Method and apparatus for rope recovery of a fitness machine, fitness machine, and storage medium

Abstract

The present application relates to the technical field of fitness equipment, and discloses a rope recovery method and device of fitness equipment and the fitness equipment. The rope recovery method of the fitness equipment comprises the following steps: determining the change result of the length of the rope wound by the winding assembly under the action of the current recovery force, and recovering the rope according to the change result. The present embodiment fully considers the recovery effect of the current recovery operation on the rope, can tentatively apply the recovery force to the rope, flexibly and gradually recovers the rope, avoids the situation that the fixed recovery force is continuously output regardless of the current recovery situation, and easily causes a safety accident, so that the rope can be reliably and effectively recovered.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of fitness equipment, in particular to a rope recovery method and device of fitness equipment, fitness equipment and a storage medium. BACKGROUND

[0002] There are various types of fitness equipment, and people can use various types of fitness equipment to exercise different parts of the human body. Among them, rope fitness equipment is simple and easy to use, and can help people exercise muscle strength in various parts.

[0003] Generally, the rope fitness equipment will execute an initialization program to recover the rope after each power-on. Generally, the fitness equipment recovers the rope according to a fixed recovery force. Even if one end of the rope is stuck by an external object, the fitness equipment will continue to output a fixed recovery force to pull the rope hard. This recovery method is prone to cause safety accidents. SUMMARY

[0004] An object of an embodiment of the present application is to provide a rope recovery method and device of fitness equipment and fitness equipment to solve the technical defects of the prior art.

[0005] In a first aspect, an embodiment of the present application provides a rope recovery method of fitness equipment, comprising:

[0006] determining a change result of a length of the rope under the action of the current recovery force of the winding assembly;

[0007] recovering the rope according to the change result.

[0008] Optionally, the change result includes no change in length or a change in length, and recovering the rope according to the change result includes:

[0009] if the change result is no change in length, increasing the current recovery force to a target recovery force, and recovering the rope according to the target recovery force;

[0010] if the change result is a change in length, recovering the rope according to the position of the winding assembly.

[0011] Optionally, the increasing of the current recovery force to the target recovery force includes:

[0012] increasing the current recovery force to the target recovery force according to a preset recovery function.

[0013] Optionally, the recovering of the rope according to the target recovery force includes:

[0014] determining a change result of a length of the rope under the action of the target recovery force;

[0015] if the change result is length change, the rope is retracted according to the position of the winding assembly.

[0016] if the change result is length change, the rope is retracted according to the position of the winding assembly.

[0017] Optionally, the retracting the rope according to the target retraction force and the retraction force threshold comprises:

[0018] determining whether the target retraction force is greater than or equal to the retraction force threshold;

[0019] if yes, generating prompt information;

[0020] if no, retracting the rope according to the current retraction force.

[0021] Optionally, after the prompt information is generated, the method further comprises: reducing the current retraction force of the rope to a preset retraction force.

[0022] Optionally, the retracting the rope according to the position of the free end of the rope comprises:

[0023] determining whether the winding assembly is in an initial position;

[0024] if yes, entering a standby state;

[0025] if no, retracting the rope according to a specified retraction force.

[0026] Optionally, the specified retraction force is an initial retraction force when the rope starts to be retracted; or, the specified retraction force is a force in a preset proportion to the current retraction force; or, the specified retraction force is a force determined according to the current retraction force.

[0027] In a second aspect, an embodiment of the present application provides a rope retraction device of a fitness machine, comprising:

[0028] a length determination module configured to determine whether the length of the rope changes under the action of the current retraction force;

[0029] a rope retraction module configured to retract the rope according to the change result.

[0030] In a third aspect, an embodiment of the present application provides a fitness machine, comprising:

[0031] at least one processor; and

[0032] a memory connected to the at least one processor in communication; wherein

[0033] The memory stores instructions that can be executed by the at least one processor to enable the at least one processor to perform the above-described method for cable retrieval of the fitness equipment.

[0034] In a third aspect, embodiments of the present invention provide a storage medium containing computer-executable instructions, characterized in that the computer-executable instructions, when executed by a computer processor, are used to perform the above-described rope retrieval method for fitness equipment.

[0035] In the rope retrieval method for fitness equipment provided in this embodiment of the invention, the change in the length of the rope released by the winding assembly under the current retrieval force is determined. Based on the change, the rope is retrieved. This embodiment fully considers the retrieval effect of the current retrieval operation on the rope, and can tentatively apply a retrieval force to the rope, flexibly and gradually retrieving the rope. This avoids the situation where a fixed retrieval force is continuously output regardless of the current retrieval situation, which could easily lead to a safety accident. Thus, the rope can be retrieved reliably and effectively. Attached Figure Description

[0036] One or more embodiments are illustrated by way of example with reference numerals in the accompanying drawings. These illustrations do not constitute a limitation on the embodiments. Elements with the same reference numerals in the drawings are denoted as similar elements. Unless otherwise stated, the figures in the drawings are not to be limited by scale.

[0037] Figure 1 This is a schematic diagram of the structure of a fitness device provided in an embodiment of the present invention;

[0038] Figure 2 This is a schematic diagram of the structure of a winding assembly provided in an embodiment of the present invention;

[0039] Figure 3 This is a schematic diagram of another winding assembly provided in an embodiment of the present invention;

[0040] Figure 4 A flowchart illustrating a method for retrieving ropes from a fitness device, provided in an embodiment of the present invention;

[0041] Figure 5 A flowchart illustrating a method for retrieval of a rope in a fitness device, provided in another embodiment of the present invention;

[0042] Figure 6a for Figure 5 The flowchart of S42 is shown below;

[0043] Figure 6b for Figure 6a The flowchart of S421 is shown below;

[0044] Figure 6c forFigure 6b The first flowchart of S4212 is shown in the figure.

[0045] Figure 6d The second flowchart of S4212 is shown in the figure. Figure 6b The second flowchart of S4212 is shown in the figure.

[0046] Figure 7 The second flowchart of S4212 is shown in the figure. Figure 6a The second flowchart of S4212 is shown in the figure.

[0047] Figure 8a The structure diagram of the rope recovery device of the fitness equipment provided by the embodiment of the present application is shown in the figure.

[0048] Figure 8b The structure diagram of the rope recovery module is shown in the figure. Figure 8a The structure diagram of the rope recovery module is shown in the figure.

[0049] The circuit structure diagram of the fitness equipment provided by the embodiment of the present application is shown in the figure. Figure 9 DETAILED DESCRIPTION

[0050] To make the purpose, technical solutions and advantages of the present application clearer, the present application is further described in detail below in combination with the drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and do not limit the present application. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor are within the scope of protection of the present application.

[0051] It should be noted that the various features in the embodiments of the present application can be combined with each other without conflict, and are within the scope of protection of the present application. In addition, although the functional modules are divided in the device schematic diagram, and the logical order is shown in the flowchart, in some cases, the steps shown or described can be executed in a different order than the module division in the device or the order in the flowchart. Furthermore, the "first", "second", "third" and the like used in the present application do not limit the data and execution order, but only distinguish the same items or similar items with basically the same function and effect.

[0052] The present application provides a fitness equipment. Please refer to Figure 1 The fitness equipment 100 includes a support body 200 and two tension components 300, and the two tension components 300 are respectively installed on opposite sides of the support body 200.

[0053] The support body 200 has a support surface 21 for supporting a user. During exercise, the user can stand on the support surface 21 of the support body 200 and operate the tension components 300 with both hands.

[0054] The tension assembly 300 comprises a counterweight mechanism 31 and a winding assembly 32, the winding assembly 32 is connected to the counterweight mechanism 31, and the counterweight mechanism 31 can drive the winding assembly 32 to move.

[0055] As shown in Figure 2 , the counterweight mechanism 31 comprises a motor 311, the motor 311 is installed in the support body 200, and the output shaft of the motor 311 is connected to the winding assembly 32, and the motor 311 can drive the winding assembly 32 to move.

[0056] As shown in Figure 2 , the winding assembly 32 comprises a winding wheel 321 and a rope 322, the output shaft of the motor 311 is connected to the winding wheel 321, the winding wheel 321 is provided with a wire groove, and all the ropes 322 are wound in the same wire groove, wherein the first end of the rope 322 is used for the user to exert tension, and the part of the rope away from the first end is wound in the wire groove of the winding wheel 321.

[0057] The motor 311 can drive the winding wheel 321 to rotate with the rope 322, when the output shaft of the motor 311 moves in a first circumferential direction, the winding wheel 321 can wind the rope 322 in the wire groove, when the output shaft of the motor 311 moves in a second circumferential direction, the winding wheel 321 can take the rope 322 out of the wire groove, and the first circumferential direction is opposite to the second circumferential direction.

[0058] During exercise, the user first sets the current resistance on the fitness equipment 100. Then, the user stands on the support surface 21 and pulls the rope 322 with both hands. The fitness equipment 100 controls the working state of the motor 311 according to the current resistance. The winding wheel 321 is controlled by the motor 311, and the winding wheel 321 pulls the rope 322 to generate the current resistance, and the rope 322 can be wound on the wheel surface of the winding wheel 321 or separated from the wheel surface of the winding wheel 321 under the action of the user's tension and the current resistance.

[0059] Different from the structure of the winding assembly 32 shown in Figure 2 , in some embodiments, as shown in Figure 3 , the winding assembly 32 further comprises a rotating shaft 323 and a mounting bracket 324, one end of the winding wheel 321 is sleeved on the output shaft of the motor 311, the other end of the winding wheel 321 is fixedly connected to one end of the rotating shaft 323, the other end of the rotating shaft 323 is movably installed on the mounting bracket 324, and the circumferential surface of the winding wheel 321 is provided with a wire groove arranged in a spiral shape, and the rope 322 is sequentially wound in the wire groove in a spiral shape.

[0060] When the winding wheel 321 is in the initial position, that is, the winding wheel 321 is at the leftmost side as shown in Figure 3 , the winding wheel 321 is in the initial state, at this time, the motor 311 stops outputting torque and all the ropes 322 are wound in the corresponding wire groove.

[0061] When the user exercises, the user applies a pulling force to the rope 322, the motor 311 outputs a resistance to the winding wheel 321, the rope 322 is pulled to rotate the winding wheel 321 under the pulling force, the winding wheel 321 drives the rotating shaft 323 to rotate, thus the winding wheel 321 and the rotating shaft 323 move axially away from the initial position along the output shaft of the motor 311, therefore, part of the rope is gradually separated from the spiral groove, wherein the length of the part of the rope 322 separated from the groove is equal to the moving distance of the winding wheel 321 when moving axially away from the initial position, which makes the outlet position 325 of the rope 322 relative to the mounting frame 324 remain unchanged, thereby maintaining a constant torque, the user needs to provide a constant pulling force to achieve the expected training effect.

[0062] When the rope 322 needs to be recovered, the motor 311 outputs a resistance to the winding wheel 321 to drive the winding wheel 321 to rotate, so that the rope 322 is wound into the groove of the winding wheel 321, and the winding wheel 321 moves axially close to the initial position.

[0063] Generally, the fitness equipment 100 will perform an initialization operation after each power-on, wherein the initialization operation includes a rope recovery operation. Generally, the rope outlet of the fitness equipment 100 is provided with a travel switch, when the free end of the rope 322 is at the rope outlet, that is, at this time all the rope 322 has been recovered into the fitness equipment 100, at this time the rope 322 abuts against the travel switch, thus the travel switch generates a zero position signal, and the fitness equipment 100 determines that the rope 322 has been recovered in full according to the zero position signal.

[0064] When the free end of the rope 322 is not at the rope outlet, that is, at this time at least part of the rope 322 has been pulled out from the fitness equipment 100, at this time the rope 322 is separated from the travel switch, thus the travel switch cannot generate a zero position signal, since the fitness equipment 100 cannot detect the zero position signal and performs the initialization program just after power-on, therefore, the fitness equipment performs the rope recovery operation.

[0065] As another aspect of the embodiment of the present application, the embodiment of the present application provides a rope recovery method of fitness equipment. Please refer to Figure 4 , the rope recovery method S400 of fitness equipment includes:

[0066] S41, determining the change result of the unwinding length of the winding assembly under the current recovery force;

[0067] As an example but not limitation, the recovery force is a force exerted by the fitness machine on the rope for the purpose of recovering the rope into the fitness machine, and the current recovery force is a recovery force currently exerted by the fitness machine on the rope. It can be understood that the current recovery force can be the same or different at different times, for example, the current recovery force is 200 Newton at t1, and the current recovery force is 250 Newton at t2.

[0068] As an example but not limitation, the rope-out length is a length of the rope that has been let out from the current position to the initial position of the free end of the rope, for example, it is defined that the length of the rope that has been let out is 0 when the free end is at the initial position. When the free end moves from the initial position to the current position, the length of the rope that has been let out from the winding wheel is 30 cm, and therefore the rope-out length = 30-0 = 30 cm.

[0069] As an example but not limitation, the free end is an end of the rope that is not wound onto the winding wheel and is free to move, wherein the free end can be determined by the user according to the above definition. As described above, the free end can be the first end of the rope, or the free end can be a position of the rope that is not wound onto the winding wheel and is free to move at a specified distance from the first end, and the specified distance is defined by the user, for example, the specified distance is 3 cm or 5 cm, etc.

[0070] As an example but not limitation, the initial position is a position of the free end when the rope is completely wound onto the winding wheel, for example, the rope is not subjected to a pulling force, and the rope is completely wound onto the winding wheel under the action of the recovery force, at which time the position of the free end is the initial position.

[0071] As an example but not limitation, the change result is used to indicate a change in the rope-out length of the winding assembly under the action of the current recovery force. In some embodiments, the rope is blocked or obstructed by a foreign object, and the change result of the rope-out length can be that the length does not change, i.e., due to the rope being blocked or obstructed by the foreign object, the rope-out length does not change even if the winding assembly is subjected to the current recovery force. In some embodiments, the rope is not blocked or obstructed by a foreign object, and the change result of the rope-out length can be that the length has changed, i.e., due to the rope not being blocked or obstructed by a foreign object, the rope-out length changes under the action of the current recovery force.

[0072] In some embodiments, S41 comprises: obtaining an angle change difference value of the motor, and determining the change result of the rope-out length of the winding assembly under the action of the current recovery force according to the angle change difference value, wherein the angle change difference value is a difference value of the rotation angles at two adjacent times.

[0073] The motor is provided with an angle sensor for collecting the rotation angle of the motor. Generally, when the rope is blocked by foreign matter, the motor cannot drive the winding wheel to rotate due to the pulling force of the foreign matter on the winding wheel. Since the winding wheel cannot rotate, the winding wheel cannot recover the rope. Therefore, the angle change difference collected by the angle sensor is close to or equal to 0.

[0074] When the rope is not blocked by foreign matter, the motor can drag the rope to rotate by the recovery force of the winding wheel on the rope, so as to realize the recovery of the rope into the fitness equipment. Therefore, the angle change difference collected by the angle sensor is greater than 0.

[0075] Therefore, the fitness equipment obtains the angle change difference, determines the change result of the rope length according to the angle change difference. For example, when the angle change difference is equal to 0, it is determined that the change result is that the length does not change. When the angle change difference is greater than 0, it is determined that the change result is that the length changes. For example, at the t1 time point, the rotation angle is θ1, and at the t2 time point, the rotation angle is θ2. When Δθ = θ2- θ1 = 0, it indicates that the motor does not rotate from the t1 time point to the t2 time point. Therefore, the change result is that the length does not change. When Δθ = θ2- θ1 > 0, it indicates that the motor has rotated from the t1 time point to the t2 time point. Therefore, the change result is that the length changes.

[0076] In addition to detecting the change result of the rope length by using the angle sensor, in some embodiments, the position of the winding wheel relative to the mounting frame can be directly detected to determine the change result of the rope length.

[0077] In some embodiments, S41 comprises: determining the rope length of the rope at two adjacent time points, and further determining the change result of the rope length under the action of the current recovery force of the winding assembly.

[0078] For example, the motor outputs the current recovery force to the winding assembly, wherein the winding wheel can drive the rope to move under the action of the current recovery force. The fitness equipment obtains the moving speed and the moving time length of the rope, and calculates the rope length according to the moving speed and the moving time length. The moving speed is the speed of the rope moving from the initial position to the current position, and the moving time length is the time length required for the rope moving from the initial position to the current position. In some embodiments, the initial position is provided with a linear speed sensor, which can collect the moving speed of the rope. When the free end of the rope is at the initial position, the time T 前 is recorded. Let the current time be T 后 , the moving speed be v, and the rope length L = v*(T 后 -T 前 ).

[0079] From T0 to T1, the length of the rope L1 = v * (T1-T0). From T1 to T2, the length of the rope L2 = v * (T2-T1), ΔL = L2-L1, if ΔL is greater than 0, the change result is length change. If ΔL is equal to 0, the change result is length unchanged.

[0080] In some embodiments, since the winding wheel can move relative to the mounting frame during the pulling and recovering of the rope, S41 further comprises: determining the positions of the winding wheel at two adjacent time points, and determining the change result of the length of the rope under the current recovering force according to the positions of the winding wheel at the two adjacent time points.

[0081] For example, the motor outputs the current recovering force to the winding assembly, and the winding wheel can drive the rope to move under the current recovering force. The fitness equipment is provided with a position detection module for detecting the position of the winding wheel relative to the mounting frame.

[0082] From T0 to T1, the position detection module detects that the position of the winding wheel relative to the mounting frame is S1. From T1 to T2, the position detection module detects that the position of the winding wheel relative to the mounting frame is S2, if the position S1 and the position S2 belong to the same position, the change result is length unchanged. If the position S1 and the position S2 belong to different positions, the change result is length change.

[0083] In some embodiments, the position detection module comprises an infrared transceiver, which is arranged on the mounting frame. The infrared transceiver can emit an infrared signal, which can be reflected by the winding wheel back to the infrared transceiver. The infrared transceiver calculates the distance between the infrared transceiver and the winding wheel according to the emission time and the receiving time, and determines the position of the winding wheel according to the distance. The infrared transceiver comprises an infrared emitter and an infrared receiver, which can be arranged on the same side of the mounting frame, or can be arranged on different sides of the mounting frame.

[0084] It can be understood that those skilled in the art can choose any suitable position detection structure to detect the position of the winding wheel, which is not limited to the embodiments provided herein.

[0085] S42, recovering the rope according to the change result;

[0086] For example but not limited to, the recovering is the action of winding the rope back to the fitness equipment, and during the recovering, the fitness equipment can recover the rope according to the recovering force.

[0087] Therefore, the embodiment fully considers the recovery effect of the current recovery operation on the rope, can tentatively apply the recovery force to the rope, flexibly and gradually recovers the rope, avoids the situation that the fixed recovery force is continuously output regardless of the current recovery situation, and the safety accident is easily caused, so that the rope can be reliably and effectively recovered.

[0088] In some embodiments, before S41 is performed, refer to Figure 5 , the rope recovery method S400 of the fitness equipment further comprises:

[0089] S43, an upper power signal is acquired;

[0090] S44, according to the upper power signal, it is judged whether the winding assembly is in the initial position, if yes, S45 is executed, if not, S41 is entered;

[0091] S45, a standby state is entered.

[0092] As an example but not limitation, the upper power signal is a signal for starting the work of the fitness equipment, the upper power signal is used to trigger the fitness equipment to perform the initialization operation, and the initialization operation includes the rope recovery operation, wherein the upper power signal can be triggered by the user pressing the power button of the fitness equipment, or can be triggered in other forms.

[0093] The fitness equipment needs to perform the rope recovery operation according to the upper power signal. Before performing the rope recovery operation, the fitness equipment needs to judge whether the winding assembly is in the initial position, for example, whether the free end of the rope is in the initial position, or whether the winding wheel is in the initial position. If it is in the initial position, it means that the rope has been completely recovered into the fitness equipment, and there is no need to perform the rope recovery operation, and the fitness equipment enters the standby state and waits for the operation command of the user. If it is not in the initial position, the fitness equipment needs to recover the rope so that the user can operate the rope later.

[0094] In some embodiments, when the fitness equipment judges that the winding assembly is not in the initial position, the initial recovery force can be selected as the current recovery force to perform S41, that is, the change result of the rope length under the action of the initial recovery force is determined, wherein the initial recovery force is the force output by the motor of the fitness equipment to the winding assembly in the recovery mode. It can be understood that the user can operate the fitness equipment to set the initial recovery force, for example, the initial recovery force is 10N or 20N, etc. Alternatively, the fitness equipment selects the default recovery force as the initial recovery force.

[0095] Generally, if the fitness equipment recovers the rope too fast, it is easy to cause related safety accidents or cause damage to the fitness equipment, for example, a rope moving too fast can easily cut or strangle the user, and a rope recovering too fast can also cause a large impact on the handle to the fitness equipment body, thereby reducing the service life of the fitness equipment. If the fitness equipment recovers the rope too slowly, the user needs to wait for a long time to operate the rope, which is not conducive to user experience.

[0096] Generally, the speed range acceptable to the user is 0.3 m / s to 0.5 m / s, and in some embodiments, the moving speed of the rope under the action of the initial recovery force is equal to the preset speed threshold. Wherein, the preset speed threshold can select any one speed value in the speed range [0.3, 0.5]. Correspondingly, when the rope is not subjected to tension and corresponds to the speed range [0.3, 0.5], the initial recovery force is in the range [10N, 20N]. The fitness equipment slowly and gradually recovers the rope according to the initial recovery force, avoiding the problems caused by recovering the rope too fast or too slowly.

[0097] In some embodiments, the change result includes length unchanged or length changed, please refer to Figure 6a , S42 includes:

[0098] S421, if the change result is length unchanged, the current recovery force is increased to the target recovery force, and the rope is recovered according to the target recovery force;

[0099] S422, if the change result is length changed, the rope is recovered according to the position of the winding assembly.

[0100] As an example but not limited, length unchanged corresponds to the result that the length of the rope does not change under the action of the current recovery force. The length change corresponds to the result that the length of the rope changes under the action of the current recovery force.

[0101] As an example but not limited, the fitness equipment increases the current recovery force to the target recovery force, wherein the increase range can be customized by the user. In some embodiments, S421 includes: increasing the current recovery force to the target recovery force according to a preset recovery function.

[0102] In some embodiments, the preset recovery function is a linear recovery function, and increasing the current recovery force to the target recovery force according to the preset recovery function includes: increasing the current recovery force to the target recovery force according to the linear recovery function, for example, the linear recovery function is y=k0x+b0, x is the current recovery force, y is the target recovery force, and k0 and b0 are known values.

[0103] At time t1, the current recovery force is x1, then y1 = x1 * k0 + b0. Therefore, the fitness equipment increases the current recovery force x1 to the target recovery force y1 according to the preset recovery force function, and the fitness equipment recovers the rope according to the target recovery force y1. When time reaches t2, since the current recovery force is the target recovery force y1 at time t1, according to the linear recovery function, the current recovery force y1 is increased to the target recovery force y2, where x = y1, y2 = k0x + b0 = k0 * (x1 * k0 + b0) + b0.

[0104] In some embodiments, the preset recovery function is a curve recovery function, and increasing the current recovery force to the target recovery force according to the preset recovery force function includes: increasing the current recovery force to the target recovery force according to the curve recovery function, for example, the curve recovery function is y = k0x. 2 +b0x+c, where x is the current recovery force, y is the target recovery force, and k0 and b0 are both known values.

[0105] At time t3, the current recovery force is x1, then y1 = k0x1 2 Therefore, the fitness equipment increases the current recovery force x1 to the target recovery force y1 according to the preset recovery force function, and the fitness equipment recovers the rope according to the target recovery force y1. When time reaches t2, since the current recovery force is the target recovery force y1 at time t1, according to the curve recovery function, the current recovery force y1 is increased to the target recovery force y2, where x = y1, y2 = k0x 2 +b0x+c=k0(k0x1 2 +b0x1+c) 2 +b0(k0x1 2 +b0x1+c)+c.

[0106] As mentioned earlier, when the result of the change is that the length remains unchanged, it indicates that the rope is stuck or blocked by a foreign object, and the current recovery force is at least less than the resistance generated by the foreign object. In order to recover the rope more intelligently and to take into account the issue of recovery safety, the fitness equipment can tentatively increase the current recovery force to the target recovery force and recover the rope according to the target recovery force. It can be understood that when the fitness equipment recovers the rope with the target recovery force, the target recovery force is used as the current recovery force.

[0107] In some embodiments, when the change results in a change in length, under the current retraction force, the cable winding assembly can return to or continue to approach its initial position. For example, the free end of the cable returns to or continues to approach its initial position, or the cable reel returns to or continues to approach its initial position. If the cable winding assembly returns to its initial position, the fitness equipment does not need to continue retracting the cable. If the cable winding assembly has not yet returned to its initial position, the fitness equipment needs to continue retracting the cable.

[0108] In some embodiments, the length of the rope can or can not change when the fitness machine recovers the rope according to the target recovery force. Please refer to Figure 6b S421 comprises:

[0109] S4211, determining the change result of the length of the rope under the action of the winding assembly at the target recovery force;

[0110] S4212, if the change result is that the length does not change, recovering the rope according to the target recovery force and the recovery force threshold;

[0111] S4213, if the change result is that the length changes, recovering the rope according to the position of the winding assembly.

[0112] For example but not limitation, the recovery force threshold is the critical recovery force when the rope enters a dangerous state, wherein the dangerous state includes that the rope is easily damaged due to too large force or that the rope can break free from the constraint of the foreign object but the result will cause a safety accident. Since the dangerous state can be defined by the user, the recovery force threshold can also be defined by the user, for example, if the moving speed of the rope when entering the dangerous state is greater than 2 meters / second, the recovery force threshold is 80 Newton.

[0113] In some embodiments, if the change result is that the length does not change, it means that the rope is constrained by the foreign object and does not move. On the one hand, the fitness machine still needs to continue to increase the recovery force to recover the rope, and on the other hand, when the rope is recovered under the action of the increased recovery force, the problem of safety hazards brought by too large recovery force through the rope needs to be considered. Therefore, the fitness machine needs to recover the rope according to the target recovery force and the recovery force threshold.

[0114] As mentioned earlier, when the rope is stuck or blocked by the foreign object, and the resistance generated by the foreign object is also greater than the target recovery force, the length of the rope can not change, that is, the change result is that the length does not change, and the target recovery force can be increased again subsequently. However, considering that excessive increase of the recovery force produces some adverse results, on the one hand, once the larger recovery force makes the rope break free from the resistance constraint of the foreign object, the acceleration change of the rope is large, the moving speed during recovery is too fast, and various consequences are easily caused, for example, the too large recovery force makes the rope break free from the resistance constraint of the foreign object, and then the rope starts to recover at high speed. During the high-speed recovery process, the rope hits and drags a child to move, and therefore, the continuous increase of the recovery force to make the recovery force too large will cause personal safety hazards.

[0115] On the other hand, when the greater recovery force cannot make the rope break away from the resistance of the foreign matter, the continuously increasing recovery force is also a loss to the rope. Because the fitness equipment continuously increases the recovery force, the rope is continuously subjected to the double action of resistance and recovery force for a long time, the material of the rope is excessively tired, and the service life of the rope is reduced. Therefore, the fitness equipment needs to recover the rope according to the target recovery force and the recovery force threshold, so as to seek a balance point in the above-mentioned case.

[0116] When the rope is not blocked by the foreign matter, or the rope can break away from the resistance of the foreign matter even if it is blocked by the foreign matter, in order to successfully and reliably recover the rope into the fitness equipment, in some embodiments, the fitness equipment can recover the rope according to the position of the winding assembly or the position of the free end of the rope. For example, even if the target recovery force has recovered part of the rope, but there is another part of the rope that has not been recovered into the fitness equipment, the fitness equipment still needs to recover the rope step by step according to the position of the winding assembly or the position of the free end of the rope.

[0117] In some embodiments, referring to Figure 6c , S4212 comprises:

[0118] S61, determining whether the target recovery force is greater than or equal to the recovery force threshold;

[0119] S62, if yes, generating a prompt information;

[0120] S63, if no, recovering the rope according to the current recovery force.

[0121] As an example but not limitation, the prompt information is information for prompting manual intervention, and the performance type of the prompt information is various, for example, the prompt information is voice information, text information or flashing information, etc.

[0122] For example, at t10, the target recovery force is 20N, and the recovery force threshold is 40N. Assuming that the length of the rope does not change, because the target recovery force at t10 is 20N which is less than the recovery force threshold 40N, the fitness equipment takes the target recovery force at t10 as the current recovery force.

[0123] Assuming that the preset recovery function is a linear recovery function, the linear recovery function is y=1.5x, and the target recovery force at t11 is 1.5*20=30N. The fitness equipment recovers the rope according to the target recovery force. Assuming that the length of the rope does not change, because the target recovery force at t11 is 30N which is less than the recovery force threshold 40N, the fitness equipment takes the target recovery force at t11 as the current recovery force.

[0124] At time t12, step S421 is performed, and the target recovery force is 1.5*30=45 N. The fitness machine recovers the rope according to the target recovery force. Assuming that the rope length does not change, since the target recovery force 45 N at time t12 is greater than the recovery force threshold 40 N, the fitness machine generates a prompt information to prompt the user to intervene in the process of recovering the rope.

[0125] In some embodiments, when S63 is performed, the fitness machine can return to step S421 with the target recovery force as the current recovery force, that is, increase the current recovery force to the target recovery force, and recover the rope according to the target recovery force.

[0126] As described above, when the rope length does not change and the target recovery force is greater than or equal to the recovery force threshold, it means that the rope is probably stuck on a foreign object with greater resistance, and at this time, the recovery force on the rope is relatively large. As described above, when a larger recovery force cannot make the rope break free from the resistance of the foreign object, the continuously increasing recovery force is also a kind of loss to the rope, and when the artificial intervention makes the rope break free from the resistance of the foreign object, the instantaneous moving speed of the rope during recovery under the action of a larger recovery force is very fast, which can easily cause safety accidents or reduce user experience. Therefore, in some embodiments, after the prompt information is generated, please refer to Figure 6d , S4212 further includes S64, S64: reducing the current recovery force of the rope to a preset recovery force.

[0127] By way of example but not limitation, the preset recovery force is the recovery force when the moving speed of the rope is reduced to the minimum speed, and in some embodiments, the minimum speed is 0, and the preset recovery force is 0, that is, when the preset recovery force is 0, the fitness machine unloads the force on the rope until the current recovery force is unloaded to 0. When the artificial intervention makes the rope break free from the resistance of the foreign object, the rope will not move, avoiding safety accidents caused by the rope moving too fast under too large recovery force.

[0128] In some embodiments, if the change result is length change, it means that the rope can be recovered under the action of the current recovery force, and in order to make the rope be fully recovered into the fitness machine, in some embodiments, please refer to Figure 7 , S422 includes:

[0129] S4221, judging whether the winding assembly is in the initial position;

[0130] S4222, if yes, entering the standby state;

[0131] S4223, if no, recovering the rope according to the specified recovery force.

[0132] For example but not limitation, the specified recovery force can be customized, in some embodiments, the specified recovery force is the recovery force when the rope length under the current recovery force does not change, that is, the specified recovery force is the current recovery force, for example, at time t13, the current recovery force is 60N, the rope length does not change under the current recovery force, but at time t14, the current recovery force is 70N, the rope length changes under the current recovery force, therefore, the current recovery force = 70N can be used as the specified recovery force, and the fitness equipment recovers the rope according to the specified recovery force.

[0133] In some embodiments, the specified recovery force is the initial recovery force when the recovery mode starts to recover the rope, the recovery mode is the mode of recovering the rope, generally, the initial recovery force is relatively small compared with the recovery force threshold. And when the rope length changes from the unchanged state to the changed state, a relatively large recovery force is often needed, which is usually greater than the initial recovery force. In addition, when the rope moves out of the constraint of the foreign object resistance, the rope is often able to move out of the constraint of the foreign object resistance at one time and instantaneously, and will not be affected by the foreign object resistance again, so after the rope moves out of the constraint of the foreign object resistance, most cases do not need a relatively large recovery force, or only the initial recovery force can successfully recover the rope.

[0134] When the initial recovery force is used as the current recovery force to recover the rope after the rope moves out of the constraint of the foreign object resistance, the embodiment can recover the rope at a relatively slow speed, avoiding the moving speed of recovery being too fast to easily cause safety accidents or reduce user experience.

[0135] In some embodiments, the specified recovery force is a force in a preset proportion to the current recovery force, wherein the preset proportion is customized by the user, for example, the preset proportion is 50%.

[0136] In some embodiments, the specified recovery force is a force determined according to the current recovery force, for example, if the current recovery force is greater than the safe recovery force, the specified recovery force is set to a force in a minimum preset proportion to the current recovery force, for example, the minimum preset proportion is 10%. If the current recovery force is less than the safe recovery force, the specified recovery force is set to a force in a maximum preset proportion to the current recovery force, for example, the maximum preset proportion is 80%.

[0137] It should be noted that in the above various embodiments, there is no certain sequence between the above steps, those skilled in the art can understand from the description of the embodiments of the present application that the above steps can have different execution sequences in different embodiments, that is, they can be executed in parallel, or exchanged, etc.

[0138] As another aspect of the embodiments of the present application, the embodiments of the present application provide a rope recovery device of a fitness machine. The rope recovery device of the fitness machine can be a software module including a plurality of instructions stored in a memory accessible by a processor to invoke the instructions for execution to perform the rope recovery method of the fitness machine as described in the various embodiments.

[0139] In some embodiments, the rope recovery device of the fitness machine can also be built by hardware devices. For example, the rope recovery device of the fitness machine can be built by one or more chips that can work together to perform the rope recovery method of the fitness machine as described in the various embodiments. For another example, the rope recovery device of the fitness machine can also be built by various logic devices, such as general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), single-chip systems, ARM (Acorn RISC Machine), or other programmable logic devices, discrete gates or transistor logic, discrete hardware components, or any combination thereof.

[0140] Referring to Figure 8a , the rope recovery device 800 of the fitness machine includes a length determination module 81 and a rope recovery module 82.

[0141] The length determination module 81 is configured to determine whether the length of the winding assembly changes under the current recovery force, and the rope recovery module 82 is configured to recover the rope according to the change result.

[0142] The present embodiment fully considers the recovery effect of the current recovery operation on the rope, can tentatively apply the recovery force to the rope, flexibly and gradually recover the rope, avoids the situation that the fixed recovery force is continuously output regardless of the current recovery situation, and thus the safety accident is easily caused, and thus the rope can be reliably and effectively recovered.

[0143] In some embodiments, the change result includes no change in length or a change in length. Referring to Figure 8b , the rope recovery module 82 includes a first recovery unit 821 and a second recovery unit 822. The first recovery unit 821 is configured to increase the current recovery force to a target recovery force if the change result is no change in length, and recover the rope according to the target recovery force. The second recovery unit 822 is configured to recover the rope according to the position of the free end of the rope if the change result is a change in length.

[0144] In some embodiments, the first recovery unit 821 is specifically configured to increase the current recovery force to the target recovery force according to a preset recovery function.

[0145] In some embodiments, the first recovery unit 821 is further specifically configured to: determine the change in the length of the rope released by the winding assembly under the action of the target recovery force; if the change result is that the length remains unchanged, then recover the rope according to the target recovery force and the recovery force threshold; if the change result is that the length changes, then recover the rope according to the position of the winding assembly.

[0146] In some embodiments, the first recovery unit 821 is further specifically used to: determine whether the target recovery force is greater than or equal to the recovery force threshold; if yes, generate a prompt message; if no, recover the rope according to the current recovery force.

[0147] In some embodiments, after generating a prompt message, the first recovery unit 821 is further configured to: reduce the current recovery force of the rope to a preset recovery force.

[0148] In some embodiments, the second recovery unit 822 is specifically used to: determine whether the winding assembly is in the initial position; if so, enter a standby state; if not, recover the rope according to a specified recovery force.

[0149] In some embodiments, the specified recovery force is the initial recovery force when the rope is started to be recovered in recovery mode; or, the specified recovery force is a force that is proportional to the current recovery force; or, the specified recovery force is a force determined based on the current recovery force.

[0150] It should be noted that the cable retrieval device of the above-mentioned fitness equipment can perform the cable retrieval method of the fitness equipment provided in the embodiments of the present invention, and has the corresponding functional modules and beneficial effects for performing the method. Technical details not described in detail in the embodiments of the cable retrieval device of the fitness equipment can be found in the cable retrieval method of the fitness equipment provided in the embodiments of the present invention.

[0151] Please see Figure 9 , Figure 9 This is a schematic diagram of the circuit structure of a fitness device provided in an embodiment of the present invention. Figure 9 As shown, the fitness equipment 900 includes one or more processors 91 and a memory 92. Among them, Figure 9 Take the 91 processor as an example.

[0152] Processor 91 and memory 92 can be connected via a bus or other means. Figure 9 Taking the example of a connection between China and Israel via a bus.

[0153] The memory 92 is a non-volatile computer readable storage medium, which can be used to store non-volatile software programs, non-volatile computer executable programs and modules, such as the program instructions / modules corresponding to the rope recovery method of the fitness equipment in the embodiment of the present application. The processor 91 executes the non-volatile software programs, instructions and modules stored in the memory 92, thereby performing various functional applications and data processing of the tool state monitoring device, i.e., realizing the functions of the rope recovery method of the fitness equipment provided by the method embodiment and the functions of each module or unit of the device embodiment.

[0154] The memory 92 can include a high-speed random access memory, and can also include a non-volatile memory, such as at least one magnetic disk storage device, a flash memory device, or other non-volatile solid-state memory device. In some embodiments, the memory 92 can optionally include a memory disposed remotely with respect to the processor 91, and these remote memories can be connected to the processor 91 through a network. Examples of the above-mentioned network include but are not limited to the Internet, an intranet, a local area network, a mobile communication network, and combinations thereof.

[0155] The program instructions / modules are stored in the memory 92, and when executed by the one or more processors 91, perform the rope recovery method of the fitness equipment in any of the above-mentioned method embodiments.

[0156] The embodiment of the present application also provides a storage medium containing computer executable instructions, which are executed by one or more processors, such as the processor 91 in the above-mentioned device, so that the above-mentioned one or more processors can perform the rope recovery method of the fitness equipment in any of the above-mentioned method embodiments. Figure 9

[0157] The embodiment of the present application also provides a computer program product, which includes a computer program stored on a non-volatile computer readable storage medium, and the computer program includes program instructions, which, when executed by the fitness equipment, cause the fitness equipment to perform any of the above-mentioned rope recovery methods of the fitness equipment.

[0158] The above-mentioned device or equipment embodiments are only illustrative, wherein the unit modules illustrated as separate components can or can not be physically separated, and the components illustrated as module units can or can not be physical units, i.e., can be located in one place, or can be distributed on multiple network module units. Part or all of the modules can be selected according to actual needs to achieve the purposes of the present embodiment.

[0159] ​Those skilled in the art can clearly understand the technical solutions of the embodiments from the above description of the embodiments, and the embodiments can be implemented by means of software plus a general hardware platform, or by means of hardware. Based on such an understanding, the above technical solutions, essentially or in terms of related art, can be embodied in the form of a software product, and the computer software product can be stored in a computer readable storage medium, such as a ROM / RAM, a magnetic disk, or an optical disk, and includes a plurality of instructions to cause a computer device (such as a personal computer, a server, or a network device) to execute the methods described in the various embodiments or some parts of the methods.

[0160] Finally, it should be noted that: the above embodiments are only used to illustrate the technical solutions of the present application, and not to limit them; under the idea of the present application, the technical features in the above embodiments or different embodiments can also be combined, the steps can be implemented in any order, and there are many other changes of the different aspects of the present application as described above; for the sake of brevity, they are not provided in detail; although the present application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that: it can still modify the technical solutions recorded in the foregoing embodiments, or make equivalent replacement for part of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the scope of the technical solutions of the embodiments of the present application.

Claims

1. A method of rope recovery for an exercise machine, comprising: The initialization operation applied to the fitness equipment comprises: determining the change result of the length of the rope released by the winding assembly under the current recovery force; retrieving the rope according to the change result, wherein the change result comprises no change in length or change in length; the rope retrieval module comprises a first retrieval unit and a second retrieval unit, the first retrieval unit is configured to increase the current recovery force to a target recovery force if the change result is no change in length, and retrieve the rope according to the target recovery force; the second retrieval unit is configured to retrieve the rope according to the position of the winding assembly if the change result is change in length.

2. The method of claim 1, wherein, The first retrieval unit comprises: increasing the current recovery force to the target recovery force according to a preset recovery function.

3. The method of claim 1, wherein, The second retrieval unit comprises: determining the change result of the length of the rope released by the winding assembly under the target recovery force; retrieving the rope according to the target recovery force and a recovery force threshold if the change result is no change in length; retrieving the rope according to the position of the winding assembly if the change result is change in length.

4. The method of claim 3, wherein, The second retrieval unit further comprises: determining whether the target recovery force is greater than or equal to the recovery force threshold; if yes, generating a prompt information; if no, retrieving the rope according to the current recovery force.

5. The method of claim 4, wherein, After the prompt information is generated, the method further comprises:

6. The method of claim 1, wherein, lowering the current recovery force of the rope to a preset recovery force. The second retrieval unit further comprises: determining whether the winding assembly is in an initial position; if yes, entering a standby state; 7. The method of claim 6, wherein, if no, retrieving the rope according to a specified recovery force.

8. A cord retraction device for an exercise machine, comprising: The specified recovery force is an initial recovery force when the retrieval of the rope starts in the retrieval mode; or, the specified recovery force is a force in a preset proportion to the current recovery force; or, the specified recovery force is a force determined according to the current recovery force. The initialization operation applied to the fitness equipment comprises: a length determination module configured to determine whether the length of the rope released by the winding assembly under the current recovery force changes; 9. An exercise machine characterized by, a rope retrieval module configured to retrieve the rope according to the change result, wherein the change result comprises no change in length or change in length; the rope retrieval module comprises a first retrieval unit and a second retrieval unit, the first retrieval unit is configured to increase the current recovery force to a target recovery force if the change result is no change in length, and retrieve the rope according to the target recovery force; the second retrieval unit is configured to retrieve the rope according to the position of the winding assembly if the change result is change in length. The computer executable instructions, when executed by the computer processor, are configured to perform the rope retrieval method of the fitness equipment according to any one of claims 1 to 7. The computer executable instructions, when executed by the computer processor, are configured to perform the rope retrieval method of the fitness equipment according to any one of claims 1 to 7. ​ ​ 10. A storage medium containing computer-executable instructions, wherein: ​

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