111] Specifically, if not, that is, if there is no alarm signal, it means that the power-on initialization is successful. At this time, the main state machine of the force training device is controlled to enter a preparation completion state.

[0112] S124: If there is, control the power training device to enter an alarm state, clear each alarm signal according to the alarm state and a preset alarm clearing configuration, obtain a clearing result, if the clearing result is successful, control the power training device to enter the preparation completion state, if the clearing result is failed, control the power training device to be powered off;

[0113] Specifically, if there is, that is, there is an alarm signal, it means that the power-on initialization fails, at this time, the main state machine of the power training device is controlled to enter an alarm state; in the alarm state, each alarm signal is cleared according to a preset alarm clearing configuration, if all the alarm signals are successfully cleared, it is determined that the clearing result is successful; if any alarm signal fails to be cleared, it is determined that the clearing result is failed; if the clearing result is successful, the main state machine of the power training device is controlled to enter the preparation completion state; if the clearing result is failed, the power training device is controlled to be powered off, so as to facilitate the user to check the power-off.

[0114] S125: Determine the original return instruction according to the preparation completion state.

[0115] Specifically, in the preparation completion state, the original return instruction input by the user can be obtained, the original return instruction can be obtained from a third-party application, and the original return instruction generated by a program in the power training device can also be obtained.

[0116] According to the embodiment, each alarm signal is cleared according to the alarm state and a preset alarm clearing configuration, so that the automatic clearing of the alarm signal is realized, and the original return instruction is determined according to the preparation completion state, so that the original return instruction is obtained in the absence of an alarm signal, and the success rate of the original return is improved.

[0117] In one embodiment, the application mode configuration includes any one of a constant force mode, a concentric mode, an eccentric mode, a rowing mode, a spring mode and a custom mode, wherein the constant force mode, the concentric mode, the eccentric mode, the rowing mode, the spring mode and the custom mode are application modes based on a stretching damping force and a contraction damping force.

[0118] Specifically, the stretching damping force is the damping force of the rotating motor of the servo deceleration motor of the power training device in the stretching movement. The contraction damping force is the damping force of the rotating motor of the servo deceleration motor of the power training device in the contraction movement.

[0119] The constant force mode, the stretching damping force is equal to the contraction damping force, this mode is to carry out training regularly, and is suitable for training experienced people.

[0120] The centripetal mode is similar to centripetal motion, and represents that the stretching damping force is a preset constant value; the contraction damping force is equal to a certain percentage less than 100% of the preset damping force. In this mode, the stretching damping force is relatively large, and the contraction damping force is relatively small, so that the training can be easily carried out, and the mode is suitable for training beginners or users with weak bodies.

[0121] The centrifugal mode is similar to centrifugal motion, and represents that the stretching damping force is a preset constant value; the contraction damping force is equal to a certain percentage greater than 100% of the preset damping force. In this mode, the stretching damping force is relatively small, and the contraction damping force is relatively large, so that the training burden is heavy, and the mode is suitable for training veterans or users with strong bodies.

[0122] The rowing mode is similar to rowing motion, and represents that the stretching damping force is a preset constant value plus a variable force proportional to the stretching speed compared with the reference speed, and the greater the stretching speed, the greater the additional variable force; the contraction damping force is a preset constant value. In this mode, the stretching damping force is positively correlated with the stretching speed, the faster the training action, the heavier the training burden, and the mode is suitable for training veterans or users with strong bodies.

[0123] The spring mode is similar to stretching spring motion, and represents that the stretching damping force and the contraction damping force are both preset constant values plus a variable force proportional to the pulling length compared with the reference length, and the greater the pulling length, the greater the additional variable force. In this mode, the damping force is positively correlated with the pulling length, the longer the pulling length, the heavier the training burden, and the mode is suitable for training veterans or users with strong bodies.

[0124] The embodiment improves the precision of strength training by configuring any one of the constant force mode, the centripetal mode, the centrifugal mode, the rowing mode, the spring mode and the custom mode as an application mode, meets the personalized training demand, and improves the user experience; the constant force mode, the centripetal mode, the centrifugal mode, the rowing mode, the spring mode and the custom mode are application modes obtained based on the stretching damping force and the contraction damping force, so that the rotation motor of the strength trainer is controlled to output high-precision and high-response motion damping through the application mode configuration, and the precision of strength training is improved.

[0125] In one embodiment, the custom mode is a model obtained by combining at least two of the constant force mode, the centripetal mode, the centrifugal mode, the rowing mode and the spring mode according to the pulling length of the pulling rope of the strength trainer, or a model obtained by combining at least two of the constant force mode, the centripetal mode, the centrifugal mode, the rowing mode and the spring mode according to the training duration.

[0126] Specifically, if the custom mode is a model 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 according to the pull-out length of the pull rope of the strength trainer, the custom mode comprises at least two first sub-modes. Each first sub-mode comprises a pull-out length and an application mode identifier.

[0127] If the custom mode is a model 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 according to the training time length, the custom mode comprises at least two second sub-modes. Each second sub-mode comprises a time length and an application mode identifier.

[0128] The embodiment combines at least two application modes of the constant force mode, the concentric mode, the eccentric mode, the rowing mode and the spring mode according to the pull-out length of the pull rope of the strength trainer or the training time length, thereby facilitating the user to customize a custom mode that is more suitable for the user's training condition according to the user's needs, and meeting the personalized training needs.

[0129] As shown in FIG. 1, Figure 2 In one embodiment, the strength trainer comprises a servo deceleration motor, a pull rope 904, a support frame 901, a nut, a double-threaded rod component and a connecting rod.

[0130] The servo deceleration motor comprises a rotary motor 902 and a deceleration machine 903, and the output shaft of the rotary motor 902 is connected with the input shaft of the deceleration machine 903.

[0131] The output shaft of the deceleration machine 903 is connected with the connecting rod, the connecting rod is arranged in the hollow hole of a 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 a second outer threaded rod 905 of the double-threaded rod component, the second outer threaded rod 905 is coaxially arranged on the outer periphery of the first outer threaded rod 906, 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.

[0132] The calculation formula L of the pull-out length of the pull rope 904 is as follows:

[0133]

[0134] Wherein, p is the current total feedback position of the rotary motor 902 minus the total feedback position corresponding to the origin position of the rotary motor 902, ppr is the feedback position of one rotation of the rotary motor 902, k is the reduction ratio of the speed reducer 903, s1 is the gap compensation factor generated according to the gap generated in the speed reducer 903 when the rotary motor 902 rotates one circle, R is the radius of the second external threaded rod 905, d is the diameter of the pull rope 904, s2 is the gap compensation factor generated according to the gap generated when the second external threaded rod 905 rotates one circle, and π is the circular constant. Ppr, k, s1, R, d, and s2 are constants.

[0135] Specifically, the gap compensation factor can be obtained by independent repeated experiments.

[0136] It can be understood that the rotary motion of the rotary motor 902 will drive the speed reducer 903 to move.

[0137] It can be understood that the second external threaded rod and the first external threaded rod are fixedly installed on the same face of the bottom plate of the double-threaded rod component. The second external threaded rod and the first external threaded rod are both provided with external threads.

[0138] 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 external threaded rod 906 of the double-threaded rod component to rotate, and the rotation of the first external threaded rod 906 drives.

[0139] It can be understood that the power trainer of the present 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 a physical reference point in the mechanical coordinate system. The direction of the return motion, that is, the direction of the pull rope contraction, is defined as the positive direction. The design accuracy of the length of the pull rope is 0.001 m, which 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.

[0140] In the present application, the position of the pull rope 904 of the power trainer when it is tightened is taken as the origin.

[0141] In the present application, the rotary motor of the power trainer is controlled by a normalized torque instruction. Optionally, the rated torque of the rotary motor is T R = 3.2 N·m, the normalized torque instruction is 2500, the control range is 2500 ± 25, and the control accuracy is 1%.

[0142] Optionally, the reduction ratio of the speed reducer 903 is set to 7.

[0143] It can be understood that the application defines the damping torque in the stretching process of the rotary motor (i.e., the stretching damping force generated by mechanical transmission), the damping torque in the contraction process (i.e., the contraction damping force), which generates the movement damping force of the strength trainer. The damping torque means that the torque plays a damping operation.

[0144] The movement damping response time reflects the performance index of the strength trainer, represents the speed of damping change of the strength trainer, and is generated by the following links in series: the driver torque control response time τ1, the servo reducer motor mechanical time constant τ2, and the screw-pulley mechanical time constant τ3. According to relevant data, τ1 = 2 ms, τ2 = 5 ms, and τ3 = 50 ms. It is obtained that the movement damping response time of the strength trainer is within 100 ms, in which the response time of the driver-rotary motor-reducer is less than 10 ms, which is much higher than the performance index of the traditional similar strength trainer screw-pulley part.

[0145] The embodiment effectively compensates for the error caused by the mechanical transmission gap, further improves the accuracy of strength training, by setting the gap compensation factor; by using the servo reducer motor to replace part of the mechanical structure in the pure mechanical mode, the mechanical structure is reduced, so that the response time is shortened and the occupied space is reduced; the rotary motor of the servo reducer motor makes the damping adjustable, the damping adjustment accuracy is high, and the damping adjustment response is fast.

[0146] As shown in FIG. Figure 3 In one embodiment, a control device of a strength trainer is provided, and the device comprises:

[0147] A return-to-origin result acquisition module 801 is configured to control the strength trainer to perform a return-to-origin movement according to an acquired return-to-origin instruction, and obtain a return-to-origin result.

[0148] A point unloading state determination module 802 is configured to control the strength trainer to enter a point unloading state if the return-to-origin result is successful.

[0149] A strength training module 803 is configured to control the strength trainer to perform a stretching movement or a contraction movement according to a preset application mode configuration, a preset in-point threshold, a preset out-point threshold, and the point unloading state, until a training stop signal is acquired, wherein the in-point threshold is less than or equal to the out-point threshold.

[0150] The embodiment controls the strength trainer to perform the stretching movement or the contraction movement until a training stop signal is acquired according to the preset application mode configuration, the preset in-range threshold of the origin, the preset out-of-range threshold of the origin and the origin unloading state, wherein the in-range threshold of the origin is less than or equal to the out-of-range threshold of the origin, so that the mechanical structure and the method are combined to control the strength trainer to perform the strength training, and the precision of the strength training is improved; and the mechanical structure is reduced by combining the mechanical structure and the method, so that the response time is shortened.

[0151] In one embodiment, a strength trainer is provided, comprising a memory and a processor, the memory storing a computer program, the computer program being executed by the processor to enable the processor to perform the following steps:

[0152] According to the acquired return-to-origin instruction, the strength trainer is controlled to perform a return-to-origin movement to obtain a return-to-origin result;

[0153] If the return-to-origin result is successful, the strength trainer is controlled to enter an origin unloading state;

[0154] According to the preset application mode configuration, the preset in-range threshold of the origin, the preset out-of-range threshold of the origin and the origin unloading state, the strength trainer is controlled to perform a stretching movement or a contraction movement until a training stop signal is acquired, wherein the in-range threshold of the origin is less than or equal to the out-of-range threshold of the origin.

[0155] The embodiment controls the strength trainer to perform the stretching movement or the contraction movement until a training stop signal is acquired according to the preset application mode configuration, the preset in-range threshold of the origin, the preset out-of-range threshold of the origin and the origin unloading state, wherein the in-range threshold of the origin is less than or equal to the out-of-range threshold of the origin, so that the mechanical structure and the method are combined to control the strength trainer to perform the strength training, and the precision of the strength training is improved; and the mechanical structure is reduced by combining the mechanical structure and the method, so that the response time is shortened.

[0156] In one embodiment, a computer readable storage medium is provided, storing a computer program, the computer program being executed by a processor to enable the processor to perform the following steps:

[0157] According to the acquired return-to-origin instruction, the strength trainer is controlled to perform a return-to-origin movement to obtain a return-to-origin result;

[0158] If the return-to-origin result is successful, the strength trainer is controlled to enter an origin unloading state;

[0159] According to the preset application mode configuration, the preset in-origin range threshold, the preset out-of-origin range threshold and the origin unloading state, the strength trainer is controlled to perform the stretching movement or the contraction movement until a training stop signal is acquired, wherein the in-origin range threshold is less than or equal to the out-of-origin range threshold.

[0160] The embodiment realizes the strength training of the strength trainer by combining the mechanical structure and the method of the application, and improves the precision of the strength training. The response time is shortened by combining the mechanical structure and the method of the application to reduce the mechanical structure.

[0161] Those skilled in the art can understand that all or part of the processes in the above-mentioned embodiment methods can be completed by a computer program instructing related hardware. The program can be stored in a non-volatile computer readable storage medium, and when the program is executed, the processes of the above-mentioned embodiments can be included. Any reference to memory, storage, database or other medium used in each embodiment provided by the 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. As an illustration but not limitation, RAM is available in various forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double data rate SDRAM (DDR SDRAM), enhanced SDRAM (ESDRAM), synchronous link (Synchlink) DRAM (SLDRAM), memory bus (Rambus) direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM) and memory bus dynamic RAM (RDRAM).

[0162] Each technical feature of the above embodiments can be combined arbitrarily. In order to make the description simple, each technical feature of the above embodiments is not described in all possible combinations, but as long as the combination of the technical features does not exist, it should be considered as the scope of the present application.

[0163] The above-described embodiments are merely illustrative of several embodiments of the present application, which are described in more detail and in a specific manner, but should not be construed as limiting the scope of the patent of the present application. It should be noted that, for those of ordinary skill in the art, several modifications and improvements can be made without departing from the concept of the present application, and these all belong to the protection scope of the present application. Therefore, the protection scope of the patent of the present application should be subject to the appended claims.

Claims

1. A method for controlling a strength training device, the method comprising: Based on the obtained return-to-origin command, control the strength training device to perform the return-to-origin movement and obtain the return-to-origin result; If the return to the origin is successful, then the strength trainer is controlled to enter the origin unloading state; Based on the preset application mode configuration, the preset threshold within the origin range, the preset threshold outside the origin range, and the origin unloading state, the strength trainer is controlled to perform stretching or contraction movements until a training stop signal is obtained, wherein the threshold within the origin range is less than or equal to the threshold outside the origin range. The step of controlling the strength training device to perform a return-to-origin movement based on the acquired return-to-origin command, and obtaining the return-to-origin result, includes: According to the acquired return-to-origin command, the strength trainer is controlled to enter the return-to-origin state, and according to the return-to-origin state, the strength trainer is controlled to enter the return-to-origin preparation sub-state. Based on the return-to-origin preparation state, the output of the strength trainer is controlled according to the preset return-to-origin torque configuration and the preset return-to-origin speed configuration so that the pull rope of the strength trainer can be pulled. If the actual rotation speed of the strength trainer does not increase, when the duration of the return-to-origin preparation sub-state reaches the preset first return-to-origin waiting time, the current pull-out length of the strength trainer's rope is taken as the origin position, and the return-to-origin result is determined to be successful. If the actual rotation speed of the strength trainer increases, the duration of the return-to-origin preparation sub-state reaches the preset second return-to-origin waiting time. If the actual rotation speed of the strength trainer does not reach the preset first rotation speed threshold, the current pull-out length of the strength trainer's pull rope is taken as the origin position, and the return-to-origin result is determined to be successful. Here, the first rotation speed threshold is less than the return-to-origin rotation speed configuration, and the second return-to-origin waiting time is greater than or equal to the first return-to-origin waiting time. If the actual rotational speed of the strength trainer increases, then when the duration of the return-to-origin preparation sub-state is less than the second return-to-origin waiting time, and the actual rotational speed of the strength trainer reaches the first rotational speed threshold, the strength trainer is controlled to enter the speed increase sub-state. Based on the speed increase sub-state, it is determined whether the actual rotational speed of the strength trainer is less than the preset second rotational speed threshold, wherein the second rotational speed threshold is less than the first rotational speed threshold. If so, the strength trainer is controlled to enter a speed descent sub-state, and it is determined whether the duration of the speed descent sub-state is greater than a preset first duration. If so, the strength trainer is controlled to enter a position stabilization sub-state, and it is determined whether the duration of the position stabilization sub-state is greater than a preset second duration. If so, the current length of the pull rope of the strength trainer is taken as the origin position, and the return to the origin is determined to be successful.

2. The control method for the strength training device according to claim 1, characterized in that, The step of controlling the strength trainer to perform stretching or contraction exercises based on the preset application mode configuration, preset thresholds within the origin range, preset thresholds outside the origin range, and the origin unloading state includes: In the original unloading state, the pull-out length of the rope of the strength trainer is obtained in real time as the first pull-out length, and it is determined whether the first pull-out length is greater than the threshold outside the original range. If so, the strength trainer is controlled to enter the stretching state. Based on the application mode configuration and the stretching state, the strength trainer is controlled to perform stretching exercises. In the stretching state, the pull-out length of the rope is acquired in real time as the second pull-out length. If the trend of the second pull-out length is decreasing or unchanged, the strength trainer is controlled to enter the contraction state. Based on the application mode configuration and the contraction state, the strength trainer is controlled to perform contraction movements, and in the contraction state, the pull-out length of the rope is obtained in real time as the third pull-out length. If the third pull-out length is greater than or equal to the threshold within the origin range, and the trend of the third pull-out length is increasing, then the strength trainer is controlled to enter the stretching state, and the step of controlling the strength trainer to perform stretching exercises based on the application mode configuration and the stretching state is repeated. If the third pull-out length is less than the threshold within the origin range, the strength trainer is controlled to enter the origin unloading state, and the step of obtaining the pull-out length of the strength trainer's rope in real time as the first pull-out length is repeated in the origin unloading state.

3. The control method for the strength training device according to claim 1, characterized in that, Before the step of controlling the strength training device to perform a return-to-origin movement according to the acquired return-to-origin command and obtaining the return-to-origin result, the method further includes: Obtain the power-on initialization completion signal; In response to the power-on initialization completion signal, determine whether an alarm signal exists; If it does not exist, then control the strength training device to enter the preparation completion state; If an alarm exists, the strength trainer is controlled to enter an alarm state. Each alarm signal is cleared according to the alarm state and the preset alarm clearing configuration to obtain a clearing result. If the clearing result is successful, the strength trainer is controlled to enter the preparation completion state. If the clearing result is unsuccessful, the strength trainer is controlled to cut off power. The return-to-origin instruction is determined based on the preparedness completion status.

4. The control method for the strength training device according to claim 1, characterized in that, The application mode configuration includes any one of the following modes: constant force mode, centripetal mode, centrifugal mode, rowing mode, spring mode, and custom mode. The constant force mode, centripetal mode, centrifugal mode, rowing mode, spring mode, and custom mode are application modes obtained based on tensile damping force and contraction damping force.

5. The control method for the strength training device according to claim 4, characterized in that, The custom mode is a model obtained by combining at least two application modes from the constant force mode, the centripetal mode, the eccentric mode, the rowing mode, and the spring mode according to the pull-out length of the cable of the strength trainer; or, a model obtained by combining at least two application modes from the constant force mode, the centripetal mode, the eccentric mode, the rowing mode, and the spring mode according to the training duration.

6. The control method for the strength training device according to claim 1, characterized in that, The strength training device includes: Servo geared motor, pull rope, support frame, nut, double threaded rod assembly and connecting rod; The servo geared motor includes a rotary motor and a reducer, wherein the output shaft of the rotary motor is connected to the input shaft of the reducer; The output shaft of the reducer is connected to the connecting rod, the connecting rod passes through the hollow hole of the first external thread rod of the double thread rod component, the bottom end of the nut is mounted on the support frame, the free end of the first external thread rod rotates into the nut, the pull rope is wound around the outer circumference of the second external thread rod of the double thread rod component, the second external thread rod is sleeved on the outer circumference of the first external thread rod and is coaxial, and the second external thread rod and the first external thread rod are mounted on the same surface of the bottom plate of the double thread rod component; The formula for calculating the pull-out length L of the pull rope is: Where p is the current total feedback position of the rotary motor minus the total feedback position corresponding to the origin position of the rotary motor, ppr is the feedback position after one revolution of the rotary motor, k is the reduction ratio of the reducer, s1 is the gap compensation factor generated by the gap generated by the reducer after one revolution of the rotary motor, R is the radius of the second external thread rod, d is the diameter of the pull rope, s2 is the gap compensation factor generated by the gap generated by one revolution of the second external thread rod, π is pi, and ppr, k, s1, R, d, and s2 are constants.

7. A control device for a strength training device, characterized in that, A control method for using the strength trainer according to any one of claims 1 to 6, the apparatus comprising: The return-to-origin result acquisition module is used to control the strength trainer to perform return-to-origin movements based on the acquired return-to-origin command, and obtain the return-to-origin result; The origin unloading state determination module is used to control the strength trainer to enter the origin unloading state if the return to origin result is successful. The strength training module is used to control the strength trainer to perform stretching or contraction movements according to the preset application mode configuration, preset thresholds within the origin range, preset thresholds outside the origin range, and the origin unloading state, until a training stop signal is obtained, wherein the thresholds within the origin range are less than or equal to the thresholds outside the origin range.

8. 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 6.

9. 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 6.

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