An intelligent treadmill system and its control method

Abstract

The present application discloses an intelligent treadmill system and its control method. The system includes a treadmill main body, a driving device, a control device, a laser measurement device, multiple pairs of ranging devices, and an obstacle detection device. The control device can adjust the instantaneous speed of the conveyor belt mechanism and estimate the instantaneous position of the user on the simulated track at any moment according to the signals detected by the laser measurement device or the obstacle detection devices on each pair of ranging devices. The present application can automatically adjust the speed of the conveyor belt mechanism and automatically track the position of the user on the simulated track.

Description

Technical Field

[0001] The present application relates to the technical field of intelligent devices, and particularly to an intelligent treadmill system and a control method thereof. Background Art

[0002] With the continuous improvement of people's living standards and the growing demand for physical exercise and fitness, treadmills have also become popular.

[0003] Most of the current treadmills on the market mainly have a monotonous mechanical structure, without substantial innovation in user experience, and have the following disadvantages:

[0004] 1. The activity space of traditional treadmills is only limited to indoors, and the surrounding environment and temperature will not change.

[0005] 2. The surrounding scenes of traditional treadmills are mainly indoor environments and cannot change with the movement of the runner, resulting in a single scene.

[0006] 3. Traditional treadmills can only operate the conveyor belt speed mainly through foot and manual input commands in a single mode, and cannot well imitate the experience mode of real outdoor running, with a single operation mode.

[0007] 4. Traditional treadmills have a single exercise mode and can only be used by a single person to run, and cannot be carried out simultaneously with other partners, which is not sufficient to meet the needs of users with more personalized requirements.

[0008] 5. Traditional treadmills are mainly set with constant speed or segmented constant speed, and users need to manually adjust the conveyor belt speed. This constant speed operation method limits the user's walking speed and cannot adjust the conveyor belt speed according to needs, easily causing the user to lose balance.

[0009] 6. Most users like to listen to music when using a treadmill. However, since the speed of traditional treadmills is manually controlled, it generally cannot be synchronized with the user's music, that is, the music rhythm is not coordinated with the speed of the treadmill, and it is difficult to synchronize the walking speed with the music rhythm.

[0010] 7. The power drives of traditional treadmills all use DC motors with a rated voltage of about 80V to 260V. This motor is not energy-saving, cannot accelerate or decelerate quickly, and the contact loss between the brush and the commutator is very high for this type of DC motor with a magnetic field in the stator, and the best energy utilization of the DC motor cannot be controlled. Summary of the Invention

[0011] In view of this, the present application provides an intelligent treadmill system and a control method thereof, which can automatically adjust the speed of the conveyor belt mechanism and automatically track the position of the user on the simulated track.

[0012] In a first aspect of the present application, an intelligent treadmill system is provided. The system includes a treadmill main body, a driving device, a control device, and a laser measurement device. The treadmill main body includes a treadmill frame and a conveyor belt mechanism rotatably provided on the treadmill frame. The driving device is connected to the conveyor belt mechanism for driving the conveyor belt mechanism to rotate. The laser measurement device includes a first transmitter / receiver module and a first reflector module. The first transmitter / receiver module is installed at a position on the treadmill main body at a preset distance from the ground, and the first reflector module is worn on the user. The first transmitter / receiver module is configured to emit a laser beam towards the first reflector module and receive the laser beam reflected by the first reflector module to measure the horizontal distance between the user and the treadmill main body. The control device is connected to the laser measurement device for receiving the horizontal distance between the user and the treadmill main body measured by the laser measurement device. Based on the horizontal distance between the user and the treadmill main body and the thickness of the human body, the instantaneous horizontal distance between the user's center of gravity and the treadmill main body is calculated. Based on the instantaneous horizontal distance between the user's center of gravity and the treadmill and the set ideal dynamic position of the user, the instantaneous speed of the conveyor belt mechanism is adjusted. Based on the instantaneous speed of the conveyor belt mechanism, the instantaneous position of the user on the simulated track at any moment is estimated.

[0013] Further, the system further includes multiple pairs of ranging devices and an obstacle detection device. The multiple pairs of ranging devices are evenly arranged on both sides of the conveyor belt mechanism, and the obstacle detection device is provided on each pair of ranging devices.

[0014] Further, each pair of ranging devices includes a pair of ranging rods oppositely arranged on both sides of the conveyor belt mechanism. The obstacle detection device includes two second transmitter / receiver modules and two second reflector modules. The two second transmitter / receiver modules are arranged at intervals in the vertical direction on one ranging rod, and the two second reflector modules are arranged at intervals in the vertical direction on the other ranging rod, and the two second reflector modules are arranged corresponding to the two second transmitter / receiver modules.

[0015] Further, the control device is connected to the obstacle detection device on each pair of ranging devices for receiving the signals detected by the obstacle detection device on each pair of ranging devices. Based on the constraint conditions and the speed of the conveyor belt mechanism in the current control cycle, the instantaneous speed of the conveyor belt mechanism in the next control cycle is adjusted. Based on the instantaneous speed of the conveyor belt mechanism, the instantaneous position of the user on the simulated track at any moment is estimated.

[0016] Further, a display device is further included. The control device is connected to the display device, and the display device is configured to display the video data of the environment around the simulated track and the instantaneous position of the user on the simulated track.

[0017] Further, the control device is further configured to: adjust the gradient or tilt angle of the conveyor belt mechanism, the playback speed of the video on the display device, and the instantaneous scene according to the instantaneous speed of the conveyor belt mechanism and the instantaneous position of the user on the simulation track at any time; receive the instantaneous position of the users of other treadmills on the simulation track, and mark the instantaneous positions of different users on the simulation track with different colors.

[0018] Further, an emergency stop device is further included. The emergency stop device is connected to the control device and the conveyor belt mechanism. The control device is configured to determine whether the instantaneous horizontal distance between the user's center of gravity and the treadmill main body exceeds a set threshold. If it exceeds, the control device drives the emergency stop device to control the conveyor belt mechanism to stop.

[0019] A second aspect of the present application provides a control method for the intelligent treadmill system as described above. The method includes: obtaining the horizontal distance between the user and the treadmill main body measured by the laser measurement device; calculating the instantaneous horizontal distance between the user's center of gravity and the treadmill main body according to the horizontal distance between the user and the treadmill main body and the thickness of the human body; adjusting the instantaneous speed of the conveyor belt mechanism according to the instantaneous horizontal distance between the user's center of gravity and the treadmill main body and the set ideal dynamic position of the user; estimating the instantaneous position of the user on the simulation track at any time according to the instantaneous speed of the conveyor belt mechanism; adjusting the gradient or tilt angle of the conveyor belt mechanism, the playback speed of the video, and the instantaneous scene according to the instantaneous speed of the conveyor belt mechanism and the instantaneous position of the user on the simulation track at any time.

[0020] Further, the method further includes: receiving the signals detected by the obstacle detection devices on multiple pairs of ranging devices, and adjusting the instantaneous speed of the conveyor belt mechanism in the next control cycle according to the constraint conditions and the speed of the conveyor belt mechanism in the current control cycle; estimating the instantaneous position of the user on the simulation track at any time according to the instantaneous speed of the conveyor belt mechanism.

[0021] The above intelligent treadmill system and its control method can calculate the speed of the conveyor belt mechanism, allow the adjustment of the speed of the conveyor belt mechanism, automatically track and dynamically determine the position of the user relative to a stationary reference point of the treadmill. The user can truly perceive the change of the surrounding simulated outdoor environment in real time through the video, platform inclination, fan speed, sound, and lighting, just like running in an actual natural environment. The user can also connect to other treadmills, enabling the user and their partners to be on the same selected track and display their real-time positions. Description of the Drawings

[0022] For purposes of illustration and not limitation, the present application will now be described in accordance with the preferred embodiments of the present application, particularly with reference to the accompanying drawings, in which:

[0023] Figure 1 It is a schematic structural diagram of an intelligent treadmill system provided by an embodiment of the present application;

[0024] Figure 2 It is a schematic diagram of a position measurement mechanism of an intelligent treadmill system provided by an embodiment of the present application;

[0025] Figure 3 It is a display schematic diagram of a display device of an intelligent treadmill system provided by an embodiment of the present application;

[0026] Figure 4 It is a schematic diagram of the first embodiment of distance measurement of a laser measurement device of an intelligent treadmill system provided by an embodiment of the present application;

[0027] Figure 5 It is a schematic diagram of the second embodiment of distance measurement of three pairs of distance measurement devices of an intelligent treadmill system provided by an embodiment of the present application;

[0028] Figure 6 It is the flow of a control method of an intelligent treadmill system provided by an embodiment of the present application Figure 1 ;

[0029] Figure 7 It is the flow of a control method of an intelligent treadmill system provided by an embodiment of the present application Figure 2 。 Detailed implementation manners

[0030] In order to be able to more clearly understand the above objects, features, and advantages of the present application, the present application will be described in detail below with reference to the accompanying drawings and specific embodiments. It should be noted that, without conflict, the embodiments of the present application and the features in the embodiments can be combined with each other.

[0031] In the following description, many specific details are set forth in order to fully understand the present application. The described embodiments are only a part of the embodiments of the present application, rather than all of the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments in the present application without making creative efforts shall fall within the scope of protection of the present application.

[0032] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by those of ordinary skill in the technical field to which this application belongs. The terms used in the specification of this application herein are only for the purpose of describing specific embodiments, and are not intended to limit this application.

[0033] The following will describe in detail an intelligent treadmill system and its control method provided by an embodiment of the present application with reference to the accompanying drawings.

[0034] Please refer to Figure 1and Figure 2 , the intelligent treadmill system includes a treadmill main body 100, a driving device 300, a control device 400, a laser measurement device 500, multiple pairs of ranging devices 600, and an obstacle detection device 700.

[0035] The treadmill main body 100 includes a treadmill frame 110 and a conveyor belt mechanism 120 rotatably arranged on the treadmill frame 110.

[0036] The driving device 300 is connected to the conveyor belt mechanism 120 of the treadmill main body 100 and is used to drive the conveyor belt mechanism 120 to rotate so that the user can run.

[0037] The laser measurement device 500 includes a first transmitter / receiver module 510 and a first reflector module 520. The first transmitter / receiver module 510 is installed at a position on the treadmill main body 100 at a preset distance from the ground in the vertical direction, and the first reflector module 520 is worn on the user. The first transmitter / receiver module 510 is used to connect a laser emitting device to emit a laser beam to the first reflector module 520 and receive the laser beam reflected by the first reflector module 520 to measure the horizontal distance between the treadmill main body and the user.

[0038] Multiple pairs of ranging devices 600 are evenly arranged on both sides of the conveyor belt mechanism 120, and an obstacle detection device 700 is respectively arranged on each pair of ranging devices 600. The obstacle detection device 700 is used to detect the instantaneous position of the user.

[0039] In some embodiments, the control device 400 includes a control panel 410 and a controller arranged in the control panel 410. The controller is connected to the laser measurement device 500 and the obstacle detection device 700 on multiple pairs of ranging devices 600, and is used to receive the horizontal distance between the user and the treadmill main body measured by the laser measurement device 500, calculate the instantaneous horizontal distance between the center of gravity of the user and the treadmill main body according to the horizontal distance between the user and the treadmill main body and the thickness of the human body, adjust the instantaneous speed of the conveyor belt mechanism according to the instantaneous horizontal distance between the center of gravity of the user and the treadmill and the set ideal dynamic position of the user, and estimate the instantaneous position of the user on the simulated track at any time according to the instantaneous speed of the conveyor belt mechanism; or, receive the signals detected by the obstacle detection device 700 on multiple pairs of ranging devices 600, adjust the instantaneous speed of the conveyor belt mechanism 120 in the next control cycle according to the constraint conditions and the speed of the conveyor belt mechanism in the current control cycle, and estimate the instantaneous position of the user on the simulated track at any time according to the instantaneous speed of the conveyor belt mechanism, and can adjust the speed of the conveyor belt mechanism to ensure that the user can be in almost the same dynamic position regardless of their running speed.

[0040] In some embodiments, the conveyor belt mechanism 120 adopts an existing conveyor belt structure, which will not be elaborated in this application.

[0041] In one embodiment, the intelligent treadmill system further includes a display device 200. The display device 200 is disposed on the treadmill frame 110 and connected to the controller, and is configured to display video data of the environment around the treadmill main body and map information of the current position of the user.

[0042] In some embodiments, the display device 200 includes a touch screen display 210. The touch screen display 210 is connected to the control device 400, and is configured to display video data of the environment around the simulated runway and the current position information of the user on the simulated track. A pair of speakers are built in the display device 200.

[0043] The display device 200 is connected to the controller, and the controller displays the estimated instantaneous position of the user on the simulated track at any moment and the position information of other users on other treadmills received on the display device 200.

[0044] In one embodiment, the driving device 300 includes a motor module 310 and a driver module 320. The motor module 310 is connected to the treadmill main body 100, and the driver module 320 is connected to the motor module 310 and is configured to supply power to the motor module 310 so that the motor module 310 drives the treadmill main body 100 to work.

[0045] Exemplarily, the motor module 310 is a vector-controlled 2 / 3-phase brushless DC motor or a permanent magnet synchronous motor.

[0046] Exemplarily, the driver module 320 adopts a power electronic driver. The driver module 320 is externally connected to a standard single-phase or three-phase power supply to obtain power from the standard single-phase or three-phase power supply.

[0047] Please refer to Figure 2 , in one embodiment, the first reflector module 520 is worn on the user's abdomen. The first transmitter / receiver module 510 is located below the control panel 410. The first transmitter / receiver module 510 emits a laser beam and receives the laser beam reflected by the first reflector module 520 to measure the horizontal distance between the treadmill and the user's abdomen. Even if the user's posture changes, the abdomen remains more or less in the same position. The center of gravity position of the user can be calculated based on the distance between the treadmill and the user's abdomen and the thickness of the human body, so that the distance of the user on the treadmill is safe and no accidental injury will occur.

[0048] The height of the first transmitter / receiver module 510 is adjustable to adapt to the wearing height of the first reflector module 520.

[0049] If the first transmitter / receiver module 510 does not receive the laser beam signal reflected by the first reflector module 520, the control device 400 controls the driving device 300 to keep the speed of the conveyor belt mechanism 120 unchanged.

[0050] In one embodiment, the ranging device 600 includes three pairs. The three pairs of ranging devices 600 are the first ranging device 610, the second ranging device 620, and the third ranging device 630 respectively. The first ranging device 610, the second ranging device 620, and the third ranging device 630 are arranged on both sides of the conveyor belt mechanism 120 in the horizontal direction. Moreover, the first ranging device 610 and the second ranging device 620 are movably arranged on both sides of the conveyor belt mechanism 120, and the positions of the first ranging device 610 and the second ranging device 620 can be adjusted.

[0051] In one embodiment, each pair of ranging devices 600 includes two ranging rods symmetrically arranged on both sides of the conveyor belt mechanism 120. The two ranging rods are symmetrically arranged on both sides of the conveyor belt mechanism 120, and the two ranging rods can move along the platform under the platform on which the conveyor belt mechanism moves and the track below.

[0052] In one embodiment, the obstacle detection device 700 includes two second transmitter / receiver modules 710A and 710B, and two second reflector modules 720A and 720B. The two second transmitter / receiver modules 710A and 710B are arranged at intervals in the vertical direction on a ranging rod. The two second reflector modules 720A and 720B are arranged at intervals in the vertical direction on another ranging rod. Moreover, the two second reflector modules 710A and 710B and the two second transmitter / receiver modules 720A and 720B are arranged corresponding to each other. The laser beam signal sent by the second transmitter / receiver module 710A / 710B is projected onto the corresponding second reflector module 720A / 720B, and the laser beam signal reflected by the second reflector module 720A / 720B is received to detect whether there is an obstacle between the two ranging rods and output an activation signal. When there is an obstacle, the output activation signal is "1", otherwise it is "0".

[0053] In some embodiments, the distances between the two second transmitter / receiver modules 710A and 710B and the conveyor belt mechanism 120 in the vertical direction are 300 mm and 150 mm respectively. The two second transmitter / receiver modules 710A and 710B and the corresponding two second reflector modules 720A and 720B are located on the same horizontal plane. The laser beam signal is projected from the second transmitter / receiver module 710A / 710B of a ranging rod to the second reflector module 720A / 720B of the other opposite ranging rod, and then the laser beam signal reflected by the second reflector module 720A / 720B is received by the second transmitter / receiver module 710A / 710B of the opposite side to detect whether there is an obstacle between the two ranging rods.

[0054] Two second transmitter / receiver modules 710A and 710B, and two second reflector modules 720A and 720B are respectively arranged on three pairs of ranging rods 601. Such six groups of second transmitter / receiver modules and second reflector modules can detect any obstacles to the laser beam signal between the three pairs of ranging rods.

[0055] In some embodiments, the control panel 410 is built-in with a fan and an adjustable lamp.

[0056] In one embodiment, the intelligent treadmill system further includes an emergency stop device. The emergency stop device is connected to the control device 400 and the conveyor belt mechanism 120. The control device 400 receives the activation signal output by the obstacle detection device 700 located on the third ranging device 630 to drive the emergency stop device to control the conveyor belt mechanism 120 to stop urgently.

[0057] In some embodiments, the intelligent treadmill system further includes a communication module. The communication module is connected to the control to transmit the speed of the conveyor belt mechanism and the position of the user to other mobile intelligent terminals and other treadmills, and can receive the information sent by other intelligent terminals to complete the interaction between multiple user devices.

[0058] The controller is connected to the display device 200 and is used to mark the positions of different users with different colors on the simulated track according to the position of the user and the positions of other users, and display them on the display device 200.

[0059] Please refer to Figure 3, the display device 200 displays the picture of the user running along a preset track with or without a partner. On the left side of the display device 200, a simple map, path is shown, and the starting / ending points are indicated, and different colors are used to represent the real-time position of the user of the treadmill and the real-time positions of other users. The user can know their current position and the positions of other users through the display device 200, like the GPS navigation on a roadmap. The display device 200 displays parameters including but not limited to the real-time speed of the user of the treadmill, the average speed of all team members, the percentage of the track completed, the remaining time to complete the whole track, etc. below the map. On the right side of the display device 200, a video clip of the real surrounding environment of the simulated track synchronized with the current speed and position of the user of the treadmill is shown. If the user runs faster, the video plays faster, and vice versa.

[0060] In one embodiment, the method for the controller to estimate the instantaneous position of the user on the simulated track at any moment is as follows:

[0061] (1) Obtain the video data of the surrounding environment of the simulated track collected by the image acquisition device at a constant moving speed.

[0062] In some embodiments, the image acquisition device uses a moving camera to capture the video data of the surrounding environment of the simulated track at a constant moving speed V f below.

[0063] For example, the constant moving speed V f is 0.5 m / s, and a constant frame rate f r is used, for example, 25 frames per second, as an example, but V f and f r may have other options.

[0064] (2) Obtain the speed of the conveyor belt mechanism and estimate the instantaneous position of the user on the simulated track at any moment.

[0065] When t = 0 seconds, estimate the instantaneous position p(t) of the user on the simulated track at any moment t, a real number in meters, and the time is calculated since the user starts stepping on the treadmill and is continuously tracked.

[0066] If the instantaneous stepping speed of the user on the treadmill is known and recorded, and s(t) is almost equal to v(t), then s(t) is the runner's speed, v(t) is the conveyor belt speed, and the instantaneous position p(t) of the user on the simulated track at any moment t is estimated as:

[0067]

[0068] Since the video data is generated by a moving camera at a constant moving speed V f Therefore, each frame on the video corresponds to a specific position on the simulated track, because advancing one frame on the video means advancing the track by V f / f r rice.

[0069] In this case, p(t) is actually equal to (p*f r ) / V f Related, rounded to the nearest integer, is the current frame number on the video clip. This frame number is also equivalent to the video time code in linear time code format. The treadmill controller continues to track changes in v(t) (controlled by the system based on distance measurements on the belt), and therefore tracks p(t) and the number of frames that have passed since t=0s.

[0070] (3) Adjust the slope of the treadmill platform, video playback speed, instantaneous scene of the video, lighting level and fan speed based on the user's instantaneous position on the simulated track at any moment.

[0071] If L is the total length of the entire simulated runway, the user's current completion percentage is as follows Figure 3 The calculation formula shown on the display device 200 is: (p / L)*100%. It is this value p(t) that is used as a scroll bar by the treadmill's control system to advance the video clip and change the environmental background, such as the slope of the treadmill platform, ambient sounds, music, speed of the circulating fan, and lighting, etc., in sync with the runner's experience, see the following list. The list includes those parameters of the environmental background control.

[0072]

[0073] The video playback speed is synchronized with the instantaneous speed v(t) of the conveyor mechanism, which is given by:

[0074] [v(t) / V f ]*[Normal playback speed equals shooting speed]

[0075] The precise instantaneous scene of the video is synchronized with the user's instantaneous position p(t).

[0076] Users can download applications through the Internet to the treadmill. The treadmill will adjust the inclination of the treadmill platform, the sound and light of the surrounding environment according to the conditions on the simulated track, and the sound and fan speed on the control panel 410 will be adjusted accordingly to reflect the environment displayed in the video and simulate the real natural environment. The simulated track will be updated from time to time, providing different seasons and scenery of the same simulated track for download.

[0077] likeFigure 4 The parameters for calculating the instantaneous speed of the conveyor belt mechanism and estimating the instantaneous position of the user on the simulated track at any time when the first reflector module 520 worn by the user on the belt is used to reflect the laser beam emitted by the first transmitter / receiver module 510 are shown.

[0078] In the embodiments of the present application, the instantaneous speed of the conveyor belt mechanism is calculated by using the detection signals of the obstacle detection devices 700 on the multiple ranging devices 600, so as to dynamically fix the position of the user at a desired distance from a reference point on the treadmill, such as in the middle of the belt.

[0079] In one embodiment, the method for the controller to calculate the instantaneous speed of the conveyor belt mechanism is as follows:

[0080] X o is the ideal permanent dynamic position of the user on the conveyor belt mechanism 120, such as the midpoint of the conveyor belt mechanism 120. The running speed of the user is s(t), which is a function of time t, relative to the conveyor belt mechanism 120, rather than relative to the indoor environment. The speed of the conveyor belt mechanism 120 is v(t), which is also a function of time and is continuously controlled by the intelligent treadmill system according to the dynamic position of the user relative to the indoor environment. The instantaneous horizontal distance between the center of gravity position of the user and the stationary reference point on the treadmill main body 100 is given by x(t), which is also a function of time, including the distance l between the user and the treadmill main body 100 measured by the laser measuring device 500 and half of the set thickness of the human body, about 0.15 m.

[0081] The dynamic equation is given by:

[0082]

[0083] And the calculation equation for the instantaneous speed of the conveyor belt mechanism is given by:

[0084]

[0085] Here, K P and K I are two preset positive real numbers, which are the proportional gain and the integral gain respectively. Since s varies arbitrarily by the user, this differential equation can only be solved when s is known, and the goal is to make ||x - X o || 2 as small as possible.

[0086] The adjustment equation for the instantaneous speed of the conveyor belt mechanism is:

[0087]

[0088] The speed control operation of the conveyor belt mechanism can be adjusted according to the above formula because the instantaneous horizontal distance x(t) between the user's center of gravity position and the stationary reference point on the treadmill main body 100 is measurable, and all other parameters on the right side of the equation are known. When x(t) exceeds the limit, an emergency stop will be initiated, indicating that the user is too close to the end of the conveyor belt mechanism 120.

[0089] Determine whether the user is in the ideal dynamic position X according to the instantaneous horizontal distance between the user's center of gravity and the treadmill and the set ideal dynamic position of the user. o ; If the user is far from the reference point, the speed of the conveyor belt mechanism is reduced to dynamically bring the user back to the ideal dynamic position Xo. If the user is close to the reference point, the speed of the conveyor belt mechanism is dynamically increased to dynamically bring the user back to the ideal dynamic position Xo.

[0090] Even when using the laser measurement device 500, due to the continuous change of the user's posture on the conveyor belt mechanism 120, the accuracy is still inaccurate and sometimes uncertain. When the first reflector 520 worn by the user is not on the same horizontal plane as the first transmitter / receiver module 510, it is very easy for the first reflector 520 to fail to receive the laser beam emitted by the first transmitter / receiver module 510 and not be within the line of sight of the first transmitter / receiver module 510. Therefore, the measured x cannot accurately indicate the exact position of the user's center of gravity.

[0091] As Figure 5 shown, the dynamic position of the user is precisely maintained within the limited space between the first ranging device 610 and the second ranging device 620. The third ranging device 630 is used to control the emergency stop of the conveyor belt mechanism 120, and the signal activation of the third ranging device 630 indicates that the user has reached the end of the conveyor belt mechanism 120. The exact positions of the first ranging device 610, the second ranging device 620, and the third ranging device 630 are pre-designed, but the user can slightly adjust the positions of the first ranging device 610 and the second ranging device 620, but cannot adjust the position of the third ranging device 630.

[0092] Two ranging rods 601 in the first ranging device 610, the second ranging device 620, and the third ranging device 630 appear in pairs. One is provided on each side of the conveyor belt mechanism 120 and can move together along the track under the running platform. On each pair of ranging rods 601, two second transmitter / receiver modules 710A and 710B are provided on one ranging rod 601 on the side of the conveyor belt mechanism 120, and two second reflector modules 720A and 720B are provided on the other ranging rod 601 on the other side of the conveyor belt mechanism 120. For example, a laser beam is emitted from the second transmitter / receiver module 710A on one side of the first ranging device 610 to the second reflector module 720A on the other side, reflected back by the second reflector module 720A, and received by the second transmitter / receiver module 710A. The second transmitter / receiver modules 710A and 710B, and the second reflector modules 720A and 720B on the second ranging device 620 and the third ranging device 630 work in a similar manner.

[0093] The controller assigns a binary flag "1" or "0" to indicate whether any of the second transmitter / receiver modules 710 and the second reflector modules 720 on the first ranging device 610, the second ranging device 620, and the third ranging device 630 are blocked by an intermediate obstacle. For example, the flag of the second reflector module 720B on the first ranging device 610 = "1" when blocked or = "0" when cleared. For this particular application, the blocking obstacle would be the runner's shoe, foot, or leg because the second transmitter / receiver module 710A and the second reflector module 720A are located approximately 300 mm above the conveyor belt mechanism 120, and the second transmitter / receiver module 710B and the second reflector module 720B are located approximately 150 mm above the conveyor belt mechanism 120.

[0094] During the operation of the treadmill, the user is dynamically trapped in the space segment above the conveyor belt mechanism 120 between the first ranging device 610 and the second ranging device 620, regardless of the user's posture. The method for the controller to calculate the instantaneous speed of the conveyor belt mechanism in the next cycle is as follows:

[0095] The horizontal distance between the first ranging device 610 and the reference point is X f (f represents the front). For example, the reference point is at the front rotating pulley of the conveyor belt mechanism 120 directly below the control panel 410. The distance between the second ranging device 620 and the same reference point is X r (r represents the rear), and the distance between the third ranging device 630 and the same reference point is X e (e represents the end). The ideal dynamic position of the user remains at X of the reference point o at, located at X f and X rin the middle of

[0096] X f has been pre-adjusted to approximately X at the time of factory shipment o –0.5 m and X r approximately X o +0.5 m, and the actual position can be adjusted by the user at any time. However, X e marks the end of the conveyor belt mechanism 120 and cannot be adjusted. Similarly, v(t) is the instantaneous speed of the controlled conveyor belt mechanism 120 and can follow the control methods in the following list.

[0097] Within the time period of a complete control cycle that the conveyor belt mechanism 120 takes to run twice the distance, the distance of (X r – X f ) is completed, depending on the instantaneous speed v of the conveyor belt mechanism 120.

[0098] A complete control cycle is the average time it takes for the user's left or right foot to complete one step. For example, if the default positions of the first ranging device 610 and the second ranging device 620 remain unchanged and the distance between them is about 1.0 m, then if the instantaneous speed of the conveyor belt mechanism 120 is 3 km / hr, the time period of one control cycle is equal to 1.2 seconds. Once the flag parameter is equal to "1" at any time within the control cycle, its assigned value in the next control cycle is still equal to "1".

[0099] Table 2 Constraints on the calculation method of the instantaneous speed of the conveyor belt mechanism

[0100]

[0101] In the above Table 2, K P has the same meaning as the factory pre-adjustment parameter, that is, the proportional gain; V0 is the speed of the conveyor belt mechanism at the start of the current control cycle.

[0102] The above intelligent treadmill system can calculate the speed of the conveyor belt mechanism, allow adjustment of the speed of the conveyor belt mechanism, automatically track and dynamically determine the position of the user relative to a stationary reference point of the treadmill. The user can perceive the simulated outdoor environment around the user in real time through video, platform inclination, fan speed, sound, and lighting and display it truthfully, just like running in an actual natural environment. The intelligent treadmill system of the embodiment of the present application can be connected to other treadmills, enabling the user and the partner to be on the same selected track and display their real-time positions.

[0103] The above-mentioned intelligent treadmill system can automatically change the speed of the conveyor belt mechanism of the treadmill main body without manual operation by the user. The first transmitter / receiver module installed on the treadmill main body and the first reflector module worn around the user's waist are used to estimate the accurate distance between the user and the treadmill, so as to adjust the speed of the conveyor belt mechanism and make the speed of the conveyor belt mechanism closely follow the user's running speed.

[0104] The above-mentioned intelligent treadmill system can effectively determine the approximate range of the user's position through three pairs of ranging rods provided on the treadmill main body. In the embodiments of the present application, two methods can be used to detect the user's position, and these two methods can be used simultaneously to adjust the speed of the conveyor belt mechanism to ensure that the user can be in almost the same dynamic position regardless of their running speed.

[0105] In the above-mentioned intelligent treadmill system, the user can download an application program to the display device 200 on the treadmill main body through the Internet. The controller will adjust the inclination of the conveyor belt mechanism according to the speed of the conveyor belt mechanism and the user's position on the simulated track, and also make corresponding adjustments to the sound, light and darkness of the surrounding environment, the sound emitted by the speaker on the display device and the fan speed on the control panel.

[0106] The above-mentioned intelligent treadmill system can display and update the video data of the simulated track and the surrounding environment through the display device, and can present the scenery and climate of different seasons, giving the user a fresh feeling.

[0107] The above-mentioned intelligent treadmill system can transmit the user's movement information on the treadmill main body to other mobile intelligent terminals and other treadmills, and can receive the movement information sent by other mobile intelligent terminals to complete the interaction between multiple treadmills.

[0108] The above-mentioned intelligent treadmill system can estimate the instantaneous position of the user on the simulated track at any time, receive the instantaneous positions of other users on the simulated track, and display the positions of different users on the simulated track in different colors.

[0109] The embodiments of the present application also provide a control method for an intelligent treadmill system. Please refer to Figure 6 , and this control method includes:

[0110] S101, measure the horizontal distance between the user and the treadmill main body.

[0111] A laser beam is emitted from the first transmitter / receiver module 510 to the first reflector module 520, and the laser beam reflected by the first reflector module 520 is received to measure the horizontal distance l between the treadmill main body and the user.

[0112] S102. Calculate the instantaneous horizontal distance between the user's center of gravity and the treadmill main body based on the horizontal distance between the user and the treadmill main body and the set thickness of the human body.

[0113] In this embodiment, add the measured horizontal distance l between the user and the treadmill main body and half of the set thickness of the human body to obtain the instantaneous horizontal distance x(t) between the user's center of gravity and the treadmill main body.

[0114] S103. Adjust the instantaneous speed of the conveyor belt mechanism according to the instantaneous horizontal distance between the user's center of gravity and the treadmill main body and the set ideal dynamic position of the user, so that the user is in the ideal dynamic position.

[0115] In the embodiment of the present application, the method for adjusting the instantaneous speed of the conveyor belt mechanism is as follows:

[0116]

[0117] Among them, x is the instantaneous horizontal distance between the user's center of gravity and the treadmill main body; X o is the ideal dynamic position of the user; K P and K I are two preset positive real numbers; v is the instantaneous speed of the conveyor belt mechanism.

[0118] Judge whether the user is in the ideal dynamic position X according to the instantaneous horizontal distance between the user's center of gravity and the treadmill and the set ideal dynamic position of the user o ; if the user is far from the reference point, reduce the speed of the conveyor belt mechanism to dynamically bring the user back to the ideal dynamic position X o . If the user is too close to the reference point, increase the speed of the conveyor belt mechanism to dynamically bring the user back to the ideal dynamic position X o .

[0119] S104. Estimate the instantaneous position of the user on the simulated track at any time according to the instantaneous speed of the conveyor belt mechanism.

[0120] In one embodiment, the method for estimating the instantaneous position of the user on the simulated track at any time is as follows:

[0121]

[0122] Among them, v(t) is the instantaneous speed of the conveyor belt mechanism, and p(t) is the instantaneous position of the user on the simulated track at any time t.

[0123] S105. Adjust the slope of the treadmill platform, the video playback speed, the instantaneous video scene, and the lighting level and fan speed according to the instantaneous position of the user on the simulated track at any time and the instantaneous speed of the conveyor belt mechanism.

[0124] Please refer to Figure 7 , the control method further includes:

[0125] S201, receiving signals detected by obstacle detection devices on multiple pairs of ranging devices, and adjusting the instantaneous speed of the conveyor belt mechanism in the next control cycle according to the constraint conditions and the speed of the conveyor belt mechanism in the current control cycle, so that the user is in an ideal dynamic position.

[0126] In the embodiments of the present application, the constraint conditions are shown in the following table:

[0127]

[0128]

[0129] In the above table, K P has the same meaning as the factory pre-adjustment parameter, that is, the proportional gain; V0 is the speed of the conveyor belt mechanism at the start of the current control cycle, and v is the instantaneous speed of the conveyor belt mechanism.

[0130] The constraint conditions are:

[0131] (1) The flag bits of the two second transmitter / receiver modules on the third ranging device 630 are all 0; the flag bits of the two second transmitter / receiver modules on the second ranging device 620 are all 0; the flag bit of any one of the second transmitter / receiver modules on the first ranging device 610 is 1, then the instantaneous speed of the conveyor belt mechanism at the start of the next control cycle is The equivalent instantaneous speed of the conveyor belt mechanism in the next control cycle is: v = 0.5K P t + V0.

[0132] (2) The flag bits of the two second transmitter / receiver modules on the third ranging device 630 are all 0; the flag bit of any one of the second transmitter / receiver modules on the second ranging device 620 is 1; the flag bit of any one of the second transmitter / receiver modules on the first ranging device 610 is 1, then the instantaneous speed of the conveyor belt mechanism at the start of the next control cycle is The equivalent instantaneous speed of the conveyor belt mechanism in the next control cycle is: v = V0.

[0133] (3) The flag bits of the two second transmitter / receiver modules on the third ranging device 630 are all 0; the flag bits of the two second transmitter / receiver modules on the second ranging device 620 are all 0; the flag bits of the two second transmitter / receiver modules on the first ranging device 610 are all 0, then the instantaneous speed of the conveyor belt mechanism at the start of the next control cycle is The equivalent instantaneous speed of the conveyor belt mechanism in the next control cycle is v = V0.

[0134] (4) The flag bits of the two second transmitter / receiver modules on the third distance measuring device 630 are all 0; the flag bit of any one second transmitter / receiver module on the second distance measuring device 620 is 1; the flag bits of the two second transmitter / receiver modules on the first distance measuring device 610 are all 0, then the instantaneous speed of the conveyor belt mechanism at the start of the next control cycle is The instantaneous speed of the equivalent conveyor belt mechanism in the next control cycle is: v = -0.5K P t + V0.

[0135] (5) If the flag bit of any one second transmitter / receiver module on the third distance measuring device 630 is 1, then the instantaneous speed of the conveyor belt mechanism at the start of the next control cycle is v = 0, and the conveyor belt mechanism is controlled to stop by the emergency stop device.

[0136] The instantaneous speed of the conveyor belt mechanism can be adjusted according to the above constraints and the signals detected by the obstacle detection devices on multiple pairs of distance measuring devices.

[0137] S202. Estimate the instantaneous position of the user on the simulated track at any time according to the instantaneous speed of the conveyor belt mechanism.

[0138] S203. Adjust the slope of the treadmill platform, the video playback speed, the instantaneous video scene, and the lighting level and fan speed according to the instantaneous position of the user on the simulated runway at any time and the instantaneous speed of the conveyor belt mechanism.

[0139] The above control method of the intelligent treadmill system can automatically change the speed of the conveyor belt mechanism of the treadmill main body without manual operation by the user, and use the first transmitter / receiver module installed on the treadmill main body and the first reflector module worn on the user's waist to estimate the accurate distance between the user and the treadmill, so as to calculate the speed of the conveyor belt mechanism and make the speed of the conveyor belt mechanism closely follow the running speed of the user.

[0140] The above method of the intelligent treadmill system can effectively determine the approximate range of the user's position through three pairs of distance measuring rods arranged on the treadmill main body. The embodiments of the present application adopt two methods to detect the user's position, and these two methods can be used simultaneously to adjust the speed of the conveyor belt mechanism to ensure that the user can be in almost the same dynamic position regardless of their running speed.

[0141] The above specific embodiments do not constitute a limitation to the protection scope of the present application. Those skilled in the art should understand that various modifications, combinations, sub - combinations and substitutions can occur depending on design requirements and other factors. Any modifications, equivalent substitutions and improvements made within the spirit and principle of the present application shall be included within the protection scope of the present application.

Claims

1. An intelligent treadmill system, characterized in that, It includes a treadmill main body, a driving device, a control device and a laser measurement device; The treadmill main body includes a treadmill frame and a conveyor belt mechanism rotatably arranged on the treadmill frame; The driving device is connected to the conveyor belt mechanism and is used to drive the conveyor belt mechanism to rotate; The laser measurement device includes a first transmitter / receiver module and a first reflector module. The first transmitter / receiver module is installed at a position on the treadmill main body at a preset distance from the ground, and the first reflector module is worn on the user. The first transmitter / receiver module is used to emit a laser beam to the first reflector module and receive the laser beam reflected by the first reflector module to measure the horizontal distance between the user and the treadmill main body; The control device is connected to the laser measurement device and is used to receive the horizontal distance between the user and the treadmill main body measured by the laser measurement device; calculate the instantaneous horizontal distance between the user's center of gravity and the treadmill main body according to the horizontal distance between the user and the treadmill main body and the thickness of the human body, adjust the instantaneous speed of the conveyor belt mechanism according to the instantaneous horizontal distance between the user's center of gravity and the treadmill and the set ideal dynamic position of the user, and estimate the instantaneous position of the user on the simulation track at any time according to the instantaneous speed of the conveyor belt mechanism; Among them, the adjustment method of the instantaneous speed of the conveyor belt mechanism is: where x is the instantaneous horizontal distance between the center of gravity of the user and the main body of the treadmill; X o is the ideal dynamic position of the user; K P and K I are two preset positive real numbers; v is the instantaneous speed of the conveyor belt mechanism; Among them, the estimation method of the instantaneous position of the user on the simulation track at any time is: Among them, v(t) is the instantaneous speed of the conveyor belt mechanism, and p(t) is the instantaneous position of the user on the simulation track at any time t.

2. The intelligent treadmill system according to claim 1, wherein It further includes multiple pairs of ranging devices and an obstacle detection device; Multiple pairs of the ranging devices are evenly arranged on both sides of the conveyor belt mechanism, and the obstacle detection device is respectively arranged on each pair of the ranging devices.

3. The intelligent treadmill system according to claim 2, wherein Each pair of the ranging devices includes a pair of ranging rods oppositely arranged on both sides of the conveyor belt mechanism; The obstacle detection device includes two second transmitter / receiver modules and two second reflector modules. The two second transmitter / receiver modules are arranged at intervals in the vertical direction on one ranging rod, and the two second reflector modules are arranged at intervals in the vertical direction on the other ranging rod, and the two second reflector modules are arranged corresponding to the two second transmitter / receiver modules.

4. The intelligent treadmill system according to claim 2, wherein The control device is connected to the obstacle detection device on each pair of the ranging devices and is used to receive the signals detected by the obstacle detection device on each pair of the ranging devices, adjust the instantaneous speed of the conveyor belt mechanism in the next control cycle according to the constraint conditions and the speed of the conveyor belt mechanism in the current control cycle, and estimate the instantaneous position of the user on the simulation track at any time according to the instantaneous speed of the conveyor belt mechanism.

5. The intelligent treadmill system according to claim 1, characterized in that It further includes a display device. The control device is connected to the display device, and the display device is used to display the video data of the environment around the simulation track and the instantaneous position of the user on the simulation track.

6. The intelligent treadmill system according to claim 5, wherein The control device is further used for: Adjust the slope or tilt angle of the conveyor belt mechanism, the playback speed of the video on the display device, and the instantaneous scene according to the instantaneous speed of the conveyor belt mechanism and the instantaneous position of the user on the simulated track at any time. Receive the instantaneous positions of users on other treadmills on the simulated track, and mark the instantaneous positions of different users on the simulated track with different colors.

7. The intelligent treadmill system according to claim 1, wherein It further includes an emergency stop device, which is connected to the control device and the conveyor belt mechanism. The control device is used to judge whether the instantaneous horizontal distance between the user's center of gravity and the treadmill main body exceeds a set threshold. If it exceeds, the emergency stop device is driven to control the conveyor belt mechanism to stop.

8. A control method for an intelligent treadmill system according to any one of claims 1-7, characterized in that, It includes: Obtain the horizontal distance between the user and the treadmill main body measured by the laser measurement device; calculate the instantaneous horizontal distance between the user's center of gravity and the treadmill main body according to the horizontal distance between the user and the treadmill main body and the thickness of the human body. Adjust the instantaneous speed of the conveyor belt mechanism according to the instantaneous horizontal distance between the user's center of gravity and the treadmill main body and the set ideal dynamic position of the user. Estimate the instantaneous position of the user on the simulated track at any time according to the instantaneous speed of the conveyor belt mechanism. Adjust the slope or tilt angle of the conveyor belt mechanism, the playback speed of the video, and the instantaneous scene according to the instantaneous speed of the conveyor belt mechanism and the instantaneous position of the user on the simulated track at any time. Among them, the adjustment method of the instantaneous speed of the conveyor belt mechanism is: where x is the instantaneous horizontal distance between the center of gravity of the user and the main body of the treadmill; X o is the ideal dynamic position of the user; K P and K I are two preset positive real numbers; v is the instantaneous speed of the conveyor belt mechanism; Among them, the estimation method of the instantaneous position of the user on the simulated track at any time is: Among them, v(t) is the instantaneous speed of the conveyor belt mechanism, and p(t) is the instantaneous position of the user on the simulated track at any time t.

9. The control method of the intelligent treadmill system according to claim 8, wherein It further includes: Receive the signals detected by the obstacle detection devices on multiple pairs of ranging devices, and adjust the instantaneous speed of the conveyor belt mechanism in the next control cycle according to the constraint conditions and the speed of the conveyor belt mechanism in the current control cycle. Estimate the instantaneous position of the user on the simulated track at any time according to the instantaneous speed of the conveyor belt mechanism.

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