A torque control method, device, apparatus and storage medium

Abstract

The application discloses a torque control method, device, equipment and storage medium. The method is applied to a fitness equipment, the fitness equipment comprises a control switch, a motor and a pull rope, the motor outputs torque through the pull rope, and the torque control method comprises the following steps: receiving a zero point setting instruction sent by the control switch; determining the motor parameter and / or the pulled-out length of the pull rope at the time when the zero point setting instruction is received as a target parameter corresponding to the zero point setting instruction; and controlling the motor to output a target torque according to the target parameter and the current motor parameter and / or the pulled-out length of the current pull rope. Through the technical scheme of the application, the user can set a safe zero point according to different training actions through the control switch during each training, training protection is provided for the user, the safe zero point setting is convenient, fast, accurate, applicable and easy to implement, a safety rope is not needed, and the fitness equipment is more beautiful.

Description

Technical Field

[0001] The present invention relates to the field of fitness equipment technology, and in particular to a torque control method, device, equipment and storage medium. Background Technology

[0002] As the general public pursues a healthier and more fulfilling lifestyle, fitness equipment has become increasingly popular. Currently, the most common fitness equipment is strength training equipment, such as dumbbells, resistance bands, and barbells. Traditional strength training equipment typically uses weights to provide training load. When users perform heavy weights for exercises like bench presses or squats, there is a risk of injury due to exhaustion, thus requiring human intervention or equipment for protection.

[0003] Existing protection methods can be divided into three types: frame protection, manual protection, and physical safety rope protection. Among them, the disadvantage of frame protection is that the frame is bulky and inconvenient to use at home; the disadvantage of manual protection is that the user cannot complete the task alone and needs the assistance of others; the disadvantage of physical safety rope protection is that different rope lengths need to be adjusted for different training movements, and a long section of the rope protrudes outside, affecting the aesthetics. Summary of the Invention

[0004] This invention provides a torque control method, apparatus, device, and storage medium, enabling users to set a safety zero point by controlling a switch according to different training actions during each training session, thus providing training protection for users.

[0005] According to one aspect of the present invention, a torque control method is provided, applied to fitness equipment, the fitness equipment including: a control switch, a motor, and a pull rope, the motor outputting torque through the pull rope, the torque control method including:

[0006] Receive the zero-point setting command sent by the control switch;

[0007] The motor parameters and / or the length of the pull rope pulled out when the zero-point setting command is received are determined as the target parameters corresponding to the zero-point setting command;

[0008] The target torque is controlled by the motor output based on the target parameters, current motor parameters, and / or the current pulled-out length of the pull rope.

[0009] According to another aspect of the present invention, a torque control device is provided, the device comprising:

[0010] A receiving module is used to receive the zero-point setting command sent by the control switch;

[0011] The determination module is used to determine the motor parameters and / or the pulled-out length of the pull rope when the zero-point setting command is received as the target parameters corresponding to the zero-point setting command;

[0012] The output module is used to control the motor to output a target torque based on the target parameters, current motor parameters, and / or the current pulled-out length of the pull rope.

[0013] According to another aspect of the present invention, an electronic device is provided, the electronic device comprising:

[0014] At least one processor; and

[0015] A memory communicatively connected to the at least one processor; wherein,

[0016] The memory stores a computer program that can be executed by the at least one processor, the computer program being executed by the at least one processor to enable the at least one processor to perform the torque control method according to any embodiment of the present invention.

[0017] According to another aspect of the present invention, a computer-readable storage medium is provided, the computer-readable storage medium storing computer instructions for causing a processor to execute and implement the torque control method according to any embodiment of the present invention.

[0018] This invention, through receiving a zero-point setting command from a control switch, determines the motor parameters and / or the pulled-out length of the rope at the time the command is received as the target parameters corresponding to the zero-point setting command. Based on these target parameters and the current motor parameters and / or the current pulled-out length of the rope, the motor outputs a target torque. This invention allows users to set a safety zero point themselves during each training session based on different training movements, providing training protection. The safety zero-point setting is convenient, quick, accurate, widely applicable, and easy to implement. Compared to manual protection and support protection, it does not rely on the assistance of others or supports; users can achieve this independently. Compared to physical safety rope protection, it is more convenient to use, eliminates the need for additional safety ropes, is more aesthetically pleasing, and does not increase storage costs for users, preventing situations where users cannot find their safety ropes.

[0019] It should be understood that the description in this section is not intended to identify key or essential features of the embodiments of the present invention, nor is it intended to limit the scope of the invention. Other features of the invention will become readily apparent from the following description. Attached Figure Description

[0020] To more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of the present invention and should not be regarded as a limitation on the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0021] Figure 1 This is a flowchart of a torque control method according to an embodiment of the present invention;

[0022] Figure 2 This is a schematic diagram of the structure of a fitness device according to an embodiment of the present invention;

[0023] Figure 3 This is a schematic diagram of the structure of a foot pedal for a fitness device according to an embodiment of the present invention;

[0024] Figure 4 This is a schematic diagram illustrating the working principle of a fitness device according to an embodiment of the present invention;

[0025] Figure 5 This is a schematic diagram of a method for controlling the output target torque of a motor based on the current motor parameters and target parameters when the motor parameter is the number of rotations of the motor.

[0026] Figure 6 This is a schematic diagram of the structure of a torque control device according to an embodiment of the present invention;

[0027] Figure 7 This is a schematic diagram of the structure of an electronic device that implements the torque control method of the present invention. Detailed Implementation

[0028] To enable those skilled in the art to better understand the present invention, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. 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 should fall within the scope of protection of the present invention.

[0029] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this invention are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of the invention described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover a non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0030] Example 1

[0031] Figure 1 This is a flowchart of a torque control method according to an embodiment of the present invention. This embodiment is applicable to torque control situations. The method can be executed by the torque control device in this embodiment of the present invention, which can be implemented in software and / or hardware, such as... Figure 1 As shown, the torque control method specifically includes the following steps:

[0032] S101, Receive the zero-point setting command sent by the control switch.

[0033] In the implementation process, torque control methods can be applied to fitness equipment, which includes: control switches, motors, and pull ropes. The motor outputs torque through the pull ropes.

[0034] Figure 2 This is a structural schematic diagram of a fitness device according to an embodiment of the present invention. Figure 2 As shown, the fitness equipment includes: hand grips, ropes, control switches, foot pedals, and a motor. Figure 2 (Not shown in the image). The motor can be installed inside the foot pedal. One end of the pull rope is connected to the hand grip, and the other end is connected to the motor's rotating shaft. When the motor rotates, it outputs torque through the pull rope. This torque generates resistance on the pull rope, which is used as the training load. When the user pulls the hand grip, they apply force to the other end of the pull rope. The force applied by the user is in the opposite direction to the resistance, thus achieving the purpose of fitness training.

[0035] Figure 3 This is a schematic diagram of the structure of a foot pedal for a fitness device according to an embodiment of the present invention, as shown below. Figure 3As shown, the fitness equipment foot pedal includes a main control unit, a motor control unit, a motor, and a pull-cord transmission mechanism module. The main control unit receives zero-point setting commands from the control switch, sends control signals to the motor control unit, and receives feedback signals from the motor control unit. The motor control unit receives control signals from the main control unit, sends control signals to the motor, sends feedback signals to the main control unit, and receives feedback signals from the motor. The motor receives control signals from the motor control unit, controls the pull-cord transmission mechanism module, and sends feedback signals to the motor control unit. The pull-cord transmission mechanism module controls the extension and retraction of the pull cord.

[0036] Figure 4 This is a schematic diagram illustrating the working principle of a fitness device according to an embodiment of the present invention, such as... Figure 4 As shown, the user triggers the control switch (the triggering operation includes, but is not limited to, double-clicking, single-clicking, pressing, and touch operations), sending a signal to the main control unit via wireless signal communication (such as WIFI or Bluetooth communication) or wired signal communication. The main control unit parses the trigger control switch event, generates a control signal, and sends it to the motor control unit. The motor control unit then sends the control signal to the motor, which controls the rope transmission mechanical module, which in turn controls the extension and retraction of the rope. Simultaneously, the motor can also generate a feedback signal and send it to the motor control unit, which in turn sends the feedback signal to the main control unit. The main control unit can then announce via voice that the safety zero point has been successfully set and that the user can begin training.

[0037] It's important to explain that the zero-point setting command can be issued by the user via a control switch to set a safe zero point. The safe zero point can be understood as the initial position where the motor outputs training resistance when the user begins training, corresponding to the length the cable is pulled out. When the pulled-out length is greater than or equal to this length, the motor outputs training resistance; when the pulled-out length is less than this length, the motor does not output training resistance. It should be noted that training resistance is the resistance required when the user performs the corresponding movement (such as bicep curls, bench presses, squats, etc.). Training resistance can be a user-defined resistance or a resistance set by default by the fitness equipment based on the training movement or user information.

[0038] Specifically, the user starts the fitness equipment, selects a training exercise, such as a squat or bench press, and after selecting the exercise and pulling the rope to the corresponding position where the safety zero point needs to be set, the user can trigger the control switch to send a zero point setting command, thereby setting the current position of the rope to the safety zero point.

[0039] S102. The motor parameters and / or the length of the pull rope pulled out when the zero-point setting command is received are determined as the target parameters corresponding to the zero-point setting command.

[0040] For example, motor parameters can be the number of rotations of the motor in the fitness equipment, the angular velocity of the motor, or the linear velocity of the motor.

[0041] The length of the pull rope can be any length that exceeds the length of the foot pedals of the fitness equipment, or the length that exceeds the rope outlet of the fitness equipment, or the length that the pull rope is pulled out from the starting position (the starting position is the position when the pull rope is fully retracted).

[0042] In this embodiment, when the motor parameter is the number of motor rotations, the target parameter can be the number of motor rotations when the zero-point setting command is received; when the motor parameter is at least one of the motor rotational angular velocity, motor rotational linear velocity, and the number of motor rotations, the target parameter can be the length of the pull rope pulled out when the zero-point setting command is received. For example, the number of motor rotations when the pull rope is fully retracted can be 0, and the number of motor rotations when fully extended can be N. The total length of the pull rope can be 2 meters. Therefore, the length of the pull rope corresponding to one rotation of the motor can be 2 / N meters. Thus, when the zero-point setting command is received, there is the following correspondence between the number of motor rotations and the length of the pull rope pulled out: For example, if the number of motor rotations when the zero-point setting command is received is n, then the length of the pull rope pulled out corresponding to the zero-point setting command is 2n / N meters.

[0043] Specifically, after receiving the zero-point setting command from the control switch, the fitness equipment determines the motor parameters and / or the pulled-out length of the cable at the time the command was received as the target parameters corresponding to the zero-point setting command. After setting the safe zero point corresponding to the zero-point setting command, the fitness equipment can announce to the user via voice that the safe zero point setting has been successful and the user can begin training.

[0044] In the implementation process, the motor parameters when the control switch sends a zero-point setting command can be determined as the target parameters corresponding to the zero-point setting command. However, since the motor parameters are parameters of internal components of the fitness equipment, users may not be able to intuitively see the specific numerical value of the target parameters. Therefore, the length of the pull rope when the control switch sends a zero-point setting command can also be determined as the target parameters corresponding to the zero-point setting command. For example, rope length markings can be displayed on the pull rope so that users can intuitively see the length of the pull rope when the control switch sends a zero-point setting command.

[0045] S103. Control the motor to output the target torque based on the target parameters, current motor parameters, and / or the current pulled-out length of the rope.

[0046] Specifically, the current motor parameters and / or the current pulled-out length of the cable are compared with the target parameters. Based on the comparison result, the motor is controlled to output a target torque, which includes a first torque and a second torque. For example, when the number of motor rotations is greater than or equal to the number of motor rotations when a zero-point setting command is received from the control switch, or when the pulled-out length of the cable is greater than or equal to the pulled-out length of the cable when a zero-point setting command is received from the control switch, the motor can be controlled to output a second torque. The second torque is the training resistance, i.e., the resistance preset by the user for strength training of the corresponding movement, or the resistance defaulted to the fitness equipment based on the training movement or user information. When the number of motor rotations is less than the number of rotations when the control switch sends a zero-point setting command, or when the length of the pull rope is less than the length of the pull rope when the control switch sends a zero-point setting command, the motor can be controlled to output a first torque. This first torque is a protective resistance, which can be a user-preset resistance for safety, or a resistance set by default by the fitness equipment based on training movements or user information. The protective resistance is typically less than the training resistance. For example, the first torque can be 0, a fixed value less than a second torque, or a torque that gradually decreases from the second torque.

[0047] For ease of description, this embodiment defines the situation where the current motor parameters and / or the current pulled-out length of the rope are greater than the target parameters as "above the safety zero point," and the situation where the current motor parameters and / or the current pulled-out length of the rope are less than the target parameters as "below the safety zero point." This embodiment, by controlling the motor to output a second torque above the safety zero point and controlling the motor to output a first torque below the safety zero point, can minimize the risk of exercise exhaustion for the user during training.

[0048] For example, when a user is performing exercises such as squats or bench presses, the motor outputs a second torque when the user stands up or extends their arms to pull the cable above the safety zero point. When the user squats down or retracts their arms, the motor continues to output the second torque. At this point, the torque is relatively large, resulting in greater resistance on the cable. Furthermore, as the degree of squatting or retracting the arms increases, the user's muscles experience increased load. If the motor continues to output the second torque at this point, there is a high risk of the user becoming exhausted, potentially leading to injury. Therefore, this embodiment controls the motor to output the first torque below the user-set safety zero point, thus avoiding the risk of injury when the user becomes exhausted or loses strength, providing safety protection.

[0049] In actual operation, when the user finishes the previous training exercise, if the next training exercise is the same as the previous one, the control switch does not need to be re-triggered to send the zero-point setting command. The motor parameters and / or the length of the pull cord when the control switch received the zero-point setting command are still used as the target parameters corresponding to the zero-point setting command. The motor output target torque is controlled based on the current motor parameters and / or the current length of the pull cord, along with the target parameters. If the user finishes the previous training exercise and the next training exercise is different (e.g., the previous exercise was a squat, the next exercise is a bench press), the control switch can be re-triggered to send the zero-point setting command. The motor parameters and / or the length of the pull cord when the control switch receives the new zero-point setting command are used as the target parameters corresponding to the zero-point setting command. The motor output target torque is controlled based on the current motor parameters and / or the current length of the pull cord, along with the target parameters. Users can flexibly set different safety zero points by triggering the control switch according to different training exercises. Existing technologies typically only have a default safety protection zero point, which cannot be applied to all users. Since different users have different heights and arm lengths, the safety protection positions required for users to perform exercises such as squats and bench presses will also be different. This solution sets different safety zero points by triggering a control switch, allowing different users to set the safety zero point at any position according to their own situation. It can be applied to different users and has strong flexibility and adaptability.

[0050] This invention, through receiving a zero-point setting command from a control switch, determines the motor parameters and / or the pulled-out length of the rope at the time the command is received as the target parameters corresponding to the zero-point setting command. Based on these target parameters and the current motor parameters and / or the current pulled-out length of the rope, the motor outputs a target torque. This invention allows users to set a safety zero point themselves during each training session based on different training movements, providing training protection. The safety zero-point setting is convenient, quick, accurate, widely applicable, and easy to implement. Compared to manual protection and support protection, it does not rely on the assistance of others or supports; users can achieve this independently. Compared to physical safety rope protection, it is more convenient to use, eliminates the need for additional safety ropes, is more aesthetically pleasing, and does not increase storage costs for users, preventing situations where users cannot find their safety ropes.

[0051] Optionally, motor parameters include: the number of motor revolutions, and the target parameter is the target number of motor revolutions.

[0052] The target number of rotations can be the number of rotations of the motor when the motor parameters are the motor's rotation number and a zero-point setting command is sent by the control switch.

[0053] Controlling the motor to output a target torque based on current motor parameters and target parameters includes:

[0054] If the current number of rotations of the motor is less than the target number of rotations, then control the motor to output the first torque.

[0055] The first torque can be a relatively small value output by the motor to avoid the risk of injury when the user is exhausted, thus playing a protective role.

[0056] Specifically, if the current number of motor rotations is less than the target number of rotations (i.e., less than the number of rotations when the control switch sends the zero-point setting command), it indicates that the length of the rope pulled by the user is less than the rope length set at the safe zero point. When the current number of motor rotations is less than the target number, meaning the rope length is shorter than the rope length corresponding to the safe zero point, if the motor continues to output the second torque for training, it is highly likely to cause the user to reach exhaustion, thus creating a risk of injury. For example, in squat training, the motor outputs the same amount of resistance throughout the user's training, but the lower the user squats, the greater the load on the muscles, making it easier to reach exhaustion at lower positions. By setting a safe zero point and controlling the motor's first torque output below that point, the risk of injury when the user reaches exhaustion can be avoided, thus providing protection.

[0057] If the current number of rotations of the motor is greater than or equal to the target number of rotations, then control the motor to output a second torque.

[0058] The first torque is less than the second torque.

[0059] The second torque can be a relatively large fixed value output by the motor, or it can be a variable value that gradually increases with the length of the rope, thereby increasing the resistance the user encounters when pulling the rope and achieving the effect of fitness training. In actual operation, the second torque is greater than the first torque.

[0060] Specifically, if the current number of motor rotations is greater than or equal to the target number of rotations, that is, if the current number of motor rotations is greater than or equal to the number of motor rotations when the zero-point setting command is received from the control switch, it indicates that the length of the rope pulled out by the user at this time is greater than or equal to the length of the rope when the safety zero point is set, and training resistance can be output. Then, the motor is controlled to output a second torque, thereby increasing the resistance when the user pulls out the rope, achieving the effect of fitness training.

[0061] Figure 5 This is a schematic diagram illustrating a method for controlling the motor to output a target torque based on current motor parameters and target parameters when the motor parameter is the number of motor revolutions, according to an embodiment of the present invention. Figure 5As shown, the user turns on the fitness equipment, selects a training exercise (e.g., squat or bench press), and pulls the resistance cable after setting the posture. The user pulls the cable to the appropriate position, and the cable drive module monitors the motor's rotation count and reports it to the motor control unit. The motor control unit records the current motor rotation count. The user triggers a control switch to send a zero-point setting command to the main control unit. Upon receiving the command, the main control unit sets the current motor rotation count to the target parameter (target rotation count) corresponding to the zero-point setting command. After the user begins the training exercise, the cable length is greater than the cable length corresponding to the safe zero point. The main control unit activates resistance output, and the user pulls the cable. The cable drive module monitors the motor's rotation count and reports it to the motor control unit. The motor control unit determines whether the current motor rotation count is less than the target rotation count. If the current motor rotation count is less than the target rotation count, the motor outputs a first torque; if the current motor rotation count is greater than or equal to the target rotation count, the motor outputs a second torque. After the user receives an action, the next training action is returned to the pull rope operation. The number of rotations of the motor is monitored and reported to the motor control unit. The motor control unit determines whether the current number of rotations of the motor is less than the target number of rotations, and then controls the motor to output appropriate torque.

[0062] Optionally, the motor parameters include at least one of the following: motor rotational angular velocity, motor rotational linear velocity, and number of motor rotations, and the target parameter is the target length of the pull rope that is pulled out.

[0063] The length to which the target is pulled out can be the length to which the pull rope is pulled out when the control switch sends a zero-point setting command, provided that the motor parameters are at least one of the motor rotational angular velocity, motor rotational linear velocity, and number of motor rotations.

[0064] Controlling the motor output target torque based on current motor parameters and target parameters includes:

[0065] The current length of the pull rope is determined based on the motor parameters.

[0066] Specifically, the pulling speed of the rope can be determined based on the motor's angular velocity, and the pulling length can be calculated based on the pulling speed and the time it takes to pull the rope out. Alternatively, the pulling speed can be determined based on the motor's linear velocity, and the pulling length can be calculated based on the pulling speed and the time it takes to pull the rope out. The motor's angular velocity and linear velocity can be converted to each other. Furthermore, the pulling length can be calculated based on the number of rotations of the motor and the length of the rope corresponding to one rotation of the motor.

[0067] The motor outputs the target torque based on the current length of the pulled rope and the target length of the pulled rope.

[0068] Specifically, the current pulled-out length of the rope is compared with the target pulled-out length of the rope, and then the motor is controlled to output the target torque. For example, if the current pulled-out length of the rope is less than the target pulled-out length of the rope, the motor is controlled to output the first torque; if the current pulled-out length of the rope is greater than or equal to the target pulled-out length of the rope, the motor is controlled to output the second torque.

[0069] Optionally, the motor outputs a target torque based on the current pulled-out length of the rope and the target pulled-out length of the rope, including:

[0070] If the current length of the pulled rope is less than the target length of the pulled rope, then control the motor to output the first torque.

[0071] Specifically, if the current length of the pull rope is less than the target length, that is, if the current length of the pull rope is less than the length of the pull rope when the zero-point setting command is received from the control switch, it means that the length of the pull rope pulled by the user at this time is less than the length of the pull rope when the safety zero point is set. If the motor continues to output the second torque for training, it is very likely to cause the user to exhaustion, thus creating a risk of exercise. For example, in squat training, the motor outputs the same amount of resistance throughout the user's training process, but the lower the user squats, the greater the load on the muscles will be. Therefore, it is easier to exhaust at a lower position. At this time, by setting the safety zero point and controlling the motor to output the first torque below the safety zero point, the risk of injury when the user exhausts can be avoided, thus playing a protective role.

[0072] If the current pulled-out length of the rope is greater than or equal to the target pulled-out length, the motor is controlled to output a second torque.

[0073] The first torque is less than the second torque.

[0074] Specifically, if the current length of the pulled rope is greater than or equal to the target length of the pulled rope, that is, if the current length of the pulled rope is greater than or equal to the length of the pulled rope when the zero-point setting command is received from the control switch, it indicates that the length of the pulled rope pulled by the user at this time is greater than or equal to the length of the pulled rope when the safety zero point is set. Then the control motor outputs a second torque, thereby increasing the resistance of the user pulling the rope and achieving the effect of fitness training.

[0075] Optionally, if the current pulled-out length of the rope is less than the target pulled-out length, the motor is controlled to output a first torque, including:

[0076] If the current pulled-out length of the rope is less than the target pulled-out length, the torque output of the control motor is reduced to zero.

[0077] Specifically, if the current length of the pull rope is less than the target length, meaning the current length is less than the length when the control switch sends the zero-point setting command, it indicates that the user is pulling the rope less than the length set at the safety zero point. If the motor continues to output the second torque for training, it is highly likely that the user will reach exhaustion, thus posing a risk to exercise. For example, in squat training, the motor outputs the same amount of resistance throughout the user's training process. However, the lower the user squats, the greater the load on the muscles, making it easier to reach exhaustion at lower positions. In this case, by setting a safety zero point and reducing the motor's output torque to zero below the safety zero point, the resistance output can be canceled, thus avoiding the risk of injury when the user reaches exhaustion and providing protection.

[0078] or,

[0079] If the current pulled-out length of the rope is less than the target pulled-out length, the torque output of the control motor is reduced to the first torque, which is less than the second torque.

[0080] Specifically, if the current length of the pull rope is less than the target length, that is, if the current length of the pull rope is less than the length of the pull rope when the zero-point setting command is received from the control switch, it means that the length of the pull rope pulled by the user at this time is less than the length of the pull rope when the safety zero point is set. If the motor continues to output the second torque for training, it is very likely to cause the user to exhaustion, thus creating a risk of exercise. For example, in squat training, the motor outputs the same amount of resistance throughout the user's training process, but the lower the user squats, the greater the load on the muscles will be. Therefore, it is easier to exhaust at a lower position. At this time, by setting the safety zero point and controlling the motor to output the first torque below the safety zero point, the risk of injury when the user exhausts can be avoided, thus playing a protective role.

[0081] or,

[0082] If the current pulled-out length of the rope is less than the target pulled-out length, the first torque is determined based on the pulled-out length of the rope and the second coefficient, and the motor is controlled to output the first torque.

[0083] In this embodiment, the second coefficient may be a coefficient used to characterize the rate of torque reduction when the torque is reduced during the process of motor output torque.

[0084] Specifically, if the current pulled-out length of the rope is less than the target pulled-out length, that is, the current pulled-out length is less than the pulled-out length when the control switch sends the zero-point setting command, it indicates that the length of the rope pulled out by the user at this time is less than the length of the rope when the safe zero point is set. If the motor continues to output the second torque for training, it is very likely to cause the user to exhaustion, thus creating a risk of exercise. For example, in squat training, the motor outputs the same amount of resistance throughout the user's training process, but the lower the user squats, the greater the load on the muscles will be. Therefore, it is easier to exhaust at a lower position. At this time, the torque can be gradually reduced as the length of the rope retracts into the foot pedal decreases. The first torque can be determined based on the current pulled-out length of the rope and the second coefficient, that is, the first torque = the current pulled-out length of the rope × the second coefficient = the current pulled-out length of the rope × the rate of torque reduction. The rate of torque reduction = the torque value corresponding to each segment of the rope × the pulled-out length of the rope. By setting a safety zero point and controlling the motor to output a first torque below the safety zero point, that is, a relatively small torque value that gradually decreases as the user pulls out the rope, the risk of injury from falling can be avoided when the user is exhausted, thus playing a protective role.

[0085] Optionally, the current pulled-out length of the pull rope can be determined based on the motor parameters, including:

[0086] Obtain the length of the pull rope corresponding to one revolution of the motor.

[0087] Specifically, one end of the pull rope is connected to the rotating shaft of the motor. When the motor rotates, it outputs torque through the pull rope. When the user pulls the pull rope, it will drive the motor to rotate. In the entire process of the pull rope from being fully retracted to being fully extended, the number of rotations of the motor when the pull rope is fully retracted can be 0, and the number of rotations of the motor when it is fully extended can be N. For example, the total length of the pull rope can be 2 meters, then the length of the pull rope corresponding to one rotation of the motor can be 2 / N meters.

[0088] In practice, setting the safety zero point means determining how far the rope should be pulled out before the motor starts outputting training resistance. Further, it means determining how many rotations the motor needs to complete after the rope is pulled out to begin outputting training resistance. Assuming the safety zero point is set to the motor rotating *c* times, when the rope is pulled out, the motor outputs its first torque when the number of rotations is less than *c* times; and it begins outputting training resistance, i.e., the second torque, when the number of rotations is greater than or equal to *c* times.

[0089] The current pull-out length of the pull rope is determined based on the current number of motor rotations and the length of the pull rope corresponding to one rotation of the motor.

[0090] Specifically, the current length of the pulled rope = the length of the pulled rope corresponding to one revolution of the motor × the current number of revolutions of the motor. It should be noted that in actual operation, the detection accuracy of the motor revolution count is very high, so the number of motor revolutions can be accurate to decimals or fractions.

[0091] Optionally, the current pulled-out length of the pull rope can be determined based on the motor parameters, including:

[0092] The pull-out speed of the rope is determined based on the angular velocity and / or linear velocity of the motor.

[0093] The pulling speed can be the speed at which the user pulls out the rope. Specifically, the pulling speed of the rope can be determined based on the angular velocity and / or linear velocity of the motor.

[0094] Specifically, an angle sensor can be installed inside the motor to record the motor's rotational angular velocity in real time. The rotational angular velocity and linear velocity of the motor can be converted between each other. The pull-out speed of the rope can be determined from the motor's rotational angular velocity and / or linear velocity. In implementation, the rotational angular velocity and / or linear velocity of the motor can be positively correlated with the pull-out speed of the rope; the higher the rotational angular velocity and / or linear velocity, the higher the pull-out speed of the rope. In a specific embodiment, a correspondence between the motor's rotational angular velocity and / or linear velocity and the pull-out speed of the rope can be established in advance. After determining the motor's rotational angular velocity and / or linear velocity, the pull-out speed of the rope can be determined based on this correspondence.

[0095] The length of the rope that is pulled out is determined based on the speed at which the rope is pulled out and the time it takes to pull it out.

[0096] The "pulled-out time" can refer to the time a user pulls out of the rope during exercises such as squats or bench presses.

[0097] Specifically, the current length of the pull rope = the speed at which the pull rope is pulled × the time it takes for the pull rope to be pulled out.

[0098] Optionally, the control switch may be located on the hand grip, on the user's waist belt, and / or on the foot pedals of the fitness equipment.

[0099] Specifically, the control switch can be located in a position accessible to the user during training. For example, the control switch can be located on the hand grip bar held by the user, on the waist belt worn by the user, or on the foot pedals of the fitness equipment, etc. It can be located anywhere that the user's hands or feet can reach during training, and this embodiment does not limit this.

[0100] Placing the control switch within the user's reach during training facilitates operation and ensures accurate zero-point setting. Only when the control switch is within the user's reach can the user set the zero point after assuming the correct posture. If the zero point is located far from the user's reach, triggering the remote control switch when the user adjusts their posture and position will distort the established posture and position, resulting in inaccurate zero-point setting. The technical solution of this invention ensures that the user can easily trigger the control switch at any point during training, achieving quick and accurate zero-point setting.

[0101] The technical solution of this invention utilizes the easily controllable digital resistance of fitness equipment, specifically the ability of a motor to control resistance output under specific conditions, to create a protection mechanism that simulates human intervention, support protection, and physical safety rope protection, providing training protection for the user. Through this technical solution, users can set the safety zero point of the fitness equipment themselves using a control switch during each training session, automatically controlling the output and release of resistance to provide training protection. Furthermore, setting the safety zero point is convenient, quick, accurate, widely applicable, and easy to implement. Compared to human intervention and support protection, it does not rely on the assistance of others or supports; users can achieve this independently. Compared to physical safety rope protection, it is more convenient to use, eliminates the need for an additional safety rope, is more aesthetically pleasing, and does not increase the user's additional storage costs, preventing situations where the safety rope cannot be found.

[0102] Example 2

[0103] Figure 6 This is a schematic diagram of a torque control device according to an embodiment of the present invention. This embodiment is applicable to torque control applications. The device can be implemented using software and / or hardware, and can be integrated into any device that provides torque control functionality, such as… Figure 6 As shown, the torque control device specifically includes: a receiving module 201, a determining module 202, and an output module 203.

[0104] The receiving module 201 is used to receive the zero-point setting command sent by the control switch;

[0105] The determining module 202 is used to determine the motor parameters and / or the pulled-out length of the pull rope when the zero-point setting command is received as the target parameters corresponding to the zero-point setting command;

[0106] The output module 203 is used to control the motor to output a target torque based on the target parameters, current motor parameters, and / or the current pulled-out length of the pull rope.

[0107] Optionally, the motor parameters include: the number of rotations of the motor, and the target parameter is the target number of rotations of the motor;

[0108] The output module 203 includes:

[0109] The first control submodule is used to control the motor to output a first torque if the current number of rotations of the motor is less than the target number of rotations.

[0110] The second control submodule is used to control the motor to output a second torque if the current number of rotations of the motor is greater than or equal to the target number of rotations, wherein the first torque is less than the second torque.

[0111] Optionally, the motor parameters include at least one of the following: motor rotational angular velocity, motor rotational linear velocity, and number of rotations of the motor, and the target parameter is the target length of the pull rope being pulled out.

[0112] The output module 203 includes:

[0113] The determination submodule is used to determine the current pulled-out length of the pull rope based on the motor parameters;

[0114] The third control submodule is used to control the motor to output the target torque based on the current pulled-out length of the pull rope and the target pulled-out length of the pull rope.

[0115] Optionally, the third control submodule includes:

[0116] The first control unit is configured to control the motor to output a first torque if the current pulled-out length of the pull rope is less than the target pulled-out length.

[0117] The second control unit is configured to control the motor to output a second torque if the current pulled-out length of the pull rope is greater than or equal to the target pulled-out length, wherein the first torque is less than the second torque.

[0118] Optionally, the first control unit includes:

[0119] The second control subunit is used to control the torque output by the motor to be reduced to zero if the current pulled-out length of the pull rope is less than the target pulled-out length.

[0120] or,

[0121] The third control subunit is used to control the torque output by the motor to be reduced to a first torque if the current pulled-out length of the pull rope is less than the target pulled-out length.

[0122] or,

[0123] The fourth control subunit is used to determine a first torque based on the pull-out length of the pull rope and a second coefficient if the current pull-out length of the pull rope is less than the target pull-out length, and then control the motor to output the first torque.

[0124] Optionally, the determining submodule includes:

[0125] The acquisition unit is used to acquire the length of the pull rope corresponding to one revolution of the motor;

[0126] The first determining unit is used to determine the current pulled-out length of the pull rope based on the current number of rotations of the motor and the length of the pull rope corresponding to one rotation of the motor;

[0127] Alternatively, the determining submodule includes:

[0128] The second determining unit is used to determine the pulled-out speed of the rope based on the angular velocity and / or linear velocity of the motor rotation.

[0129] The third determining unit is used to determine the current pulled-out length of the pull rope based on the pulled-out speed and the pulled-out time of the pull rope.

[0130] Optionally, the control switch may be located on the hand grip, on the user's waist belt, and / or on the foot pedals of the fitness equipment.

[0131] The above-mentioned products can execute the torque control method provided in any embodiment of the present invention, and have the corresponding functional modules and beneficial effects of the execution method.

[0132] Example 3

[0133] Figure 7 A schematic diagram of an electronic device 30 that can be used to implement embodiments of the present invention is shown. The electronic device is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The electronic device can also represent various forms of mobile devices, such as personal digital processors, cellular phones, smartphones, wearable devices (e.g., helmets, glasses, watches, etc.), and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely illustrative and are not intended to limit the implementation of the invention described and / or claimed herein.

[0134] like Figure 7As shown, the electronic device 30 includes at least one processor 31 and a memory, such as a read-only memory (ROM) 32 or a random access memory (RAM) 33, communicatively connected to the at least one processor 31. The memory stores computer programs executable by the at least one processor. The processor 31 can perform various appropriate actions and processes based on the computer program stored in the ROM 32 or loaded from storage unit 38 into the RAM 33. The RAM 33 can also store various programs and data required for the operation of the electronic device 30. The processor 31, ROM 32, and RAM 33 are interconnected via a bus 34. An input / output (I / O) interface 35 is also connected to the bus 34.

[0135] Multiple components in electronic device 30 are connected to I / O interface 35, including: input unit 36, such as keyboard, mouse, etc.; output unit 37, such as various types of monitors, speakers, etc.; storage unit 38, such as disk, optical disk, etc.; and communication unit 39, such as network card, modem, wireless transceiver, etc. Communication unit 39 allows electronic device 30 to exchange information / data with other devices through computer networks such as the Internet and / or various telecommunications networks.

[0136] Processor 31 can be a variety of general-purpose and / or special-purpose processing components with processing and computing capabilities. Some examples of processor 31 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various special-purpose artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, a digital signal processor (DSP), and any suitable processor, controller, microcontroller, etc. Processor 31 performs the various methods and processes described above, such as torque control methods:

[0137] Receive the zero-point setting command sent by the control switch;

[0138] The motor parameters and / or the length of the pull rope pulled out when the zero-point setting command is received are determined as the target parameters corresponding to the zero-point setting command;

[0139] The target torque is controlled by the motor output based on the target parameters, current motor parameters, and / or the current pulled-out length of the pull rope.

[0140] In some embodiments, the torque control method may be implemented as a computer program tangibly contained in a computer-readable storage medium, such as storage unit 38. In some embodiments, part or all of the computer program may be loaded and / or mounted on electronic device 30 via ROM 32 and / or communication unit 39. When the computer program is loaded into RAM 33 and executed by processor 31, one or more steps of the torque control method described above may be performed. Alternatively, in other embodiments, processor 31 may be configured to perform the torque control method by any other suitable means (e.g., by means of firmware).

[0141] Various embodiments of the systems and techniques described above herein can be implemented in digital electronic circuit systems, integrated circuit systems, field-programmable gate arrays (FPGAs), application-specific integrated circuits (ASICs), application-specific standard products (ASSPs), systems-on-a-chip (SoCs), payload-programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various embodiments may include implementations in one or more computer programs that can be executed and / or interpreted on a programmable system including at least one programmable processor, which may be a dedicated or general-purpose programmable processor, capable of receiving data and instructions from a storage system, at least one input device, and at least one output device, and transmitting data and instructions to the storage system, the at least one input device, and the at least one output device.

[0142] Computer programs used to implement the methods of the present invention may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device, such that when executed by the processor, the computer programs cause the functions / operations specified in the flowcharts and / or block diagrams to be performed. The computer programs may be executed entirely on a machine, partially on a machine, or as a standalone software package, partially on a machine and partially on a remote machine, or entirely on a remote machine or server.

[0143] In the context of this invention, a computer-readable storage medium can be a tangible medium that may contain or store a computer program for use by or in conjunction with an instruction execution system, apparatus, or device. A computer-readable storage medium may include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, apparatus, or devices, or any suitable combination thereof. Alternatively, a computer-readable storage medium may be a machine-readable signal medium. More specific examples of machine-readable storage media include electrical connections based on one or more wires, portable computer disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fibers, portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination thereof.

[0144] To provide interaction with a user, the systems and techniques described herein can be implemented on an electronic device having: a display device for displaying information to the user (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor); and a keyboard and pointing device (e.g., a mouse or trackball) through which the user provides input to the electronic device. Other types of devices can also be used to provide interaction with the user; for example, feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form (including sound input, voice input, or tactile input).

[0145] The systems and technologies described herein can be implemented in computing systems that include backend components (e.g., as data servers), or computing systems that include middleware components (e.g., application servers), or computing systems that include frontend components (e.g., user computers with graphical user interfaces or web browsers through which users can interact with implementations of the systems and technologies described herein), or any combination of such backend, middleware, or frontend components. The components of the system can be interconnected via digital data communication of any form or medium (e.g., communication networks). Examples of communication networks include local area networks (LANs), wide area networks (WANs), blockchain networks, and the Internet.

[0146] A computing system can include clients and servers. Clients and servers are generally located far apart and typically interact through communication networks. The client-server relationship is created by computer programs running on the respective computers and having a client-server relationship with each other. The server can be a cloud server, also known as a cloud computing server or cloud host, which is a hosting product within the cloud computing service system to address the shortcomings of traditional physical hosts and VPS services, such as high management difficulty and weak business scalability.

[0147] It should be understood that the various forms of processes shown above can be used, with steps reordered, added, or deleted. For example, the steps described in this invention can be executed in parallel, sequentially, or in different orders, as long as the desired result of the technical solution of this invention can be achieved, and this is not limited herein.

[0148] The specific embodiments described above do not constitute a limitation on the scope of protection of this invention. Those skilled in the art should understand that various modifications, combinations, sub-combinations, and substitutions can be made according to design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this invention should be included within the scope of protection of this invention.

Claims

1. A torque control method characterized by, The method is applied to a fitness machine, and the fitness machine comprises a control switch, a motor and a pull rope, the motor outputs a torque through the pull rope, and the torque control method comprises the following steps: receiving a zero point setting instruction sent by the control switch; determining a motor parameter and / or a pulled-out length of the pull rope at the time of receiving the zero point setting instruction as a target parameter corresponding to the zero point setting instruction; controlling the motor to output a target torque according to the target parameter and a current motor parameter and / or a current pulled-out length of the pull rope.

2. The method of claim 1, wherein, The motor parameter comprises a rotation number of the motor, and the target parameter is a target rotation number of the motor. The method of controlling the motor to output the target torque according to the current motor parameter and the target parameter comprises the following steps: if the current rotation number of the motor is less than the target rotation number, controlling the motor to output a first torque; if the current rotation number of the motor is greater than or equal to the target rotation number, controlling the motor to output a second torque, wherein the first torque is less than the second torque.

3. The method of claim 1, wherein, The motor parameter comprises at least one of a motor rotation angular velocity, a motor rotation linear velocity and a rotation number of the motor, and the target parameter is a target pulled-out length of the pull rope. The method of controlling the motor to output the target torque according to the current motor parameter and the target parameter comprises the following steps: determining the current pulled-out length of the pull rope according to the motor parameter; controlling the motor to output the target torque according to the current pulled-out length of the pull rope and the target pulled-out length of the pull rope.

4. The method of claim 3, wherein, The method of controlling the motor to output the target torque according to the current pulled-out length of the pull rope and the target pulled-out length of the pull rope comprises the following steps: if the current pulled-out length of the pull rope is less than the target pulled-out length, controlling the motor to output the first torque; if the current pulled-out length of the pull rope is greater than or equal to the target pulled-out length, controlling the motor to output the second torque, wherein the first torque is less than the second torque.

5. The method of claim 4, wherein, If the current pulled-out length of the pull rope is less than the target pulled-out length, the method of controlling the motor to output the first torque comprises the following steps: if the current pulled-out length of the pull rope is less than the target pulled-out length, controlling the motor to output a torque that is reduced to zero; or if the current pulled-out length of the pull rope is less than the target pulled-out length, controlling the motor to output a torque that is reduced to a first torque; or if the current pulled-out length of the pull rope is less than the target pulled-out length, determining the first torque according to the pulled-out length of the pull rope and a second coefficient, and controlling the motor to output the first torque.

6. The method of claim 3, wherein, The method of determining the current pulled-out length of the pull rope according to the motor parameter comprises the following steps: acquiring a pull rope length corresponding to one rotation of the motor; determining the current pulled-out length of the pull rope according to the current rotation number of the motor and the pull rope length corresponding to one rotation of the motor; or determining a pulled-out speed of the pull rope according to the motor rotation angular velocity and / or the motor rotation linear velocity; determining the current pulled-out length of the pull rope according to the pulled-out speed of the pull rope and a pulled-out time of the pull rope.

7. The method of claim 1, wherein, The control switch is arranged on a handgrip, a waistband worn by a user and / or a foot pedal of the fitness machine.

8. A torque control device characterized by comprising: The method comprises the following steps: a receiving module is configured to receive a zero point setting instruction sent by the control switch; The determining module is configured to determine the motor parameter and / or the pulled-out length of the pull rope when the zero-point setting instruction is received as a target parameter corresponding to the zero-point setting instruction. The output module is configured to control the motor to output a target torque according to the target parameter and a current motor parameter and / or a current pulled-out length of the pull rope.

9. An electronic device, comprising: The electronic device comprises: at least one processor; and a memory connected with the at least one processor in communication; wherein The memory stores a computer program executable by the at least one processor, and the computer program is executed by the at least one processor to enable the at least one processor to execute the torque control method in any one of claims 1-7.

10. A computer-readable storage medium, characterized in that, The computer readable storage medium stores computer instructions for enabling the processor to execute the torque control method in any one of claims 1-7 when executed.

Images